eeprom_test

Dependencies:   mbed FastPWM

Committer:
Lightvalve
Date:
Mon May 18 00:36:59 2020 +0000
Revision:
64:dc5b5c258579
Parent:
63:a3c7f31742c9
Child:
65:443a5f0e8ee1
200518

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 64:dc5b5c258579 1 //200518
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 11 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 12
Lightvalve 31:66738bfecec5 13 ///191008////
Lightvalve 31:66738bfecec5 14
jobuuu 7:e9086c72bb22 15 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 16 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 17 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 18 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 19 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 20 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 21 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 22 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 23
Lightvalve 24:ef6e1092e9e6 24
jobuuu 7:e9086c72bb22 25 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 26 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 27 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 28
jobuuu 7:e9086c72bb22 29 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 30 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 31 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 32 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 33
jobuuu 7:e9086c72bb22 34 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 35 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 36 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 37 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 38 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 39 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 40 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 41
jobuuu 7:e9086c72bb22 42 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 43 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 47 CANMessage msg;
Lightvalve 11:82d8768d7351 48 void onMsgReceived()
Lightvalve 11:82d8768d7351 49 {
Lightvalve 11:82d8768d7351 50 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 51 }
jobuuu 2:a1c0a37df760 52
jobuuu 7:e9086c72bb22 53 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 54 State pos;
jobuuu 7:e9086c72bb22 55 State vel;
jobuuu 7:e9086c72bb22 56 State Vout;
jobuuu 7:e9086c72bb22 57 State torq;
jobuuu 7:e9086c72bb22 58 State pres_A;
jobuuu 7:e9086c72bb22 59 State pres_B;
jobuuu 7:e9086c72bb22 60 State cur;
Lightvalve 14:8e7590227d22 61 State valve_pos;
Lightvalve 14:8e7590227d22 62
Lightvalve 14:8e7590227d22 63 State INIT_Vout;
Lightvalve 14:8e7590227d22 64 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 65 State INIT_Pos;
Lightvalve 14:8e7590227d22 66 State INIT_torq;
jobuuu 5:a4319f79457b 67
Lightvalve 19:23b7c1ad8683 68 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 69 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 70 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 71 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 72
Lightvalve 19:23b7c1ad8683 73 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 74 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 75 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 79
Lightvalve 63:a3c7f31742c9 80 float I_REF_fil_DZ = 0.0f;
Lightvalve 63:a3c7f31742c9 81
jobuuu 7:e9086c72bb22 82 // =============================================================================
jobuuu 7:e9086c72bb22 83 // =============================================================================
jobuuu 7:e9086c72bb22 84 // =============================================================================
jobuuu 7:e9086c72bb22 85
Lightvalve 12:6f2531038ea4 86 /*******************************************************************************
Lightvalve 12:6f2531038ea4 87 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 88 ******************************************************************************/
Lightvalve 13:747daba9cf59 89 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 90 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 91 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 92 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 93 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 94 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 95 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 96 };
Lightvalve 12:6f2531038ea4 97
Lightvalve 12:6f2531038ea4 98 /*******************************************************************************
Lightvalve 12:6f2531038ea4 99 * CONTROL MODE
Lightvalve 12:6f2531038ea4 100 ******************************************************************************/
Lightvalve 13:747daba9cf59 101 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 102 //control mode
Lightvalve 12:6f2531038ea4 103 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 104 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 105 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 106
Lightvalve 47:fdcb8bd86fd6 107 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 108 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 109 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 110
Lightvalve 12:6f2531038ea4 111 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 116 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 117
Lightvalve 14:8e7590227d22 118 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 119 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 120 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 121
Lightvalve 12:6f2531038ea4 122 //utility
Lightvalve 12:6f2531038ea4 123 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 124 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 125 MODE_FIND_HOME, //22
Lightvalve 62:851cf7b7aa7a 126 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 127 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 128 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 129 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 130
Lightvalve 12:6f2531038ea4 131 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 132 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 133 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 62:851cf7b7aa7a 134 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 135 };
Lightvalve 12:6f2531038ea4 136
Lightvalve 62:851cf7b7aa7a 137 void SystemClock_Config(void);
Lightvalve 62:851cf7b7aa7a 138
GiJeongKim 0:51c43836c1d7 139 int main()
GiJeongKim 0:51c43836c1d7 140 {
jobuuu 6:df07d3491e3a 141 /*********************************
jobuuu 1:e04e563be5ce 142 *** Initialization
jobuuu 6:df07d3491e3a 143 *********************************/
Lightvalve 62:851cf7b7aa7a 144 HAL_Init();
Lightvalve 62:851cf7b7aa7a 145 // SystemClock_Config();
Lightvalve 62:851cf7b7aa7a 146
Lightvalve 62:851cf7b7aa7a 147
Lightvalve 62:851cf7b7aa7a 148 // LED = 1;
Lightvalve 62:851cf7b7aa7a 149 // pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 150
GiJeongKim 0:51c43836c1d7 151 // i2c init
Lightvalve 8:5d2eebdad025 152 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 153 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 154 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 155 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 156 make_delay();
jobuuu 2:a1c0a37df760 157
GiJeongKim 0:51c43836c1d7 158 // // spi init
Lightvalve 16:903b5a4433b4 159 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 160 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 161 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 162 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 163 make_delay();
Lightvalve 21:e5f1a43ea6f9 164
Lightvalve 16:903b5a4433b4 165 //rom
Lightvalve 19:23b7c1ad8683 166 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 167 make_delay();
Lightvalve 13:747daba9cf59 168
GiJeongKim 0:51c43836c1d7 169 // ADC init
jobuuu 5:a4319f79457b 170 Init_ADC();
Lightvalve 11:82d8768d7351 171 make_delay();
jobuuu 2:a1c0a37df760 172
GiJeongKim 0:51c43836c1d7 173 // Pwm init
GiJeongKim 0:51c43836c1d7 174 Init_PWM();
GiJeongKim 0:51c43836c1d7 175 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 176 make_delay();
Lightvalve 13:747daba9cf59 177
Lightvalve 11:82d8768d7351 178 // TMR3 init
Lightvalve 11:82d8768d7351 179 Init_TMR3();
Lightvalve 11:82d8768d7351 180 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 181 make_delay();
Lightvalve 21:e5f1a43ea6f9 182
Lightvalve 50:3c630b5eba9f 183 // TMR2 init
Lightvalve 56:6f50d9d3bfee 184 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 185 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 186 // make_delay();
Lightvalve 21:e5f1a43ea6f9 187
GiJeongKim 0:51c43836c1d7 188 // CAN
jobuuu 2:a1c0a37df760 189 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 190 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 191 make_delay();
Lightvalve 34:bb2ca2fc2a8e 192
Lightvalve 23:59218d4a256d 193 //Timer priority
Lightvalve 23:59218d4a256d 194 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 62:851cf7b7aa7a 195 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 196 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 197
Lightvalve 23:59218d4a256d 198 //can.reset();
Lightvalve 19:23b7c1ad8683 199 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 200
GiJeongKim 0:51c43836c1d7 201 // spi _ enc
GiJeongKim 0:51c43836c1d7 202 spi_enc_set_init();
Lightvalve 11:82d8768d7351 203 make_delay();
Lightvalve 13:747daba9cf59 204
Lightvalve 11:82d8768d7351 205 //DAC init
Lightvalve 62:851cf7b7aa7a 206 if (SENSING_MODE == 0) {
Lightvalve 62:851cf7b7aa7a 207 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 62:851cf7b7aa7a 208 dac_2 = 0.0f;
Lightvalve 62:851cf7b7aa7a 209 } else if (SENSING_MODE == 1) {
Lightvalve 62:851cf7b7aa7a 210 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 62:851cf7b7aa7a 211 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 62:851cf7b7aa7a 212 }
Lightvalve 11:82d8768d7351 213 make_delay();
Lightvalve 13:747daba9cf59 214
Lightvalve 19:23b7c1ad8683 215 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 216 if(i%2==0)
Lightvalve 38:118df027d851 217 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 218 else
Lightvalve 38:118df027d851 219 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 220 }
Lightvalve 58:2eade98630e2 221
jobuuu 6:df07d3491e3a 222 /************************************
jobuuu 1:e04e563be5ce 223 *** Program is operating!
jobuuu 6:df07d3491e3a 224 *************************************/
GiJeongKim 0:51c43836c1d7 225 while(1) {
Lightvalve 62:851cf7b7aa7a 226 if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 62:851cf7b7aa7a 227 // if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 228 //i2c
Lightvalve 17:1865016ca2e7 229 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 230 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 62:851cf7b7aa7a 231 // if(LED==1) {
Lightvalve 62:851cf7b7aa7a 232 // LED=0;
Lightvalve 62:851cf7b7aa7a 233 // } else
Lightvalve 62:851cf7b7aa7a 234 // LED = 1;
Lightvalve 17:1865016ca2e7 235 timer_while = 0;
Lightvalve 17:1865016ca2e7 236 }
Lightvalve 17:1865016ca2e7 237 timer_while ++;
Lightvalve 62:851cf7b7aa7a 238 //pc.printf("%d\n", value);
GiJeongKim 0:51c43836c1d7 239 }
jobuuu 1:e04e563be5ce 240 }
jobuuu 1:e04e563be5ce 241
Lightvalve 33:91b17819ec30 242 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 243 {
Lightvalve 14:8e7590227d22 244
Lightvalve 13:747daba9cf59 245 int i = 0;
Lightvalve 48:889798ff9329 246 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 247 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 248 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 249 if(i==0) {
Lightvalve 50:3c630b5eba9f 250 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 62:851cf7b7aa7a 251 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 252 } else {
Lightvalve 62:851cf7b7aa7a 253 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 254 }
Lightvalve 14:8e7590227d22 255 } else {
Lightvalve 50:3c630b5eba9f 256 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 62:851cf7b7aa7a 257 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 258 } else {
Lightvalve 62:851cf7b7aa7a 259 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 260 }
Lightvalve 13:747daba9cf59 261 }
Lightvalve 13:747daba9cf59 262 break;
Lightvalve 13:747daba9cf59 263 }
Lightvalve 13:747daba9cf59 264 }
Lightvalve 14:8e7590227d22 265 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 266 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 267 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 268 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 269 }
Lightvalve 36:a46e63505ed8 270
Lightvalve 62:851cf7b7aa7a 271 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 272 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 273
Lightvalve 13:747daba9cf59 274 }
jobuuu 6:df07d3491e3a 275
jobuuu 6:df07d3491e3a 276
Lightvalve 30:8d561f16383b 277 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 278 {
Lightvalve 13:747daba9cf59 279 int i = 0;
Lightvalve 13:747daba9cf59 280
Lightvalve 38:118df027d851 281 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 282 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 283 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 284 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 285 }
Lightvalve 38:118df027d851 286
Lightvalve 13:747daba9cf59 287 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 288 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 289 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 290 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 291 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 292 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 293
Lightvalve 13:747daba9cf59 294 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 295
Lightvalve 18:b8adf1582ea3 296 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 297 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 298 if(i==0) {
Lightvalve 48:889798ff9329 299 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 300 } else {
Lightvalve 48:889798ff9329 301 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 302 }
Lightvalve 13:747daba9cf59 303 break;
Lightvalve 13:747daba9cf59 304 }
Lightvalve 13:747daba9cf59 305 }
Lightvalve 62:851cf7b7aa7a 306 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 307 }
Lightvalve 13:747daba9cf59 308
Lightvalve 14:8e7590227d22 309 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 310 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve 34:bb2ca2fc2a8e 311 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 312 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 313 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 314 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 315 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 316 }; // duty
Lightvalve 62:851cf7b7aa7a 317 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 62:851cf7b7aa7a 318 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 62:851cf7b7aa7a 319 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 62:851cf7b7aa7a 320 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 62:851cf7b7aa7a 321 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 62:851cf7b7aa7a 322 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 323 }; // mV
Lightvalve 13:747daba9cf59 324
Lightvalve 30:8d561f16383b 325 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 326 {
Lightvalve 30:8d561f16383b 327 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 328 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 329 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 330 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 331 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 332 } else {
Lightvalve 13:747daba9cf59 333 int idx = 0;
Lightvalve 13:747daba9cf59 334 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 335 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 336 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 337 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 338 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 339 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 340 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 341 break;
Lightvalve 13:747daba9cf59 342 }
Lightvalve 13:747daba9cf59 343 }
Lightvalve 13:747daba9cf59 344 }
Lightvalve 14:8e7590227d22 345
Lightvalve 13:747daba9cf59 346 return PWM_duty;
Lightvalve 13:747daba9cf59 347 }
jobuuu 6:df07d3491e3a 348
Lightvalve 62:851cf7b7aa7a 349
Lightvalve 62:851cf7b7aa7a 350
Lightvalve 62:851cf7b7aa7a 351
Lightvalve 62:851cf7b7aa7a 352
jobuuu 2:a1c0a37df760 353 /*******************************************************************************
jobuuu 2:a1c0a37df760 354 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 355 *******************************************************************************/
jobuuu 2:a1c0a37df760 356
Lightvalve 51:b46bed7fec80 357 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 358 float DT_TMR4 = (float)DT_20k;
Lightvalve 62:851cf7b7aa7a 359 long CNT_TMR4 = 0;
Lightvalve 62:851cf7b7aa7a 360 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 361 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 362 {
Lightvalve 19:23b7c1ad8683 363 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 364
Lightvalve 21:e5f1a43ea6f9 365 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 366 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 367 ********************************************************/
Lightvalve 13:747daba9cf59 368
Lightvalve 62:851cf7b7aa7a 369 //Encoder
Lightvalve 62:851cf7b7aa7a 370 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 62:851cf7b7aa7a 371 ENC_UPDATE();
Lightvalve 62:851cf7b7aa7a 372 }
Lightvalve 59:0ad14153b58f 373
Lightvalve 62:851cf7b7aa7a 374 ADC1->CR2 |= 0x40000000;
Lightvalve 62:851cf7b7aa7a 375 if (SENSING_MODE == 0) {
Lightvalve 62:851cf7b7aa7a 376 // Torque Sensing (0~210)bar =============================================
Lightvalve 62:851cf7b7aa7a 377 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 62:851cf7b7aa7a 378 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 62:851cf7b7aa7a 379 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 62:851cf7b7aa7a 380 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 59:0ad14153b58f 381
Lightvalve 59:0ad14153b58f 382
Lightvalve 62:851cf7b7aa7a 383 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 62:851cf7b7aa7a 384 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 62:851cf7b7aa7a 385 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 62:851cf7b7aa7a 386 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 62:851cf7b7aa7a 387 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 62:851cf7b7aa7a 388
Lightvalve 17:1865016ca2e7 389
Lightvalve 62:851cf7b7aa7a 390 } else if (SENSING_MODE == 1) {
Lightvalve 62:851cf7b7aa7a 391 // Pressure Sensing (0~210)bar =============================================
Lightvalve 62:851cf7b7aa7a 392 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 62:851cf7b7aa7a 393 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 62:851cf7b7aa7a 394 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 62:851cf7b7aa7a 395 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 62:851cf7b7aa7a 396 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 62:851cf7b7aa7a 397 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 62:851cf7b7aa7a 398 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 399
Lightvalve 62:851cf7b7aa7a 400 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 62:851cf7b7aa7a 401 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 62:851cf7b7aa7a 402 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 62:851cf7b7aa7a 403 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 62:851cf7b7aa7a 404 }
Lightvalve 62:851cf7b7aa7a 405 }
Lightvalve 59:0ad14153b58f 406
Lightvalve 62:851cf7b7aa7a 407 // //Pressure sensor A
Lightvalve 62:851cf7b7aa7a 408 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 62:851cf7b7aa7a 409 // //while((ADC1->SR & 0b10));
Lightvalve 62:851cf7b7aa7a 410 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 62:851cf7b7aa7a 411 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 62:851cf7b7aa7a 412 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 62:851cf7b7aa7a 413 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 62:851cf7b7aa7a 414 //
Lightvalve 62:851cf7b7aa7a 415 //
Lightvalve 62:851cf7b7aa7a 416 // //Pressure sensor B
Lightvalve 62:851cf7b7aa7a 417 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 62:851cf7b7aa7a 418 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 62:851cf7b7aa7a 419 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 62:851cf7b7aa7a 420 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 421
Lightvalve 17:1865016ca2e7 422
Lightvalve 21:e5f1a43ea6f9 423 //Current
Lightvalve 21:e5f1a43ea6f9 424 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 425 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 426 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 427 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 428 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 429 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 430 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 431
Lightvalve 62:851cf7b7aa7a 432 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 433 }
Lightvalve 11:82d8768d7351 434 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 435 }
Lightvalve 19:23b7c1ad8683 436
Lightvalve 19:23b7c1ad8683 437
Lightvalve 18:b8adf1582ea3 438 int j =0;
Lightvalve 54:647072f5307a 439 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 440 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 441 int cnt_trans = 0;
Lightvalve 48:889798ff9329 442 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 62:851cf7b7aa7a 443 int can_rest =0;
Lightvalve 48:889798ff9329 444
Lightvalve 11:82d8768d7351 445 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 446 {
Lightvalve 19:23b7c1ad8683 447 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 62:851cf7b7aa7a 448
Lightvalve 62:851cf7b7aa7a 449 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 62:851cf7b7aa7a 450 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 62:851cf7b7aa7a 451 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 62:851cf7b7aa7a 452 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 62:851cf7b7aa7a 453 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 62:851cf7b7aa7a 454 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 62:851cf7b7aa7a 455 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 62:851cf7b7aa7a 456 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 62:851cf7b7aa7a 457 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 62:851cf7b7aa7a 458 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 62:851cf7b7aa7a 459 }
Lightvalve 50:3c630b5eba9f 460
Lightvalve 50:3c630b5eba9f 461 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 462 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 463 cnt_trans++;
Lightvalve 46:2694daea349b 464 torq.err_sum = 0;
Lightvalve 48:889798ff9329 465 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 466 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 467 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 468 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 469 cnt_trans++;
Lightvalve 46:2694daea349b 470 torq.err_sum = 0;
Lightvalve 48:889798ff9329 471 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 472 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 473 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 62:851cf7b7aa7a 474 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 475 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 476 } else {
Lightvalve 62:851cf7b7aa7a 477 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 478 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 479 }
Lightvalve 45:35fa6884d0c6 480
Lightvalve 50:3c630b5eba9f 481
Lightvalve 62:851cf7b7aa7a 482 int UTILITY_MODE = 0;
Lightvalve 62:851cf7b7aa7a 483 int CONTROL_MODE = 0;
Lightvalve 62:851cf7b7aa7a 484
Lightvalve 62:851cf7b7aa7a 485 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 62:851cf7b7aa7a 486 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 62:851cf7b7aa7a 487 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 62:851cf7b7aa7a 488 } else {
Lightvalve 62:851cf7b7aa7a 489 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 62:851cf7b7aa7a 490 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 62:851cf7b7aa7a 491 }
Lightvalve 62:851cf7b7aa7a 492
Lightvalve 62:851cf7b7aa7a 493
Lightvalve 59:0ad14153b58f 494
Lightvalve 62:851cf7b7aa7a 495 // UTILITY MODE ------------------------------------------------------------
Lightvalve 58:2eade98630e2 496
Lightvalve 62:851cf7b7aa7a 497 switch (UTILITY_MODE) {
Lightvalve 62:851cf7b7aa7a 498 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 499 break;
Lightvalve 13:747daba9cf59 500 }
Lightvalve 14:8e7590227d22 501
Lightvalve 14:8e7590227d22 502 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 503 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 504 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 505 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 506
Lightvalve 14:8e7590227d22 507 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 508 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 509 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 510
Lightvalve 62:851cf7b7aa7a 511 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 512
Lightvalve 30:8d561f16383b 513 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 62:851cf7b7aa7a 514 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 515
Lightvalve 16:903b5a4433b4 516 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 517 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 518 }
Lightvalve 13:747daba9cf59 519 } else {
Lightvalve 62:851cf7b7aa7a 520 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 521 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 522 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 523 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 524
Lightvalve 16:903b5a4433b4 525 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 526
Lightvalve 30:8d561f16383b 527 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 528
Lightvalve 13:747daba9cf59 529 }
Lightvalve 14:8e7590227d22 530 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 531 break;
Lightvalve 19:23b7c1ad8683 532 }
Lightvalve 14:8e7590227d22 533
Lightvalve 50:3c630b5eba9f 534 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 535 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 536 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 537 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 538 // }
Lightvalve 50:3c630b5eba9f 539 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 540 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 541 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 542 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 543 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 544 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 545 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 546 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 547 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 548 // }
Lightvalve 50:3c630b5eba9f 549 //
Lightvalve 50:3c630b5eba9f 550 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 551 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 552 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 553 //
Lightvalve 50:3c630b5eba9f 554 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 555 // V_out = 0;
Lightvalve 50:3c630b5eba9f 556 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 557 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 558 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 559 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 560 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 561 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 562 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 563 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 564 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 565 //
Lightvalve 50:3c630b5eba9f 566 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 567 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 568 // // | / | / |/
Lightvalve 50:3c630b5eba9f 569 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 570 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 571 // // /| / | / |
Lightvalve 50:3c630b5eba9f 572 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 573 //
Lightvalve 50:3c630b5eba9f 574 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 575 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 576 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 577 // } else {
Lightvalve 50:3c630b5eba9f 578 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 579 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 580 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 581 // }
Lightvalve 50:3c630b5eba9f 582 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 583 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 584 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 585 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 586 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 587 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 588 // }
Lightvalve 50:3c630b5eba9f 589 // } else {
Lightvalve 50:3c630b5eba9f 590 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 591 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 592 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 593 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 594 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 595 // }
Lightvalve 50:3c630b5eba9f 596 // V_out = 0;
Lightvalve 50:3c630b5eba9f 597 //
Lightvalve 50:3c630b5eba9f 598 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 599 //
Lightvalve 50:3c630b5eba9f 600 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 601 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 602 //
Lightvalve 50:3c630b5eba9f 603 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 604 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 605 // }
Lightvalve 50:3c630b5eba9f 606 // }
Lightvalve 50:3c630b5eba9f 607 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 608 // break;
Lightvalve 50:3c630b5eba9f 609 // }
Lightvalve 14:8e7590227d22 610
Lightvalve 14:8e7590227d22 611 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 612 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 613 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 614 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 615 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 62:851cf7b7aa7a 616 pos.ref = pos.sen;
Lightvalve 62:851cf7b7aa7a 617 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 618 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 619 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 62:851cf7b7aa7a 620 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 621 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 622 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 623 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 624 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 625 }
Lightvalve 29:69f3f5445d6d 626 cnt_findhome++;
Lightvalve 14:8e7590227d22 627
Lightvalve 29:69f3f5445d6d 628 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 629 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 630 } else {
Lightvalve 29:69f3f5445d6d 631 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 632 }
Lightvalve 19:23b7c1ad8683 633
Lightvalve 62:851cf7b7aa7a 634 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 635 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 62:851cf7b7aa7a 636 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 62:851cf7b7aa7a 637 else pos.ref = pos.ref - 12.0f;
Lightvalve 34:bb2ca2fc2a8e 638
Lightvalve 62:851cf7b7aa7a 639 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 62:851cf7b7aa7a 640 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 62:851cf7b7aa7a 641 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 62:851cf7b7aa7a 642 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 62:851cf7b7aa7a 643 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 644
Lightvalve 62:851cf7b7aa7a 645 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 62:851cf7b7aa7a 646 alpha_trans = 0.0f;
Lightvalve 62:851cf7b7aa7a 647
Lightvalve 62:851cf7b7aa7a 648
Lightvalve 29:69f3f5445d6d 649 } else {
Lightvalve 29:69f3f5445d6d 650 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 62:851cf7b7aa7a 651 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 652 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 653 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 654 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 655 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 656 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 657 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 658 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 659 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 660 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 62:851cf7b7aa7a 661
Lightvalve 62:851cf7b7aa7a 662
Lightvalve 62:851cf7b7aa7a 663 cnt_findhome = 0;
Lightvalve 62:851cf7b7aa7a 664 pos.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 665 vel.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 666 pos.ref_home_pos = 0.0f;
Lightvalve 62:851cf7b7aa7a 667 vel.ref_home_pos = 0.0f;
Lightvalve 62:851cf7b7aa7a 668 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 62:851cf7b7aa7a 669 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 62:851cf7b7aa7a 670
Lightvalve 62:851cf7b7aa7a 671
Lightvalve 29:69f3f5445d6d 672 }
Lightvalve 29:69f3f5445d6d 673 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 674 int T_move = 2*TMR_FREQ_5k;
Lightvalve 62:851cf7b7aa7a 675 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 62:851cf7b7aa7a 676 //pos.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 677 vel.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 678
Lightvalve 29:69f3f5445d6d 679 // input for position control
Lightvalve 62:851cf7b7aa7a 680
Lightvalve 62:851cf7b7aa7a 681 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 62:851cf7b7aa7a 682 alpha_trans = 0.0f;
Lightvalve 62:851cf7b7aa7a 683
Lightvalve 62:851cf7b7aa7a 684 double torq_ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 685 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 62:851cf7b7aa7a 686 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 62:851cf7b7aa7a 687 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 62:851cf7b7aa7a 688
Lightvalve 62:851cf7b7aa7a 689 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 62:851cf7b7aa7a 690
Lightvalve 62:851cf7b7aa7a 691 double I_REF_POS = 0.0f;
Lightvalve 62:851cf7b7aa7a 692 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 62:851cf7b7aa7a 693 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 62:851cf7b7aa7a 694
Lightvalve 62:851cf7b7aa7a 695 double temp_vel_pos = 0.0f;
Lightvalve 62:851cf7b7aa7a 696 double temp_vel_torq = 0.0f;
Lightvalve 62:851cf7b7aa7a 697 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 62:851cf7b7aa7a 698
Lightvalve 62:851cf7b7aa7a 699 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 62:851cf7b7aa7a 700 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 62:851cf7b7aa7a 701 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 62:851cf7b7aa7a 702 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 62:851cf7b7aa7a 703 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 62:851cf7b7aa7a 704 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 62:851cf7b7aa7a 705 }
Lightvalve 62:851cf7b7aa7a 706 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 707 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 708
Lightvalve 62:851cf7b7aa7a 709 I_REF = I_REF_POS;
Lightvalve 62:851cf7b7aa7a 710
Lightvalve 62:851cf7b7aa7a 711
Lightvalve 62:851cf7b7aa7a 712
Lightvalve 62:851cf7b7aa7a 713 } else {
Lightvalve 62:851cf7b7aa7a 714 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 62:851cf7b7aa7a 715 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 62:851cf7b7aa7a 716
Lightvalve 62:851cf7b7aa7a 717 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 62:851cf7b7aa7a 718 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 62:851cf7b7aa7a 719 } else {
Lightvalve 62:851cf7b7aa7a 720 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 62:851cf7b7aa7a 721 }
Lightvalve 62:851cf7b7aa7a 722
Lightvalve 62:851cf7b7aa7a 723 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 724
Lightvalve 62:851cf7b7aa7a 725 V_out = (float) Vout.ref;
Lightvalve 62:851cf7b7aa7a 726
Lightvalve 62:851cf7b7aa7a 727 }
Lightvalve 62:851cf7b7aa7a 728
Lightvalve 62:851cf7b7aa7a 729
Lightvalve 62:851cf7b7aa7a 730
Lightvalve 62:851cf7b7aa7a 731
Lightvalve 62:851cf7b7aa7a 732 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 62:851cf7b7aa7a 733 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 62:851cf7b7aa7a 734 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 62:851cf7b7aa7a 735 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 62:851cf7b7aa7a 736 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 737
Lightvalve 29:69f3f5445d6d 738 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 739 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 740 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 741 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 742 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 743 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 744 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 745 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 746 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 62:851cf7b7aa7a 747 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 748 }
Lightvalve 13:747daba9cf59 749 }
Lightvalve 19:23b7c1ad8683 750
Lightvalve 13:747daba9cf59 751 break;
Lightvalve 13:747daba9cf59 752 }
Lightvalve 14:8e7590227d22 753
Lightvalve 50:3c630b5eba9f 754 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 755 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 756 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 757 // else {
Lightvalve 50:3c630b5eba9f 758 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 759 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 760 // }
Lightvalve 50:3c630b5eba9f 761 // }
Lightvalve 50:3c630b5eba9f 762 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 763 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 764 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 765 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 766 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 767 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 768 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 769 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 770 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 771 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 772 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 773 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 774 // }
Lightvalve 50:3c630b5eba9f 775 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 776 // }
Lightvalve 50:3c630b5eba9f 777 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 778 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 779 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 780 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 781 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 782 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 783 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 784 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 785 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 786 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 787 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 788 // }
Lightvalve 50:3c630b5eba9f 789 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 790 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 791 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 792 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 793 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 794 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 795 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 796 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 797 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 798 // }
Lightvalve 50:3c630b5eba9f 799 // }
Lightvalve 50:3c630b5eba9f 800 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 801 //
Lightvalve 50:3c630b5eba9f 802 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 803 //
Lightvalve 50:3c630b5eba9f 804 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 805 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 806 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 807 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 808 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 809 // }
Lightvalve 50:3c630b5eba9f 810 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 811 // V_out = 0;
Lightvalve 50:3c630b5eba9f 812 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 813 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 814 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 815 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 816 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 817 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 818 // }
Lightvalve 50:3c630b5eba9f 819 //
Lightvalve 50:3c630b5eba9f 820 // }
Lightvalve 50:3c630b5eba9f 821 // break;
Lightvalve 50:3c630b5eba9f 822 // }
Lightvalve 50:3c630b5eba9f 823 //
Lightvalve 50:3c630b5eba9f 824 // }
Lightvalve 14:8e7590227d22 825 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 826 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 827 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 828 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 829 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 830
Lightvalve 14:8e7590227d22 831 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 832 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 833 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 834 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 835 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 836
Lightvalve 38:118df027d851 837 float VREF_NullingGain = 0.0003f;
Lightvalve 62:851cf7b7aa7a 838 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 62:851cf7b7aa7a 839 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 840
Lightvalve 30:8d561f16383b 841 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 842 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 843 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 844 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 845
Lightvalve 30:8d561f16383b 846 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 847 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 848 }
Lightvalve 13:747daba9cf59 849 } else {
Lightvalve 62:851cf7b7aa7a 850 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 851 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 852 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 853 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 854 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 855 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 856
Lightvalve 16:903b5a4433b4 857 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 858
Lightvalve 30:8d561f16383b 859 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 860 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 861 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 862 }
Lightvalve 14:8e7590227d22 863 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 864 break;
Lightvalve 13:747daba9cf59 865 }
Lightvalve 14:8e7590227d22 866
Lightvalve 50:3c630b5eba9f 867 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 868 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 869 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 870 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 871 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 872 // }
Lightvalve 50:3c630b5eba9f 873 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 874 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 875 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 876 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 877 // }
Lightvalve 50:3c630b5eba9f 878 // } else {
Lightvalve 50:3c630b5eba9f 879 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 880 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 881 // V_out = 0;
Lightvalve 50:3c630b5eba9f 882 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 883 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 884 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 885 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 886 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 887 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 888 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 889 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 890 //
Lightvalve 50:3c630b5eba9f 891 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 892 //
Lightvalve 50:3c630b5eba9f 893 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 894 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 895 // }
Lightvalve 50:3c630b5eba9f 896 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 897 // break;
Lightvalve 50:3c630b5eba9f 898 // }
Lightvalve 19:23b7c1ad8683 899
Lightvalve 50:3c630b5eba9f 900 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 901 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 902 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 903 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 904 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 905 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 906 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 907 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 908 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 909 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 910 // }
Lightvalve 50:3c630b5eba9f 911 // break;
Lightvalve 50:3c630b5eba9f 912 // }
Lightvalve 14:8e7590227d22 913
Lightvalve 14:8e7590227d22 914 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 62:851cf7b7aa7a 915 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 916 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 917
Lightvalve 14:8e7590227d22 918 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 62:851cf7b7aa7a 919 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 920 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 62:851cf7b7aa7a 921 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 922 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 923 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 924 data_num = 0;
Lightvalve 14:8e7590227d22 925 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 926 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 927 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 928 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 62:851cf7b7aa7a 929 Vout.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 930 } else {
Lightvalve 13:747daba9cf59 931 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 932 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 933 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 934 }
Lightvalve 14:8e7590227d22 935
Lightvalve 17:1865016ca2e7 936 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 937 int i;
Lightvalve 13:747daba9cf59 938 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 939 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 940 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 941 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 942 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 943 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 944 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 945 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 946 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 947 }
Lightvalve 13:747daba9cf59 948 }
Lightvalve 62:851cf7b7aa7a 949 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 950 ID_index = 0;
Lightvalve 62:851cf7b7aa7a 951 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 952 }
Lightvalve 14:8e7590227d22 953
Lightvalve 14:8e7590227d22 954
Lightvalve 13:747daba9cf59 955 break;
Lightvalve 13:747daba9cf59 956 }
Lightvalve 14:8e7590227d22 957
Lightvalve 14:8e7590227d22 958 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 62:851cf7b7aa7a 959 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 960 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 961 if(first_check == 0) {
Lightvalve 30:8d561f16383b 962 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 963 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 964 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 965 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 966 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 967 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 968 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 969 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 970 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 971 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 972 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 973 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 974 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 975 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 976 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 977 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 978 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 979 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 980 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 981 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 982 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 983 data_num = 0;
Lightvalve 14:8e7590227d22 984
Lightvalve 30:8d561f16383b 985 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 986 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 987 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 988
Lightvalve 30:8d561f16383b 989 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 990 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 991 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 992
Lightvalve 30:8d561f16383b 993 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 994 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 995 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 996 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 997
Lightvalve 62:851cf7b7aa7a 998 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 999 DZ_case = 1;
Lightvalve 62:851cf7b7aa7a 1000 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1001 DZ_case = -1;
Lightvalve 14:8e7590227d22 1002 } else {
Lightvalve 13:747daba9cf59 1003 DZ_case = 0;
Lightvalve 13:747daba9cf59 1004 }
Lightvalve 14:8e7590227d22 1005
Lightvalve 49:e7bcfc244d40 1006 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1007
Lightvalve 13:747daba9cf59 1008 first_check = 1;
Lightvalve 13:747daba9cf59 1009 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1010 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1011 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1012 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1013 DZ_index = 1;
Lightvalve 14:8e7590227d22 1014
Lightvalve 13:747daba9cf59 1015 }
Lightvalve 19:23b7c1ad8683 1016 } else {
Lightvalve 14:8e7590227d22 1017 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1018 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1019 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 62:851cf7b7aa7a 1020 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1021 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1022 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1023 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1024 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1025 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1026 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1027 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1028 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1029 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1030 }
Lightvalve 14:8e7590227d22 1031 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1032
Lightvalve 30:8d561f16383b 1033 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1034 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1035 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1036
Lightvalve 14:8e7590227d22 1037 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1038 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1039 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1040 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1041 } else {
Lightvalve 13:747daba9cf59 1042 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1043 }
Lightvalve 14:8e7590227d22 1044
Lightvalve 13:747daba9cf59 1045 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1046 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1047 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1048 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1049 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1050 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1051 DZ_index = 1;
Lightvalve 13:747daba9cf59 1052 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1053 }
Lightvalve 13:747daba9cf59 1054 }
Lightvalve 14:8e7590227d22 1055 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1056 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1057 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 62:851cf7b7aa7a 1058 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1059 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1060 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1061 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1062 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1063 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1064 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1065 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1066 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1067 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1068 }
Lightvalve 14:8e7590227d22 1069 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1070
Lightvalve 30:8d561f16383b 1071 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1072 Vout.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 1073 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1074 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1075 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1076
Lightvalve 14:8e7590227d22 1077 if((FINAL_POS - START_POS)>100) {
Lightvalve 62:851cf7b7aa7a 1078 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1079 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 62:851cf7b7aa7a 1080 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1081 } else {
Lightvalve 62:851cf7b7aa7a 1082 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1083 }
Lightvalve 14:8e7590227d22 1084
Lightvalve 13:747daba9cf59 1085 VALVE_DZ_timer = 0;
Lightvalve 62:851cf7b7aa7a 1086 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1087 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1088 SECOND_DZ = valve_pos.ref;
Lightvalve 62:851cf7b7aa7a 1089 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1090 first_check = 0;
Lightvalve 33:91b17819ec30 1091 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1092 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1093
Lightvalve 16:903b5a4433b4 1094 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1095
Lightvalve 62:851cf7b7aa7a 1096 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1097 DZ_index = 1;
Lightvalve 13:747daba9cf59 1098 }
Lightvalve 13:747daba9cf59 1099 }
Lightvalve 14:8e7590227d22 1100 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1101 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1102 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 62:851cf7b7aa7a 1103 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1104 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1105 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1106 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1107 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1108 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1109 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1110 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1111 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1112 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1113 }
Lightvalve 14:8e7590227d22 1114 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1115
Lightvalve 30:8d561f16383b 1116 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1117 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1118 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1119
Lightvalve 14:8e7590227d22 1120 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1121 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1122 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1123 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1124 } else {
Lightvalve 13:747daba9cf59 1125 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1126 }
Lightvalve 13:747daba9cf59 1127 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1128 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1129 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1130 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1131 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1132 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1133 DZ_index = 1;
Lightvalve 13:747daba9cf59 1134 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1135 }
Lightvalve 13:747daba9cf59 1136 }
Lightvalve 14:8e7590227d22 1137 } else {
Lightvalve 30:8d561f16383b 1138 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1139 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 62:851cf7b7aa7a 1140 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1141 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1142 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1143 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1144 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1145 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1146 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1147 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1148 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1149 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1150 }
Lightvalve 14:8e7590227d22 1151 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1152
Lightvalve 30:8d561f16383b 1153 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1154 Vout.ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 1155 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1156 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1157 FINAL_POS = pos.sen;
Lightvalve 62:851cf7b7aa7a 1158
Lightvalve 62:851cf7b7aa7a 1159 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1160 DZ_DIRECTION = 1;
Lightvalve 62:851cf7b7aa7a 1161 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 62:851cf7b7aa7a 1162 DZ_DIRECTION = -1;
Lightvalve 62:851cf7b7aa7a 1163 } else {
Lightvalve 13:747daba9cf59 1164 DZ_DIRECTION = 1;
Lightvalve 62:851cf7b7aa7a 1165 }
Lightvalve 14:8e7590227d22 1166
Lightvalve 13:747daba9cf59 1167 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1168 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1169 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1170 SECOND_DZ = valve_pos.ref;
Lightvalve 62:851cf7b7aa7a 1171 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1172 first_check = 0;
Lightvalve 33:91b17819ec30 1173 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1174 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1175
Lightvalve 62:851cf7b7aa7a 1176 ROM_RESET_DATA();
Lightvalve 62:851cf7b7aa7a 1177
Lightvalve 62:851cf7b7aa7a 1178 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1179 DZ_index = 1;
Lightvalve 13:747daba9cf59 1180 }
Lightvalve 13:747daba9cf59 1181 }
Lightvalve 13:747daba9cf59 1182 }
Lightvalve 14:8e7590227d22 1183 }
Lightvalve 13:747daba9cf59 1184 break;
Lightvalve 13:747daba9cf59 1185 }
Lightvalve 14:8e7590227d22 1186
Lightvalve 14:8e7590227d22 1187 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 62:851cf7b7aa7a 1188 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1189 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1190 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1191 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1192 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1193 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1194 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1195 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1196 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1197 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1198 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1199 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1200 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1201 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 62:851cf7b7aa7a 1202 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1203 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1204 first_check = 1;
Lightvalve 13:747daba9cf59 1205 VALVE_FR_timer = 0;
Lightvalve 62:851cf7b7aa7a 1206 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1207 ID_index = 0;
Lightvalve 13:747daba9cf59 1208 max_check = 0;
Lightvalve 13:747daba9cf59 1209 min_check = 0;
Lightvalve 13:747daba9cf59 1210 }
Lightvalve 14:8e7590227d22 1211 } else {
Lightvalve 30:8d561f16383b 1212 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1213 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 62:851cf7b7aa7a 1214 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 62:851cf7b7aa7a 1215 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1216 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1217 data_num = 0;
Lightvalve 62:851cf7b7aa7a 1218 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1219
Lightvalve 14:8e7590227d22 1220 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1221 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1222 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 62:851cf7b7aa7a 1223 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1224 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1225 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1226 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1227 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1228 one_period_end = 1;
Lightvalve 13:747daba9cf59 1229 }
Lightvalve 30:8d561f16383b 1230 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1231 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1232 one_period_end = 1;
Lightvalve 62:851cf7b7aa7a 1233 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1234 }
Lightvalve 14:8e7590227d22 1235
Lightvalve 14:8e7590227d22 1236 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1237 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1238 max_check = 1;
Lightvalve 14:8e7590227d22 1239 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1240 min_check = 1;
Lightvalve 13:747daba9cf59 1241 }
Lightvalve 13:747daba9cf59 1242 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1243
Lightvalve 13:747daba9cf59 1244 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1245 one_period_end = 0;
Lightvalve 13:747daba9cf59 1246 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1247 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1248 }
Lightvalve 14:8e7590227d22 1249
Lightvalve 14:8e7590227d22 1250 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1251
Lightvalve 13:747daba9cf59 1252 VALVE_POS_NUM = ID_index;
Lightvalve 62:851cf7b7aa7a 1253 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1254 ID_index = 0;
Lightvalve 13:747daba9cf59 1255 first_check = 0;
Lightvalve 13:747daba9cf59 1256 VALVE_FR_timer = 0;
Lightvalve 62:851cf7b7aa7a 1257 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1258 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1259 }
Lightvalve 13:747daba9cf59 1260 }
Lightvalve 13:747daba9cf59 1261 break;
Lightvalve 13:747daba9cf59 1262 }
Lightvalve 58:2eade98630e2 1263
Lightvalve 62:851cf7b7aa7a 1264 case MODE_SYSTEM_ID: {
Lightvalve 62:851cf7b7aa7a 1265 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 62:851cf7b7aa7a 1266 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 62:851cf7b7aa7a 1267 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 62:851cf7b7aa7a 1268 cnt_sysid++;
Lightvalve 62:851cf7b7aa7a 1269 if (freq_sysid_Iref >= 300) {
Lightvalve 62:851cf7b7aa7a 1270 cnt_sysid = 0;
Lightvalve 62:851cf7b7aa7a 1271 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 62:851cf7b7aa7a 1272 }
Lightvalve 62:851cf7b7aa7a 1273 break;
Lightvalve 62:851cf7b7aa7a 1274 }
Lightvalve 62:851cf7b7aa7a 1275
Lightvalve 62:851cf7b7aa7a 1276
Lightvalve 62:851cf7b7aa7a 1277
Lightvalve 62:851cf7b7aa7a 1278 default:
Lightvalve 62:851cf7b7aa7a 1279 break;
Lightvalve 62:851cf7b7aa7a 1280 }
Lightvalve 62:851cf7b7aa7a 1281
Lightvalve 62:851cf7b7aa7a 1282 // CONTROL MODE ------------------------------------------------------------
Lightvalve 62:851cf7b7aa7a 1283
Lightvalve 62:851cf7b7aa7a 1284 switch (CONTROL_MODE) {
Lightvalve 62:851cf7b7aa7a 1285 case MODE_NO_ACT: {
Lightvalve 62:851cf7b7aa7a 1286 V_out = 0.0f;
Lightvalve 62:851cf7b7aa7a 1287 break;
Lightvalve 62:851cf7b7aa7a 1288 }
Lightvalve 62:851cf7b7aa7a 1289
Lightvalve 62:851cf7b7aa7a 1290 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 62:851cf7b7aa7a 1291 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 62:851cf7b7aa7a 1292 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1293 V_out = Vout.ref;
Lightvalve 62:851cf7b7aa7a 1294 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 62:851cf7b7aa7a 1295 V_out = valve_pos.ref;
Lightvalve 62:851cf7b7aa7a 1296 } else {
Lightvalve 62:851cf7b7aa7a 1297 I_REF = valve_pos.ref * 0.001f;
Lightvalve 62:851cf7b7aa7a 1298 }
Lightvalve 62:851cf7b7aa7a 1299
Lightvalve 62:851cf7b7aa7a 1300 break;
Lightvalve 62:851cf7b7aa7a 1301 }
Lightvalve 62:851cf7b7aa7a 1302
Lightvalve 62:851cf7b7aa7a 1303 case MODE_JOINT_CONTROL: {
Lightvalve 62:851cf7b7aa7a 1304 double torq_ref = 0.0f;
Lightvalve 62:851cf7b7aa7a 1305 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 63:a3c7f31742c9 1306 vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 63:a3c7f31742c9 1307 // vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 62:851cf7b7aa7a 1308 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 62:851cf7b7aa7a 1309
Lightvalve 62:851cf7b7aa7a 1310 //K & D Low Pass Filter
Lightvalve 62:851cf7b7aa7a 1311 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 62:851cf7b7aa7a 1312 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 62:851cf7b7aa7a 1313 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 62:851cf7b7aa7a 1314
Lightvalve 62:851cf7b7aa7a 1315 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 62:851cf7b7aa7a 1316
Lightvalve 62:851cf7b7aa7a 1317 // torque feedback
Lightvalve 63:a3c7f31742c9 1318 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 62:851cf7b7aa7a 1319 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 62:851cf7b7aa7a 1320
Lightvalve 62:851cf7b7aa7a 1321 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 62:851cf7b7aa7a 1322
Lightvalve 62:851cf7b7aa7a 1323 double I_REF_POS = 0.0f;
Lightvalve 62:851cf7b7aa7a 1324 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 62:851cf7b7aa7a 1325 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 62:851cf7b7aa7a 1326
Lightvalve 62:851cf7b7aa7a 1327 double temp_vel_pos = 0.0f;
Lightvalve 62:851cf7b7aa7a 1328 double temp_vel_torq = 0.0f;
Lightvalve 62:851cf7b7aa7a 1329 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 62:851cf7b7aa7a 1330
Lightvalve 62:851cf7b7aa7a 1331 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 62:851cf7b7aa7a 1332 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 62:851cf7b7aa7a 1333 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 62:851cf7b7aa7a 1334 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 62:851cf7b7aa7a 1335 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 62:851cf7b7aa7a 1336 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 62:851cf7b7aa7a 1337 }
Lightvalve 62:851cf7b7aa7a 1338 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 1339 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 1340
Lightvalve 62:851cf7b7aa7a 1341 // velocity compensation for torque control
Lightvalve 62:851cf7b7aa7a 1342 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 62:851cf7b7aa7a 1343 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 62:851cf7b7aa7a 1344 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 62:851cf7b7aa7a 1345 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 62:851cf7b7aa7a 1346 // L feedforward velocity
Lightvalve 62:851cf7b7aa7a 1347 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 62:851cf7b7aa7a 1348 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 62:851cf7b7aa7a 1349 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 62:851cf7b7aa7a 1350 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 62:851cf7b7aa7a 1351 // L feedforward velocity
Lightvalve 62:851cf7b7aa7a 1352 }
Lightvalve 62:851cf7b7aa7a 1353 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 1354 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 62:851cf7b7aa7a 1355 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 62:851cf7b7aa7a 1356 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 62:851cf7b7aa7a 1357 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 62:851cf7b7aa7a 1358
Lightvalve 62:851cf7b7aa7a 1359 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 62:851cf7b7aa7a 1360
Lightvalve 62:851cf7b7aa7a 1361 // Anti-windup for FT
Lightvalve 62:851cf7b7aa7a 1362 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 62:851cf7b7aa7a 1363 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 62:851cf7b7aa7a 1364 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 62:851cf7b7aa7a 1365 if (I_REF > I_MAX) {
Lightvalve 62:851cf7b7aa7a 1366 double I_rem = I_REF - I_MAX;
Lightvalve 62:851cf7b7aa7a 1367 I_rem = Ka*I_rem;
Lightvalve 62:851cf7b7aa7a 1368 I_REF = I_MAX;
Lightvalve 62:851cf7b7aa7a 1369 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 62:851cf7b7aa7a 1370 } else if (I_REF < -I_MAX) {
Lightvalve 62:851cf7b7aa7a 1371 double I_rem = I_REF - (-I_MAX);
Lightvalve 62:851cf7b7aa7a 1372 I_rem = Ka*I_rem;
Lightvalve 62:851cf7b7aa7a 1373 I_REF = -I_MAX;
Lightvalve 62:851cf7b7aa7a 1374 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 62:851cf7b7aa7a 1375 }
Lightvalve 62:851cf7b7aa7a 1376 }
Lightvalve 62:851cf7b7aa7a 1377
Lightvalve 62:851cf7b7aa7a 1378 } else {
Lightvalve 62:851cf7b7aa7a 1379 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 62:851cf7b7aa7a 1380
Lightvalve 62:851cf7b7aa7a 1381 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 62:851cf7b7aa7a 1382 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 62:851cf7b7aa7a 1383
Lightvalve 62:851cf7b7aa7a 1384 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 62:851cf7b7aa7a 1385 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 62:851cf7b7aa7a 1386 } else {
Lightvalve 62:851cf7b7aa7a 1387 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 62:851cf7b7aa7a 1388 }
Lightvalve 62:851cf7b7aa7a 1389
Lightvalve 62:851cf7b7aa7a 1390 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 62:851cf7b7aa7a 1391 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 62:851cf7b7aa7a 1392 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 62:851cf7b7aa7a 1393 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 62:851cf7b7aa7a 1394 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 62:851cf7b7aa7a 1395 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 62:851cf7b7aa7a 1396 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 62:851cf7b7aa7a 1397 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 62:851cf7b7aa7a 1398 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 62:851cf7b7aa7a 1399 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 62:851cf7b7aa7a 1400 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 62:851cf7b7aa7a 1401 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 62:851cf7b7aa7a 1402 }
Lightvalve 62:851cf7b7aa7a 1403 }
Lightvalve 62:851cf7b7aa7a 1404
Lightvalve 62:851cf7b7aa7a 1405 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 62:851cf7b7aa7a 1406
Lightvalve 62:851cf7b7aa7a 1407 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 62:851cf7b7aa7a 1408 V_out = (float) Vout.ref;
Lightvalve 62:851cf7b7aa7a 1409
Lightvalve 62:851cf7b7aa7a 1410 }
Lightvalve 62:851cf7b7aa7a 1411
Lightvalve 62:851cf7b7aa7a 1412 break;
Lightvalve 62:851cf7b7aa7a 1413 }
Lightvalve 62:851cf7b7aa7a 1414
Lightvalve 62:851cf7b7aa7a 1415 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 62:851cf7b7aa7a 1416 V_out = (float) Vout.ref;
Lightvalve 62:851cf7b7aa7a 1417 break;
Lightvalve 62:851cf7b7aa7a 1418 }
Lightvalve 62:851cf7b7aa7a 1419
Lightvalve 12:6f2531038ea4 1420 default:
Lightvalve 12:6f2531038ea4 1421 break;
Lightvalve 12:6f2531038ea4 1422 }
Lightvalve 14:8e7590227d22 1423
Lightvalve 62:851cf7b7aa7a 1424
Lightvalve 62:851cf7b7aa7a 1425 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 62:851cf7b7aa7a 1426
Lightvalve 62:851cf7b7aa7a 1427 ////////////////////////////////////////////////////////////////////////////
Lightvalve 62:851cf7b7aa7a 1428 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 62:851cf7b7aa7a 1429 ////////////////////////////////////////////////////////////////////////////
Lightvalve 63:a3c7f31742c9 1430
Lightvalve 62:851cf7b7aa7a 1431 if (CURRENT_CONTROL_MODE) {
Lightvalve 63:a3c7f31742c9 1432
Lightvalve 62:851cf7b7aa7a 1433 // Moog Valve Current Control Gain
Lightvalve 62:851cf7b7aa7a 1434 double R_model = 500.0f; // ohm
Lightvalve 62:851cf7b7aa7a 1435 double L_model = 1.2f;
Lightvalve 62:851cf7b7aa7a 1436 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 62:851cf7b7aa7a 1437 double KP_I = 0.1f * L_model*w0;
Lightvalve 62:851cf7b7aa7a 1438 double KI_I = 0.1f * R_model*w0;
Lightvalve 62:851cf7b7aa7a 1439
Lightvalve 62:851cf7b7aa7a 1440 // KNR Valve Current Control Gain
Lightvalve 62:851cf7b7aa7a 1441 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 62:851cf7b7aa7a 1442 R_model = 163.0f; // ohm
Lightvalve 62:851cf7b7aa7a 1443 L_model = 1.0f;
Lightvalve 62:851cf7b7aa7a 1444 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 62:851cf7b7aa7a 1445 KP_I = 1.0f * L_model*w0;
Lightvalve 62:851cf7b7aa7a 1446 KI_I = 0.08f * R_model*w0;
Lightvalve 62:851cf7b7aa7a 1447 }
Lightvalve 63:a3c7f31742c9 1448
Lightvalve 63:a3c7f31742c9 1449 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 63:a3c7f31742c9 1450 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 63:a3c7f31742c9 1451
Lightvalve 63:a3c7f31742c9 1452 FLAG_VALVE_DEADZONE = 1;
Lightvalve 63:a3c7f31742c9 1453
Lightvalve 63:a3c7f31742c9 1454 if (FLAG_VALVE_DEADZONE) {
Lightvalve 63:a3c7f31742c9 1455 if (I_REF_fil > 0) I_REF_fil_DZ = I_REF_fil + VALVE_DEADZONE_PLUS / 1000.0f; // unit: mA
Lightvalve 63:a3c7f31742c9 1456 else if (I_REF_fil < 0) I_REF_fil_DZ = I_REF_fil + VALVE_DEADZONE_MINUS / 1000.0f; // unit: mA
Lightvalve 63:a3c7f31742c9 1457 else I_REF_fil_DZ = I_REF_fil + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f / 1000.0f; // unit: mA
Lightvalve 63:a3c7f31742c9 1458 } else {
Lightvalve 63:a3c7f31742c9 1459 I_REF_fil_DZ = I_REF_fil;
Lightvalve 63:a3c7f31742c9 1460 }
Lightvalve 63:a3c7f31742c9 1461
Lightvalve 63:a3c7f31742c9 1462 I_ERR = I_REF_fil_DZ - cur.sen;
Lightvalve 63:a3c7f31742c9 1463 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 63:a3c7f31742c9 1464
Lightvalve 63:a3c7f31742c9 1465
Lightvalve 63:a3c7f31742c9 1466
Lightvalve 62:851cf7b7aa7a 1467
Lightvalve 62:851cf7b7aa7a 1468 double FF_gain = 1.0f;
Lightvalve 62:851cf7b7aa7a 1469
Lightvalve 62:851cf7b7aa7a 1470 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 62:851cf7b7aa7a 1471 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 63:a3c7f31742c9 1472 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
Lightvalve 63:a3c7f31742c9 1473 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 63:a3c7f31742c9 1474 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 63:a3c7f31742c9 1475 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 62:851cf7b7aa7a 1476 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 14:8e7590227d22 1477
Lightvalve 62:851cf7b7aa7a 1478 double Ka = 3.0f / KP_I;
Lightvalve 62:851cf7b7aa7a 1479 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 62:851cf7b7aa7a 1480 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 62:851cf7b7aa7a 1481 V_rem = Ka*V_rem;
Lightvalve 62:851cf7b7aa7a 1482 VALVE_PWM_RAW = V_MAX;
Lightvalve 62:851cf7b7aa7a 1483 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 62:851cf7b7aa7a 1484 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 62:851cf7b7aa7a 1485 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 62:851cf7b7aa7a 1486 V_rem = Ka*V_rem;
Lightvalve 62:851cf7b7aa7a 1487 VALVE_PWM_RAW = -V_MAX;
Lightvalve 62:851cf7b7aa7a 1488 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 62:851cf7b7aa7a 1489 }
Lightvalve 62:851cf7b7aa7a 1490 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 62:851cf7b7aa7a 1491 } else {
Lightvalve 62:851cf7b7aa7a 1492 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 62:851cf7b7aa7a 1493 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 62:851cf7b7aa7a 1494 }
Lightvalve 62:851cf7b7aa7a 1495
Lightvalve 62:851cf7b7aa7a 1496 ////////////////////////////////////////////////////////////////////////////
Lightvalve 62:851cf7b7aa7a 1497 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 62:851cf7b7aa7a 1498 ////////////////////////////////////////////////////////////////////////////
Lightvalve 62:851cf7b7aa7a 1499 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 63:a3c7f31742c9 1500 // if (FLAG_VALVE_DEADZONE) {
Lightvalve 63:a3c7f31742c9 1501 // if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 63:a3c7f31742c9 1502 // else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 63:a3c7f31742c9 1503 // VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 63:a3c7f31742c9 1504 // } else {
Lightvalve 63:a3c7f31742c9 1505 // VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 63:a3c7f31742c9 1506 // }
Lightvalve 62:851cf7b7aa7a 1507
Lightvalve 63:a3c7f31742c9 1508 // VALVE_DEADZONE_PLUS : Current[mA] to start extraction
Lightvalve 63:a3c7f31742c9 1509 // VALVE_DEADZONE_MINUS : Current[mA] to start contraction
Lightvalve 63:a3c7f31742c9 1510 // double R_model = 500.0f;
Lightvalve 63:a3c7f31742c9 1511 // FLAG_VALVE_DEADZONE = true;
Lightvalve 63:a3c7f31742c9 1512 // if (FLAG_VALVE_DEADZONE) {
Lightvalve 63:a3c7f31742c9 1513 // if (VALVE_PWM_RAW > 0) VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * R_model / 1000.0f; // unit: mV
Lightvalve 63:a3c7f31742c9 1514 // else if (VALVE_PWM_RAW < 0) VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * R_model / 1000.0f; // unit: mV
Lightvalve 63:a3c7f31742c9 1515 // else VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f* R_model / 1000.0f;
Lightvalve 63:a3c7f31742c9 1516 // } else {
Lightvalve 62:851cf7b7aa7a 1517 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 63:a3c7f31742c9 1518 // }
Lightvalve 62:851cf7b7aa7a 1519
Lightvalve 62:851cf7b7aa7a 1520 // Output Voltage Linearization
Lightvalve 62:851cf7b7aa7a 1521 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 62:851cf7b7aa7a 1522 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 62:851cf7b7aa7a 1523
Lightvalve 62:851cf7b7aa7a 1524 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 62:851cf7b7aa7a 1525 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 62:851cf7b7aa7a 1526 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 62:851cf7b7aa7a 1527 else V_out = (float) (CUR_PWM_lin);
Lightvalve 62:851cf7b7aa7a 1528 }
Lightvalve 62:851cf7b7aa7a 1529
Lightvalve 62:851cf7b7aa7a 1530 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 62:851cf7b7aa7a 1531 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 62:851cf7b7aa7a 1532 // else V_out = V_out;
Lightvalve 62:851cf7b7aa7a 1533
jobuuu 7:e9086c72bb22 1534 /*******************************************************
jobuuu 7:e9086c72bb22 1535 *** PWM
jobuuu 7:e9086c72bb22 1536 ********************************************************/
Lightvalve 62:851cf7b7aa7a 1537 if(DIR_VALVE<0){
Lightvalve 62:851cf7b7aa7a 1538 V_out = -V_out;
Lightvalve 62:851cf7b7aa7a 1539 }
Lightvalve 62:851cf7b7aa7a 1540
Lightvalve 49:e7bcfc244d40 1541 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1542 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1543 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1544 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1545 }
Lightvalve 49:e7bcfc244d40 1546 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1547
Lightvalve 19:23b7c1ad8683 1548 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1549 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1550 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1551
Lightvalve 30:8d561f16383b 1552 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1553 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1554 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1555 } else {
jobuuu 2:a1c0a37df760 1556 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1557 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1558 }
Lightvalve 13:747daba9cf59 1559
jobuuu 1:e04e563be5ce 1560 //pwm
Lightvalve 30:8d561f16383b 1561 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1562 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1563
Lightvalve 20:806196fda269 1564
Lightvalve 62:851cf7b7aa7a 1565 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1566
Lightvalve 54:647072f5307a 1567 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1568 if (flag_data_request[0] == HIGH) {
Lightvalve 62:851cf7b7aa7a 1569 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1570 if (SENSING_MODE == 0) {
Lightvalve 59:0ad14153b58f 1571 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1572 } else if (SENSING_MODE == 1) {
Lightvalve 62:851cf7b7aa7a 1573 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1574 }
Lightvalve 62:851cf7b7aa7a 1575 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1576 if (SENSING_MODE == 0) {
Lightvalve 63:a3c7f31742c9 1577 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 1578 } else if (SENSING_MODE == 1) {
Lightvalve 62:851cf7b7aa7a 1579 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1580 }
Lightvalve 52:8ea76864368a 1581 }
Lightvalve 52:8ea76864368a 1582 }
Lightvalve 56:6f50d9d3bfee 1583 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1584 //valve position
Lightvalve 54:647072f5307a 1585 double t_value = 0;
Lightvalve 62:851cf7b7aa7a 1586 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 62:851cf7b7aa7a 1587 // t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 62:851cf7b7aa7a 1588 // } else {
Lightvalve 62:851cf7b7aa7a 1589 // t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 62:851cf7b7aa7a 1590 // }
Lightvalve 62:851cf7b7aa7a 1591 if(OPERATING_MODE==5) {
Lightvalve 62:851cf7b7aa7a 1592 t_value = (double) value;
Lightvalve 62:851cf7b7aa7a 1593 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 62:851cf7b7aa7a 1594 t_value = cur.sen;
Lightvalve 58:2eade98630e2 1595 } else {
Lightvalve 62:851cf7b7aa7a 1596 t_value = V_out;
Lightvalve 54:647072f5307a 1597 }
Lightvalve 63:a3c7f31742c9 1598 // CAN_TX_TORQUE((int16_t) (I_REF_fil_DZ * 1000.0f)); //1300
Lightvalve 63:a3c7f31742c9 1599 CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 62:851cf7b7aa7a 1600 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1601 }
Lightvalve 58:2eade98630e2 1602
Lightvalve 62:851cf7b7aa7a 1603
Lightvalve 56:6f50d9d3bfee 1604 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1605 //pressure A and B
Lightvalve 62:851cf7b7aa7a 1606 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 62:851cf7b7aa7a 1607 }
Lightvalve 62:851cf7b7aa7a 1608
Lightvalve 62:851cf7b7aa7a 1609 //If it doesn't rest, below can can not work.
Lightvalve 62:851cf7b7aa7a 1610 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 62:851cf7b7aa7a 1611 ;
Lightvalve 57:f4819de54e7a 1612 }
Lightvalve 58:2eade98630e2 1613
Lightvalve 56:6f50d9d3bfee 1614 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1615 //PWM
Lightvalve 62:851cf7b7aa7a 1616 CAN_TX_PWM((int16_t) value); //1500
Lightvalve 54:647072f5307a 1617 }
Lightvalve 62:851cf7b7aa7a 1618 //for (i = 0; i < 10000; i++) {
Lightvalve 62:851cf7b7aa7a 1619 // ;
Lightvalve 62:851cf7b7aa7a 1620 // }
Lightvalve 56:6f50d9d3bfee 1621 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1622 //valve position
Lightvalve 62:851cf7b7aa7a 1623 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1624 }
Lightvalve 20:806196fda269 1625
Lightvalve 54:647072f5307a 1626 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1627 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1628 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1629 // }
Lightvalve 54:647072f5307a 1630 //if (flag_delay_test == 1){
Lightvalve 62:851cf7b7aa7a 1631 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1632 //}
Lightvalve 52:8ea76864368a 1633
Lightvalve 54:647072f5307a 1634 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1635 }
Lightvalve 54:647072f5307a 1636 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1637
Lightvalve 20:806196fda269 1638 }
Lightvalve 52:8ea76864368a 1639 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1640
Lightvalve 59:0ad14153b58f 1641 }
Lightvalve 59:0ad14153b58f 1642
Lightvalve 62:851cf7b7aa7a 1643 void SystemClock_Config(void)
Lightvalve 62:851cf7b7aa7a 1644 {
Lightvalve 62:851cf7b7aa7a 1645 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 62:851cf7b7aa7a 1646 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 59:0ad14153b58f 1647
Lightvalve 62:851cf7b7aa7a 1648 /** Configure the main internal regulator output voltage
Lightvalve 62:851cf7b7aa7a 1649 */
Lightvalve 62:851cf7b7aa7a 1650 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 62:851cf7b7aa7a 1651 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 62:851cf7b7aa7a 1652 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 62:851cf7b7aa7a 1653 */
Lightvalve 62:851cf7b7aa7a 1654 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 62:851cf7b7aa7a 1655 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 62:851cf7b7aa7a 1656 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 62:851cf7b7aa7a 1657 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 62:851cf7b7aa7a 1658 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 62:851cf7b7aa7a 1659 RCC_OscInitStruct.PLL.PLLM = 8; //8
Lightvalve 62:851cf7b7aa7a 1660 RCC_OscInitStruct.PLL.PLLN = 180;//180
Lightvalve 62:851cf7b7aa7a 1661 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 62:851cf7b7aa7a 1662 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 62:851cf7b7aa7a 1663 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 62:851cf7b7aa7a 1664 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 62:851cf7b7aa7a 1665 //Error_Handler();
Lightvalve 62:851cf7b7aa7a 1666 }
Lightvalve 62:851cf7b7aa7a 1667 /** Activate the Over-Drive mode
Lightvalve 62:851cf7b7aa7a 1668 */
Lightvalve 62:851cf7b7aa7a 1669 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 62:851cf7b7aa7a 1670 //Error_Handler();
Lightvalve 62:851cf7b7aa7a 1671 }
Lightvalve 62:851cf7b7aa7a 1672 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 62:851cf7b7aa7a 1673 */
Lightvalve 62:851cf7b7aa7a 1674 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 62:851cf7b7aa7a 1675 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 62:851cf7b7aa7a 1676 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 62:851cf7b7aa7a 1677 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 62:851cf7b7aa7a 1678 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 62:851cf7b7aa7a 1679 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 59:0ad14153b58f 1680
Lightvalve 62:851cf7b7aa7a 1681 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 62:851cf7b7aa7a 1682 //Error_Handler();
Lightvalve 59:0ad14153b58f 1683 }
Lightvalve 62:851cf7b7aa7a 1684 HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
Lightvalve 62:851cf7b7aa7a 1685 HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_SYSCLK, RCC_MCODIV_2);
Lightvalve 62:851cf7b7aa7a 1686 }