HydraulicControlBoard_LIGHT_GJ - eeprom_test

Users » GiJeongKim » Code » HydraulicControlBoard_LIGHT_GJ

Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

main.cpp@21:e5f1a43ea6f9, 2019-09-09 (annotated)

Committer:: Lightvalve
Date:: Mon Sep 09 10:10:31 2019 +0000
Revision:: 21:e5f1a43ea6f9
Parent:: 20:806196fda269
Child:: 23:59218d4a256d

190909_19_10

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
jobuuu	7:e9086c72bb22	12	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	13	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	14	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	15	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	16	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	17	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	18	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	19	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	20
jobuuu	7:e9086c72bb22	21	// PWM ///////////////////////////////////////////
jobuuu	2:a1c0a37df760	22	double dtc_v=0.0;
jobuuu	2:a1c0a37df760	23	double dtc_w=0.0;
GiJeongKim	0:51c43836c1d7	24
jobuuu	7:e9086c72bb22	25	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	26	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	27	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	28	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	29
jobuuu	7:e9086c72bb22	30	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	31	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	32	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	33	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	34	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	35	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	36	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	37
jobuuu	7:e9086c72bb22	38	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	39	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	43	CANMessage msg;
Lightvalve	11:82d8768d7351	44	void onMsgReceived()
Lightvalve	11:82d8768d7351	45	{
Lightvalve	11:82d8768d7351	46	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	47	}
jobuuu	2:a1c0a37df760	48
jobuuu	7:e9086c72bb22	49	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	50	State pos;
jobuuu	7:e9086c72bb22	51	State vel;
jobuuu	7:e9086c72bb22	52	State Vout;
jobuuu	7:e9086c72bb22	53	State torq;
jobuuu	7:e9086c72bb22	54	State pres_A;
jobuuu	7:e9086c72bb22	55	State pres_B;
jobuuu	7:e9086c72bb22	56	State cur;
Lightvalve	14:8e7590227d22	57	State valve_pos;
Lightvalve	14:8e7590227d22	58
Lightvalve	14:8e7590227d22	59	State INIT_Vout;
Lightvalve	14:8e7590227d22	60	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	61	State INIT_Pos;
Lightvalve	14:8e7590227d22	62	State INIT_torq;
jobuuu	5:a4319f79457b	63
jobuuu	5:a4319f79457b	64	double V_out=0.0;
jobuuu	5:a4319f79457b	65	double V_rem=0.0; // for anti-windup
jobuuu	5:a4319f79457b	66	double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
jobuuu	5:a4319f79457b	67
jobuuu	5:a4319f79457b	68	double PWM_out=0.0;
Lightvalve	12:6f2531038ea4	69
Lightvalve	17:1865016ca2e7	70	int timer_while = 0;
Lightvalve	17:1865016ca2e7	71	int while_index = 0;
Lightvalve	17:1865016ca2e7	72
Lightvalve	19:23b7c1ad8683	73
Lightvalve	19:23b7c1ad8683	74	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	75	extern int CID_RX_REF_POSITION;
Lightvalve	19:23b7c1ad8683	76	extern int CID_RX_REF_TORQUE;
Lightvalve	19:23b7c1ad8683	77	extern int CID_RX_REF_PRES_DIFF;
Lightvalve	19:23b7c1ad8683	78	extern int CID_RX_REF_VOUT;
Lightvalve	19:23b7c1ad8683	79	extern int CID_RX_REF_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	80	extern int CID_RX_REF_CURRENT;
Lightvalve	19:23b7c1ad8683	81
Lightvalve	19:23b7c1ad8683	82	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	83	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	84	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	86	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	87	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	88
jobuuu	7:e9086c72bb22	89	// =============================================================================
jobuuu	7:e9086c72bb22	90	// =============================================================================
jobuuu	7:e9086c72bb22	91	// =============================================================================
jobuuu	7:e9086c72bb22	92
Lightvalve	12:6f2531038ea4	93	/*******************************************************************************
Lightvalve	12:6f2531038ea4	94	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	95	******************************************************************************/
Lightvalve	13:747daba9cf59	96	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	97	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	98	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	99	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	100	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	101	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	102	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	103	};
Lightvalve	12:6f2531038ea4	104
Lightvalve	12:6f2531038ea4	105	/*******************************************************************************
Lightvalve	12:6f2531038ea4	106	* CONTROL MODE
Lightvalve	12:6f2531038ea4	107	******************************************************************************/
Lightvalve	13:747daba9cf59	108	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	109	//control mode
Lightvalve	12:6f2531038ea4	110	MODE_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	111	MODE_VALVE_OPEN_LOOP, //1
Lightvalve	12:6f2531038ea4	112	MODE_VALVE_POSITION_CONTROL, //2
Lightvalve	13:747daba9cf59	113
Lightvalve	12:6f2531038ea4	114	MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve	12:6f2531038ea4	115	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	116	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	117
Lightvalve	12:6f2531038ea4	118	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	119	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	120	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	121
Lightvalve	12:6f2531038ea4	122	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	123	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	124
Lightvalve	14:8e7590227d22	125	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	126	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	127	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	128
Lightvalve	12:6f2531038ea4	129	//utility
Lightvalve	12:6f2531038ea4	130	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	131	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	132	MODE_FIND_HOME, //22
Lightvalve	12:6f2531038ea4	133	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	134	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	135	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	136	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	137
Lightvalve	12:6f2531038ea4	138	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	139	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	140	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	12:6f2531038ea4	141	};
Lightvalve	12:6f2531038ea4	142
GiJeongKim	0:51c43836c1d7	143	int main()
GiJeongKim	0:51c43836c1d7	144	{
jobuuu	6:df07d3491e3a	145	/*********************************
jobuuu	1:e04e563be5ce	146	*** Initialization
jobuuu	6:df07d3491e3a	147	*********************************/
Lightvalve	19:23b7c1ad8683	148	//LED = 1;
Lightvalve	19:23b7c1ad8683	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	20:806196fda269	183	// TMR5 init
Lightvalve	20:806196fda269	184	Init_TMR5();
Lightvalve	20:806196fda269	185	TIM5->CR1 ^= TIM_CR1_UDIS;
Lightvalve	20:806196fda269	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	19:23b7c1ad8683	192	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	21:e5f1a43ea6f9	193
GiJeongKim	0:51c43836c1d7	194	// spi _ enc
GiJeongKim	0:51c43836c1d7	195	spi_enc_set_init();
Lightvalve	11:82d8768d7351	196	make_delay();
Lightvalve	13:747daba9cf59	197
Lightvalve	11:82d8768d7351	198	//DAC init
Lightvalve	16:903b5a4433b4	199	dac_1 = PRES_A_VREF / 3.3;
Lightvalve	16:903b5a4433b4	200	dac_2 = PRES_B_VREF / 3.3;
Lightvalve	11:82d8768d7351	201	make_delay();
Lightvalve	13:747daba9cf59	202
Lightvalve	19:23b7c1ad8683	203	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	204	if(i%2==0)
Lightvalve	11:82d8768d7351	205	ID_index_array[i] = - i * 0.5;
Lightvalve	11:82d8768d7351	206	else
Lightvalve	11:82d8768d7351	207	ID_index_array[i] = (i+1) * 0.5;
Lightvalve	11:82d8768d7351	208	}
Lightvalve	13:747daba9cf59	209
jobuuu	6:df07d3491e3a	210	/************************************
jobuuu	1:e04e563be5ce	211	*** Program is operating!
jobuuu	6:df07d3491e3a	212	*************************************/
GiJeongKim	0:51c43836c1d7	213	while(1) {
Lightvalve	21:e5f1a43ea6f9	214	if(timer_while==1000) {
Lightvalve	17:1865016ca2e7	215	//i2c
Lightvalve	17:1865016ca2e7	216	read_field(i2c_slave_addr1);
Lightvalve	17:1865016ca2e7	217	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	21:e5f1a43ea6f9	218
Lightvalve	19:23b7c1ad8683	219	// if(LED==1) {
Lightvalve	19:23b7c1ad8683	220	// LED=0;
Lightvalve	19:23b7c1ad8683	221	// } else
Lightvalve	19:23b7c1ad8683	222	// LED = 1;
Lightvalve	17:1865016ca2e7	223	timer_while = 0;
Lightvalve	21:e5f1a43ea6f9	224
Lightvalve	17:1865016ca2e7	225	}
Lightvalve	17:1865016ca2e7	226	timer_while ++;
GiJeongKim	0:51c43836c1d7	227	}
jobuuu	1:e04e563be5ce	228	}
jobuuu	1:e04e563be5ce	229
Lightvalve	14:8e7590227d22	230	int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	231	{
Lightvalve	14:8e7590227d22	232
Lightvalve	13:747daba9cf59	233	int i = 0;
Lightvalve	13:747daba9cf59	234	int Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	14:8e7590227d22	235	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	236	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	237	if(i==0) {
Lightvalve	19:23b7c1ad8683	238	Ref_Valve_Pos_FF = ((int) 10.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve	14:8e7590227d22	239	} else {
Lightvalve	19:23b7c1ad8683	240	Ref_Valve_Pos_FF = ((int) 10.0(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 10*ID_index_array[i-1];
Lightvalve	13:747daba9cf59	241	}
Lightvalve	13:747daba9cf59	242	break;
Lightvalve	13:747daba9cf59	243	}
Lightvalve	13:747daba9cf59	244	}
Lightvalve	14:8e7590227d22	245	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	13:747daba9cf59	246	Ref_Valve_Pos_FF = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	247	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	13:747daba9cf59	248	Ref_Valve_Pos_FF = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	249	}
Lightvalve	19:23b7c1ad8683	250	Ref_Valve_Pos_FF_CAN = Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	251	return Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	252	}
jobuuu	6:df07d3491e3a	253
jobuuu	6:df07d3491e3a	254
Lightvalve	14:8e7590227d22	255	void VALVE_POS_CONTROL(double REF_VALVE_POS)
Lightvalve	14:8e7590227d22	256	{
Lightvalve	13:747daba9cf59	257	int i = 0;
Lightvalve	13:747daba9cf59	258
Lightvalve	13:747daba9cf59	259	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	260	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	261	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	262	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	263	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	264	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	265
Lightvalve	13:747daba9cf59	266	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	267
Lightvalve	14:8e7590227d22	268	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	269	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	270	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	271	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	272	}
Lightvalve	14:8e7590227d22	273
Lightvalve	18:b8adf1582ea3	274	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	275	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	276	if(i==0) {
Lightvalve	18:b8adf1582ea3	277	VALVE_PWM_RAW_FF = (double) 1000.0 / (double) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	278	} else {
Lightvalve	18:b8adf1582ea3	279	VALVE_PWM_RAW_FF = (double) 1000.0* (double) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (double) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	280	}
Lightvalve	13:747daba9cf59	281	break;
Lightvalve	13:747daba9cf59	282	}
Lightvalve	13:747daba9cf59	283	}
Lightvalve	19:23b7c1ad8683	284
Lightvalve	14:8e7590227d22	285	V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	286	}
Lightvalve	13:747daba9cf59	287
Lightvalve	14:8e7590227d22	288	#define LT_MAX_IDX 57
Lightvalve	14:8e7590227d22	289	double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0,
Lightvalve	14:8e7590227d22	290	-19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
Lightvalve	14:8e7590227d22	291	-9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
Lightvalve	14:8e7590227d22	292	1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
Lightvalve	14:8e7590227d22	293	11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
Lightvalve	14:8e7590227d22	294	25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
Lightvalve	14:8e7590227d22	295	}; // duty
Lightvalve	14:8e7590227d22	296	double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8,
Lightvalve	14:8e7590227d22	297	-196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
Lightvalve	14:8e7590227d22	298	-156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
Lightvalve	14:8e7590227d22	299	12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
Lightvalve	14:8e7590227d22	300	173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
Lightvalve	14:8e7590227d22	301	214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
Lightvalve	14:8e7590227d22	302	}; // mV
Lightvalve	13:747daba9cf59	303
Lightvalve	14:8e7590227d22	304	double PWM_duty_byLT(double Ref_V)
Lightvalve	14:8e7590227d22	305	{
Lightvalve	13:747daba9cf59	306	double PWM_duty = 0.0;
Lightvalve	13:747daba9cf59	307	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	13:747daba9cf59	308	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	309	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	13:747daba9cf59	310	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	311	} else {
Lightvalve	13:747daba9cf59	312	int idx = 0;
Lightvalve	13:747daba9cf59	313	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	13:747daba9cf59	314	double ini_x = LT_Voltage_Output[idx];
Lightvalve	13:747daba9cf59	315	double fin_x = LT_Voltage_Output[idx+1];
Lightvalve	13:747daba9cf59	316	double ini_y = LT_PWM_duty[idx];
Lightvalve	13:747daba9cf59	317	double fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	318	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	319	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	320	break;
Lightvalve	13:747daba9cf59	321	}
Lightvalve	13:747daba9cf59	322	}
Lightvalve	13:747daba9cf59	323	}
Lightvalve	14:8e7590227d22	324
Lightvalve	13:747daba9cf59	325	return PWM_duty;
Lightvalve	13:747daba9cf59	326	}
jobuuu	6:df07d3491e3a	327
jobuuu	2:a1c0a37df760	328	/*******************************************************************************
jobuuu	2:a1c0a37df760	329	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	330	*******************************************************************************/
jobuuu	2:a1c0a37df760	331
Lightvalve	19:23b7c1ad8683	332	//unsigned long CNT_TMR4 = 0;
Lightvalve	17:1865016ca2e7	333	double FREQ_TMR4 = (double)FREQ_10k;
Lightvalve	17:1865016ca2e7	334	double DT_TMR4 = (double)DT_10k;
jobuuu	1:e04e563be5ce	335	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	336	{
Lightvalve	19:23b7c1ad8683	337	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	338
Lightvalve	21:e5f1a43ea6f9	339	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	340	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	341	********************************************************/
Lightvalve	13:747daba9cf59	342
Lightvalve	19:23b7c1ad8683	343
Lightvalve	21:e5f1a43ea6f9	344	//Using LoadCell
Lightvalve	15:bd0d12728506	345	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	15:bd0d12728506	346	// //while((ADC1->SR & 0b10));
Lightvalve	15:bd0d12728506	347	// double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0));
Lightvalve	15:bd0d12728506	348	// double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
Lightvalve	15:bd0d12728506	349	// torq.sen = torq.sen(1.0-alpha_update_torque)+torque_new(alpha_update_torque);
Lightvalve	17:1865016ca2e7	350
Lightvalve	19:23b7c1ad8683	351
Lightvalve	17:1865016ca2e7	352
Lightvalve	21:e5f1a43ea6f9	353	//Pressure sensor A
Lightvalve	21:e5f1a43ea6f9	354	ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	21:e5f1a43ea6f9	355	//while((ADC1->SR & 0b10));
Lightvalve	21:e5f1a43ea6f9	356	double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0));
Lightvalve	21:e5f1a43ea6f9	357	double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	21:e5f1a43ea6f9	358	pres_A.sen = pres_A.sen(1.0-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	19:23b7c1ad8683	359
Lightvalve	21:e5f1a43ea6f9	360	//Pressure sensor 1B
Lightvalve	21:e5f1a43ea6f9	361	//ADC2->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	21:e5f1a43ea6f9	362	//while((ADC2->SR & 0b10));
Lightvalve	21:e5f1a43ea6f9	363	double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0));
Lightvalve	21:e5f1a43ea6f9	364	double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	21:e5f1a43ea6f9	365	pres_B.sen = pres_B.sen(1.0-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	21:e5f1a43ea6f9	366	torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	367
Lightvalve	17:1865016ca2e7	368
Lightvalve	17:1865016ca2e7	369
Lightvalve	21:e5f1a43ea6f9	370	//Current
Lightvalve	21:e5f1a43ea6f9	371	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	11:82d8768d7351	372	// a1=ADC2->DR;
Lightvalve	21:e5f1a43ea6f9	373	int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	374	//while((ADC3->SR & 0b10));
Lightvalve	21:e5f1a43ea6f9	375	double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.03.141000.0)); // f_cutoff : 500Hz
Lightvalve	21:e5f1a43ea6f9	376	double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
Lightvalve	21:e5f1a43ea6f9	377	cur.sen=cur.sen(1.0-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	21:e5f1a43ea6f9	378	cur.sen = raw_cur;
Lightvalve	17:1865016ca2e7	379
Lightvalve	21:e5f1a43ea6f9	380	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	381	*** Timer Counting & etc.
Lightvalve	21:e5f1a43ea6f9	382	********************************************************/
Lightvalve	21:e5f1a43ea6f9	383	//CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	384	}
Lightvalve	11:82d8768d7351	385	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	386	}
Lightvalve	19:23b7c1ad8683	387
Lightvalve	19:23b7c1ad8683	388
Lightvalve	18:b8adf1582ea3	389	int j =0;
Lightvalve	19:23b7c1ad8683	390	//unsigned long CNT_TMR3 = 0;
Lightvalve	11:82d8768d7351	391	double FREQ_TMR3 = (double)FREQ_5k;
Lightvalve	11:82d8768d7351	392	double DT_TMR3 = (double)DT_5k;
Lightvalve	11:82d8768d7351	393	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	394	{
Lightvalve	19:23b7c1ad8683	395	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	12:6f2531038ea4	396	ENC_UPDATE();
Lightvalve	13:747daba9cf59	397
Lightvalve	19:23b7c1ad8683	398	// CONTROL LOOP ------------------------------------------------------------
Lightvalve	13:747daba9cf59	399
Lightvalve	14:8e7590227d22	400	switch (CONTROL_MODE) {
Lightvalve	14:8e7590227d22	401	case MODE_NO_ACT: {
Lightvalve	14:8e7590227d22	402	V_out = 0;
Lightvalve	13:747daba9cf59	403	break;
Lightvalve	13:747daba9cf59	404	}
Lightvalve	14:8e7590227d22	405
Lightvalve	14:8e7590227d22	406	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	18:b8adf1582ea3	407	V_out = (double) Vout.ref;
Lightvalve	14:8e7590227d22	408	break;
Lightvalve	14:8e7590227d22	409	}
Lightvalve	14:8e7590227d22	410
Lightvalve	14:8e7590227d22	411	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	14:8e7590227d22	412	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	413	break;
Lightvalve	14:8e7590227d22	414	}
Lightvalve	14:8e7590227d22	415
Lightvalve	14:8e7590227d22	416	case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve	13:747daba9cf59	417	double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
Lightvalve	13:747daba9cf59	418	double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
Lightvalve	13:747daba9cf59	419	double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
Lightvalve	14:8e7590227d22	420
Lightvalve	13:747daba9cf59	421	// feedback input for position control
Lightvalve	14:8e7590227d22	422	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	423	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	424	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	425	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	426	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	427	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	428	// PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	14:8e7590227d22	429	PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve	13:747daba9cf59	430	PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
Lightvalve	14:8e7590227d22	431
Lightvalve	13:747daba9cf59	432	// feedforward input for position control
Lightvalve	14:8e7590227d22	433	double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	13:747daba9cf59	434	double K_ff = 0.9;
Lightvalve	14:8e7590227d22	435	if(Ref_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve	14:8e7590227d22	436	if(Ref_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve	14:8e7590227d22	437	PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;
Lightvalve	14:8e7590227d22	438
Lightvalve	13:747daba9cf59	439	// torque feedback
Lightvalve	15:bd0d12728506	440	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	441	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	442	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	443	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	444	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	445	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	446	// VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	13:747daba9cf59	447	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve	19:23b7c1ad8683	448
Lightvalve	13:747daba9cf59	449	PWM_RAW_FORCE_FB = 0.0;
Lightvalve	14:8e7590227d22	450
Lightvalve	14:8e7590227d22	451	V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve	14:8e7590227d22	452
Lightvalve	13:747daba9cf59	453	break;
Lightvalve	13:747daba9cf59	454	}
Lightvalve	14:8e7590227d22	455
Lightvalve	14:8e7590227d22	456	case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve	13:747daba9cf59	457	double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
Lightvalve	19:23b7c1ad8683	458	//double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
Lightvalve	13:747daba9cf59	459	double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
Lightvalve	19:23b7c1ad8683	460	//int DDV_JOINT_CAN = 0;
Lightvalve	13:747daba9cf59	461	// feedback input for position control
Lightvalve	14:8e7590227d22	462	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	463	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	464	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	465	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	466	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	467	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	468	VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	13:747daba9cf59	469	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
Lightvalve	14:8e7590227d22	470
Lightvalve	14:8e7590227d22	471
Lightvalve	13:747daba9cf59	472	//Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve	13:747daba9cf59	473	// feedforward input for position control
Lightvalve	14:8e7590227d22	474	// double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	475	// double K_ff = 0.9;
Lightvalve	14:8e7590227d22	476	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve	14:8e7590227d22	477	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve	14:8e7590227d22	478	// VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
Lightvalve	14:8e7590227d22	479
Lightvalve	13:747daba9cf59	480	// torque feedback
Lightvalve	15:bd0d12728506	481	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	482	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	483	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	484	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	485	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	486	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	487	// VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	13:747daba9cf59	488	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve	13:747daba9cf59	489	VALVE_POS_RAW_FORCE_FB = 0.0;
Lightvalve	14:8e7590227d22	490
Lightvalve	19:23b7c1ad8683	491	//valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve	19:23b7c1ad8683	492	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	14:8e7590227d22	493	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	494	break;
Lightvalve	13:747daba9cf59	495	}
Lightvalve	14:8e7590227d22	496
Lightvalve	14:8e7590227d22	497	case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	498
Lightvalve	13:747daba9cf59	499	break;
Lightvalve	13:747daba9cf59	500	}
Lightvalve	14:8e7590227d22	501
Lightvalve	14:8e7590227d22	502	case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve	14:8e7590227d22	503	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	504	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	505	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	506	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	507	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	508	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	509	VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve	14:8e7590227d22	510
Lightvalve	14:8e7590227d22	511	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	512	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	513	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	514	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	515	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	516	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	517	VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	518
Lightvalve	13:747daba9cf59	519	VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve	14:8e7590227d22	520
Lightvalve	14:8e7590227d22	521	V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	522
Lightvalve	13:747daba9cf59	523	CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
Lightvalve	13:747daba9cf59	524	CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2pi/655365000(pulse/tic to rad/s) 0.5757=0.025250.020.00952601000 (radius area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve	13:747daba9cf59	525	if (DIR_VALVE > 0) {
Lightvalve	13:747daba9cf59	526	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]1.0 - 0.0) + 0.0;
Lightvalve	13:747daba9cf59	527	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0) / (VALVE_GAIN_LPM_PER_V[2]2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve	13:747daba9cf59	528	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0) / (VALVE_GAIN_LPM_PER_V[4]3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve	13:747daba9cf59	529	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0) / (VALVE_GAIN_LPM_PER_V[6]4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve	13:747daba9cf59	530	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0) / (VALVE_GAIN_LPM_PER_V[8]5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve	13:747daba9cf59	531	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve	13:747daba9cf59	532	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1](-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
Lightvalve	13:747daba9cf59	533	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3](-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
Lightvalve	13:747daba9cf59	534	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5](-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
Lightvalve	13:747daba9cf59	535	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7](-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
Lightvalve	13:747daba9cf59	536	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9](-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
Lightvalve	13:747daba9cf59	537	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	538	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	539	} else {
Lightvalve	13:747daba9cf59	540	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]1.0 - 0.0) + 0.0;
Lightvalve	13:747daba9cf59	541	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0) / (VALVE_GAIN_LPM_PER_V[2]2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve	13:747daba9cf59	542	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0) / (VALVE_GAIN_LPM_PER_V[4]3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve	13:747daba9cf59	543	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0) / (VALVE_GAIN_LPM_PER_V[6]4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve	13:747daba9cf59	544	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0) / (VALVE_GAIN_LPM_PER_V[8]5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve	13:747daba9cf59	545	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve	13:747daba9cf59	546	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0](-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
Lightvalve	13:747daba9cf59	547	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2](-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
Lightvalve	13:747daba9cf59	548	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4](-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
Lightvalve	13:747daba9cf59	549	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6](-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
Lightvalve	13:747daba9cf59	550	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8](-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
Lightvalve	13:747daba9cf59	551	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	552	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	553	}
Lightvalve	13:747daba9cf59	554	// VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
Lightvalve	14:8e7590227d22	555
Lightvalve	13:747daba9cf59	556	if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
Lightvalve	13:747daba9cf59	557	else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
Lightvalve	14:8e7590227d22	558
Lightvalve	18:b8adf1582ea3	559	V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve	14:8e7590227d22	560	break;
Lightvalve	14:8e7590227d22	561	}
Lightvalve	14:8e7590227d22	562
Lightvalve	14:8e7590227d22	563	case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve	14:8e7590227d22	564	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	565	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	566	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	567	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	568	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	569	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	14:8e7590227d22	570	VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve	14:8e7590227d22	571
Lightvalve	15:bd0d12728506	572	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	573	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	574	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	575	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	576	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	577	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	14:8e7590227d22	578	VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	579
Lightvalve	14:8e7590227d22	580	valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	581	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	19:23b7c1ad8683	582
Lightvalve	14:8e7590227d22	583	break;
Lightvalve	14:8e7590227d22	584	}
Lightvalve	14:8e7590227d22	585
Lightvalve	14:8e7590227d22	586	case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	587
Lightvalve	14:8e7590227d22	588	break;
Lightvalve	14:8e7590227d22	589	}
Lightvalve	14:8e7590227d22	590
Lightvalve	19:23b7c1ad8683	591
Lightvalve	19:23b7c1ad8683	592	case MODE_TEST_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	593	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	594	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	595	}
Lightvalve	19:23b7c1ad8683	596	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	597
Lightvalve	19:23b7c1ad8683	598	// Set Current Reference
Lightvalve	14:8e7590227d22	599	double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve	14:8e7590227d22	600	double I_REF_MID = 0.0;
Lightvalve	14:8e7590227d22	601	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	602	I_REF = I_REF_MID + 1.0;
Lightvalve	14:8e7590227d22	603	} else {
Lightvalve	14:8e7590227d22	604	I_REF = I_REF_MID - 1.0;
Lightvalve	19:23b7c1ad8683	605	}
Lightvalve	14:8e7590227d22	606	// double T = 1.0; // wave period
Lightvalve	14:8e7590227d22	607	// I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
Lightvalve	14:8e7590227d22	608	// I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
Lightvalve	19:23b7c1ad8683	609
Lightvalve	14:8e7590227d22	610	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	19:23b7c1ad8683	611	CAN_TX_PRES((int16_t)(I_REF1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	612	}
Lightvalve	14:8e7590227d22	613	break;
Lightvalve	14:8e7590227d22	614	}
Lightvalve	19:23b7c1ad8683	615
Lightvalve	19:23b7c1ad8683	616	case MODE_TEST_PWM_CONTROL: {
Lightvalve	14:8e7590227d22	617	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	618	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	619	}
Lightvalve	19:23b7c1ad8683	620	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	621
Lightvalve	14:8e7590227d22	622	// Set PWM reference
Lightvalve	14:8e7590227d22	623	double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve	19:23b7c1ad8683	624	//double I_REF_MID = 0.0;
Lightvalve	14:8e7590227d22	625	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	626	CUR_PWM = 1000;
Lightvalve	14:8e7590227d22	627	} else {
Lightvalve	14:8e7590227d22	628	CUR_PWM = -1000;
Lightvalve	19:23b7c1ad8683	629	}
Lightvalve	19:23b7c1ad8683	630
Lightvalve	14:8e7590227d22	631	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	14:8e7590227d22	632	CAN_TX_PRES((int16_t)(u_CUR[0]1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	633	}
Lightvalve	13:747daba9cf59	634	break;
Lightvalve	13:747daba9cf59	635	}
Lightvalve	19:23b7c1ad8683	636
Lightvalve	19:23b7c1ad8683	637
Lightvalve	14:8e7590227d22	638	case MODE_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	639
Lightvalve	14:8e7590227d22	640	cur.ref = cur.ref; // Unit : mA
Lightvalve	14:8e7590227d22	641	CurrentControl();
Lightvalve	14:8e7590227d22	642	break;
Lightvalve	14:8e7590227d22	643	}
Lightvalve	19:23b7c1ad8683	644
Lightvalve	14:8e7590227d22	645	case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve	14:8e7590227d22	646	double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve	14:8e7590227d22	647	double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve	14:8e7590227d22	648	double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve	14:8e7590227d22	649	double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	650
Lightvalve	14:8e7590227d22	651	// feedback input for position control
Lightvalve	14:8e7590227d22	652	pos.err = pos.ref - pos.sen;
Lightvalve	14:8e7590227d22	653	double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.03.141550.0)); // f_cutoff : 50Hz
Lightvalve	14:8e7590227d22	654	double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve	14:8e7590227d22	655	pos.err_diff = (1.0-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	656	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	657	I_REF_POS_FB = 0.001((double)P_GAIN_JOINT_POSITION pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve	19:23b7c1ad8683	658
Lightvalve	14:8e7590227d22	659	// feedforward input for position control
Lightvalve	14:8e7590227d22	660	double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	661	double K_ff = 1.3;
Lightvalve	14:8e7590227d22	662	double K_v = 0.0;
Lightvalve	14:8e7590227d22	663	if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	664	if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	665	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	666
Lightvalve	14:8e7590227d22	667	// feedback input for position control
Lightvalve	14:8e7590227d22	668	I_REF_FORCE_FB = 0.0;
Lightvalve	19:23b7c1ad8683	669
Lightvalve	14:8e7590227d22	670	// feedforward input for position control
Lightvalve	14:8e7590227d22	671	I_REF_FORCE_FF = 0.0;
Lightvalve	19:23b7c1ad8683	672
Lightvalve	14:8e7590227d22	673	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	674
Lightvalve	14:8e7590227d22	675	CurrentControl();
Lightvalve	19:23b7c1ad8683	676
Lightvalve	13:747daba9cf59	677	break;
Lightvalve	13:747daba9cf59	678	}
Lightvalve	19:23b7c1ad8683	679
Lightvalve	14:8e7590227d22	680	case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve	19:23b7c1ad8683	681	//double T_REF = 0.0; // Torque Reference
Lightvalve	14:8e7590227d22	682	double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve	14:8e7590227d22	683	double I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve	19:23b7c1ad8683	684
Lightvalve	14:8e7590227d22	685	// feedback input for position control
Lightvalve	19:23b7c1ad8683	686	//double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	19:23b7c1ad8683	687	//double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	19:23b7c1ad8683	688	//double K_spring = 0.7;
Lightvalve	19:23b7c1ad8683	689	//double D_damper = 0.02;
Lightvalve	14:8e7590227d22	690	// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve	19:23b7c1ad8683	691
Lightvalve	14:8e7590227d22	692	// torque feedback
Lightvalve	15:bd0d12728506	693	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	694	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	695	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	696	torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
Lightvalve	19:23b7c1ad8683	697	I_REF_FORCE_FB = 0.001((double)P_GAIN_JOINT_TORQUE torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	19:23b7c1ad8683	698
Lightvalve	14:8e7590227d22	699	// velocity compensation for torque control
Lightvalve	19:23b7c1ad8683	700	double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	701	double K_vc = 1.5; // Velocity comp. gain
Lightvalve	19:23b7c1ad8683	702	double K_v = 0.0; // Valve gain
Lightvalve	14:8e7590227d22	703	if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
Lightvalve	14:8e7590227d22	704	if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
Lightvalve	14:8e7590227d22	705	I_REF_VC = K_vcK_vJoint_Vel_Act;
Lightvalve	19:23b7c1ad8683	706
Lightvalve	14:8e7590227d22	707	cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	708	// cur.ref = I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	709
Lightvalve	19:23b7c1ad8683	710	double I_MAX = 10.00; // Maximum Current : 10mV
Lightvalve	14:8e7590227d22	711	double Ka = 1.0/I_GAIN_JOINT_TORQUE;
Lightvalve	14:8e7590227d22	712	if(cur.ref > I_MAX) {
Lightvalve	14:8e7590227d22	713	double I_rem = cur.ref-I_MAX;
Lightvalve	14:8e7590227d22	714	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	715	cur.ref = I_MAX;
Lightvalve	14:8e7590227d22	716	torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	717	} else if(cur.ref < -I_MAX) {
Lightvalve	14:8e7590227d22	718	double I_rem = cur.ref-(-I_MAX);
Lightvalve	19:23b7c1ad8683	719	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	720	cur.ref = -I_MAX;
Lightvalve	14:8e7590227d22	721	torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	722	}
Lightvalve	19:23b7c1ad8683	723
Lightvalve	14:8e7590227d22	724	CurrentControl();
Lightvalve	19:23b7c1ad8683	725
Lightvalve	19:23b7c1ad8683	726
Lightvalve	14:8e7590227d22	727	/*
Lightvalve	14:8e7590227d22	728	double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve	14:8e7590227d22	729	double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve	14:8e7590227d22	730	double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve	14:8e7590227d22	731	double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	732
Lightvalve	14:8e7590227d22	733	// feedback input for position control
Lightvalve	14:8e7590227d22	734	pos.err = pos.ref - pos.sen;
Lightvalve	14:8e7590227d22	735	double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.03.141550.0)); // f_cutoff : 50Hz
Lightvalve	14:8e7590227d22	736	double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve	14:8e7590227d22	737	pos.err_diff = (1.0-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	738	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	739	I_REF_POS_FB = 0.001((double)P_GAIN_JOINT_POSITION pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve	19:23b7c1ad8683	740
Lightvalve	14:8e7590227d22	741	// feedforward input for position control
Lightvalve	14:8e7590227d22	742	double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	14:8e7590227d22	743	double K_ff = 1.3;
Lightvalve	14:8e7590227d22	744	double K_v = 0.0;
Lightvalve	14:8e7590227d22	745	if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	746	if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	747	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	748
Lightvalve	14:8e7590227d22	749	// feedback input for position control
Lightvalve	14:8e7590227d22	750	I_REF_FORCE_FB = 0.0;
Lightvalve	19:23b7c1ad8683	751
Lightvalve	14:8e7590227d22	752	// feedforward input for position control
Lightvalve	14:8e7590227d22	753	I_REF_FORCE_FF = 0.0;
Lightvalve	19:23b7c1ad8683	754
Lightvalve	14:8e7590227d22	755	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	756
Lightvalve	14:8e7590227d22	757	CurrentControl();
Lightvalve	14:8e7590227d22	758	*/
Lightvalve	19:23b7c1ad8683	759
Lightvalve	13:747daba9cf59	760	break;
Lightvalve	13:747daba9cf59	761	}
Lightvalve	14:8e7590227d22	762
Lightvalve	14:8e7590227d22	763	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	764	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	765	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	766	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	767
Lightvalve	14:8e7590227d22	768	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	13:747daba9cf59	769	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
Lightvalve	13:747daba9cf59	770	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	771
Lightvalve	13:747daba9cf59	772	TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	773
Lightvalve	13:747daba9cf59	774	if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
Lightvalve	13:747daba9cf59	775	if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve	19:23b7c1ad8683	776
Lightvalve	16:903b5a4433b4	777	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	778
Lightvalve	16:903b5a4433b4	779	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	16:903b5a4433b4	780	dac_1 = TORQUE_VREF / 3.3;
Lightvalve	13:747daba9cf59	781	}
Lightvalve	13:747daba9cf59	782	} else {
Lightvalve	13:747daba9cf59	783	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	784	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	785	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	786	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	787
Lightvalve	16:903b5a4433b4	788	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	789
Lightvalve	16:903b5a4433b4	790	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	19:23b7c1ad8683	791
Lightvalve	17:1865016ca2e7	792	//pc.printf("%f\n", TORQUE_VREF);
Lightvalve	16:903b5a4433b4	793	dac_1 = TORQUE_VREF / 3.3;
Lightvalve	14:8e7590227d22	794
Lightvalve	13:747daba9cf59	795	}
Lightvalve	14:8e7590227d22	796	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	797	break;
Lightvalve	19:23b7c1ad8683	798	}
Lightvalve	14:8e7590227d22	799
Lightvalve	14:8e7590227d22	800	case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	14:8e7590227d22	801	if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	13:747daba9cf59	802	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	803	else temp_time = 0;
Lightvalve	13:747daba9cf59	804	}
Lightvalve	13:747daba9cf59	805	if (need_enc_init) {
Lightvalve	14:8e7590227d22	806	if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	807	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	808	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	809	} else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	810	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	811	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	812	} else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	13:747daba9cf59	813	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	814	}
Lightvalve	14:8e7590227d22	815
Lightvalve	14:8e7590227d22	816	if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	817	V_out = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	13:747daba9cf59	818	VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	14:8e7590227d22	819
Lightvalve	14:8e7590227d22	820	} else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
Lightvalve	18:b8adf1582ea3	821	V_out = 0;
Lightvalve	13:747daba9cf59	822	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	14:8e7590227d22	823	} else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	824	if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	825	else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	826	else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	13:747daba9cf59	827	else DZ_temp_cnt2 = DZ_end;
Lightvalve	13:747daba9cf59	828	CUR_VELOCITY_sum = 0;
Lightvalve	14:8e7590227d22	829	} else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	830	if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	14:8e7590227d22	831
Lightvalve	13:747daba9cf59	832	// Position of Dead Zone
Lightvalve	13:747daba9cf59	833	// (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	14:8e7590227d22	834	// \| / \| / \|/
Lightvalve	13:747daba9cf59	835	// \| ______/ ___\|___/ ______/\|
Lightvalve	13:747daba9cf59	836	// \|/ / \| / \|
Lightvalve	13:747daba9cf59	837	// /\| / \| / \|
Lightvalve	13:747daba9cf59	838	// 0V 0V 0V
Lightvalve	14:8e7590227d22	839
Lightvalve	13:747daba9cf59	840	if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	14:8e7590227d22	841	if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	13:747daba9cf59	842	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	13:747daba9cf59	843	} else {
Lightvalve	18:b8adf1582ea3	844	V_out -= DZ_dir;
Lightvalve	13:747daba9cf59	845	if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	13:747daba9cf59	846	CUR_VELOCITY_sum = 0;
Lightvalve	13:747daba9cf59	847	}
Lightvalve	13:747daba9cf59	848	if (DZ_temp_cnt == 5) {
Lightvalve	18:b8adf1582ea3	849	if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	18:b8adf1582ea3	850	else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	13:747daba9cf59	851	DZ_dir = -DZ_dir;
Lightvalve	13:747daba9cf59	852	DZ_temp_cnt = 0;
Lightvalve	13:747daba9cf59	853	DZ_temp_cnt2++;
Lightvalve	13:747daba9cf59	854	}
Lightvalve	13:747daba9cf59	855	} else {
Lightvalve	14:8e7590227d22	856	TMR3_COUNT_DEADZONE = -1;
Lightvalve	13:747daba9cf59	857	VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	13:747daba9cf59	858	if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	13:747daba9cf59	859	VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	860	VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	861	}
Lightvalve	18:b8adf1582ea3	862	V_out = 0;
Lightvalve	19:23b7c1ad8683	863
Lightvalve	16:903b5a4433b4	864	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	865
Lightvalve	16:903b5a4433b4	866	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	16:903b5a4433b4	867	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	14:8e7590227d22	868
Lightvalve	13:747daba9cf59	869	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	870	DZ_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	871	}
Lightvalve	13:747daba9cf59	872	}
Lightvalve	14:8e7590227d22	873	TMR3_COUNT_DEADZONE++;
Lightvalve	13:747daba9cf59	874	break;
Lightvalve	13:747daba9cf59	875	}
Lightvalve	14:8e7590227d22	876
Lightvalve	14:8e7590227d22	877	case MODE_FIND_HOME: {
Lightvalve	19:23b7c1ad8683	878
Lightvalve	19:23b7c1ad8683	879
Lightvalve	14:8e7590227d22	880	////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
Lightvalve	14:8e7590227d22	881	if (FLAG_FIND_HOME == true) {
Lightvalve	14:8e7590227d22	882	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	883	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	884	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	14:8e7590227d22	885	pos.ref = pos.sen;
Lightvalve	14:8e7590227d22	886	FLAG_FIND_HOME = false;
Lightvalve	14:8e7590227d22	887	}
Lightvalve	14:8e7590227d22	888
Lightvalve	14:8e7590227d22	889	int check_enc = (TMR_FREQ_5k/10);
Lightvalve	14:8e7590227d22	890	if(cnt_findhome%check_enc == 0) {
Lightvalve	14:8e7590227d22	891	FINDHOME_POSITION = pos.sen;
Lightvalve	14:8e7590227d22	892	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	14:8e7590227d22	893	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	14:8e7590227d22	894	}
Lightvalve	14:8e7590227d22	895	cnt_findhome++;
Lightvalve	14:8e7590227d22	896	if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve	14:8e7590227d22	897
Lightvalve	14:8e7590227d22	898	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	14:8e7590227d22	899	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	14:8e7590227d22	900	} else {
Lightvalve	14:8e7590227d22	901	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	902	}
Lightvalve	14:8e7590227d22	903
Lightvalve	14:8e7590227d22	904	if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	905	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	14:8e7590227d22	906	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
Lightvalve	14:8e7590227d22	907	else pos.ref = pos.ref - 1.0;
Lightvalve	14:8e7590227d22	908	pos.err = pos.ref - (double) pos.sen;
Lightvalve	14:8e7590227d22	909	V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
Lightvalve	18:b8adf1582ea3	910	// if (HOMEPOS_OFFSET > 0) V_out = 100;
Lightvalve	18:b8adf1582ea3	911	// else V_out = -100;
Lightvalve	14:8e7590227d22	912	} else {
Lightvalve	14:8e7590227d22	913	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	14:8e7590227d22	914	FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve	14:8e7590227d22	915	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	14:8e7590227d22	916	REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	917	TMR3_COUNT_REFERENCE = 0;
Lightvalve	14:8e7590227d22	918	vel.ref = 0.0;
Lightvalve	14:8e7590227d22	919	//REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve	14:8e7590227d22	920	CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
Lightvalve	14:8e7590227d22	921
Lightvalve	14:8e7590227d22	922	FINDHOME_POSITION = 0;
Lightvalve	14:8e7590227d22	923	FINDHOME_POSITION_OLD = 0;
Lightvalve	14:8e7590227d22	924	FINDHOME_VELOCITY = 0;
Lightvalve	14:8e7590227d22	925	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	926	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	927	}
Lightvalve	19:23b7c1ad8683	928
Lightvalve	14:8e7590227d22	929	/*
Lightvalve	14:8e7590227d22	930	////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
Lightvalve	13:747daba9cf59	931	if (FLAG_FIND_HOME == true) {
Lightvalve	13:747daba9cf59	932	cnt_findhome = 0;
Lightvalve	13:747daba9cf59	933	cnt_vel_findhome = 0;
Lightvalve	13:747daba9cf59	934	REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	14:8e7590227d22	935	Ref_Joint_Pos = pos.sen;
Lightvalve	13:747daba9cf59	936	FLAG_FIND_HOME = false;
Lightvalve	13:747daba9cf59	937	}
Lightvalve	19:23b7c1ad8683	938
Lightvalve	14:8e7590227d22	939	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	14:8e7590227d22	940	if(cnt_findhome%cnt_check_enc == 0){
Lightvalve	14:8e7590227d22	941	FINDHOME_POSITION = pos.sen;
Lightvalve	13:747daba9cf59	942	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	13:747daba9cf59	943	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	13:747daba9cf59	944	} cnt_findhome++;
Lightvalve	13:747daba9cf59	945	if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve	19:23b7c1ad8683	946
Lightvalve	13:747daba9cf59	947	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	13:747daba9cf59	948	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	13:747daba9cf59	949	} else {
Lightvalve	13:747daba9cf59	950	cnt_vel_findhome = 0;
Lightvalve	13:747daba9cf59	951	}
Lightvalve	19:23b7c1ad8683	952
Lightvalve	14:8e7590227d22	953	if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
Lightvalve	13:747daba9cf59	954	REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	13:747daba9cf59	955	if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
Lightvalve	13:747daba9cf59	956	else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
Lightvalve	14:8e7590227d22	957	pos.err = Ref_Joint_Pos - pos.sen;
Lightvalve	19:23b7c1ad8683	958	I_REF = 0.001*((double)pos.err);
Lightvalve	14:8e7590227d22	959	if(I_REF>5.0) I_REF = 5.0;
Lightvalve	14:8e7590227d22	960	if(I_REF<-5.0) I_REF = -5.0;
Lightvalve	14:8e7590227d22	961	cur.ref = I_REF;
Lightvalve	14:8e7590227d22	962	CurrentControl();
Lightvalve	13:747daba9cf59	963	} else {
Lightvalve	13:747daba9cf59	964	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	13:747daba9cf59	965	FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve	13:747daba9cf59	966	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	13:747daba9cf59	967	REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	968	TMR3_COUNT_REFERENCE = 0;
Lightvalve	13:747daba9cf59	969	Ref_Joint_Vel = 0.0;
Lightvalve	13:747daba9cf59	970	REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve	14:8e7590227d22	971	CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	972
Lightvalve	13:747daba9cf59	973	FINDHOME_POSITION = 0;
Lightvalve	13:747daba9cf59	974	FINDHOME_POSITION_OLD = 0;
Lightvalve	13:747daba9cf59	975	FINDHOME_VELOCITY = 0;
Lightvalve	13:747daba9cf59	976	cnt_findhome = 0;
Lightvalve	13:747daba9cf59	977	cnt_vel_findhome = 0;
Lightvalve	13:747daba9cf59	978	}
Lightvalve	14:8e7590227d22	979	*/
Lightvalve	19:23b7c1ad8683	980
Lightvalve	13:747daba9cf59	981	break;
Lightvalve	13:747daba9cf59	982	}
Lightvalve	14:8e7590227d22	983
Lightvalve	14:8e7590227d22	984	case MODE_VALVE_GAIN_SETTING: {
Lightvalve	14:8e7590227d22	985	if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	13:747daba9cf59	986	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	987	else {
Lightvalve	18:b8adf1582ea3	988	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	13:747daba9cf59	989	temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
Lightvalve	13:747daba9cf59	990	}
Lightvalve	13:747daba9cf59	991	}
Lightvalve	13:747daba9cf59	992	if (need_enc_init) {
Lightvalve	14:8e7590227d22	993	if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	994	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	995	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	996	} else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	997	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	998	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	999	} else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1000	need_enc_init = false;
Lightvalve	13:747daba9cf59	1001	check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	1002	check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	1003	check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	13:747daba9cf59	1004	}
Lightvalve	13:747daba9cf59	1005	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	1006	}
Lightvalve	14:8e7590227d22	1007	TMR3_COUNT_FLOWRATE++;
Lightvalve	14:8e7590227d22	1008	if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	13:747daba9cf59	1009	if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	18:b8adf1582ea3	1010	VALVE_VOLTAGE = 1000.0 * (double) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1011	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1012	if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1013	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1014	} else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	13:747daba9cf59	1015	VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	13:747daba9cf59	1016	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	13:747daba9cf59	1017	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1018	}
Lightvalve	13:747daba9cf59	1019	} else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	13:747daba9cf59	1020	VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1021	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1022	if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1023	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1024	} else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	13:747daba9cf59	1025	VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	13:747daba9cf59	1026	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	13:747daba9cf59	1027	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1028	}
Lightvalve	13:747daba9cf59	1029	}
Lightvalve	13:747daba9cf59	1030	if (fl_temp_cnt2 == 100) {
Lightvalve	19:23b7c1ad8683	1031
Lightvalve	16:903b5a4433b4	1032	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1033
Lightvalve	16:903b5a4433b4	1034	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
Lightvalve	13:747daba9cf59	1035	cur_vel_sum = 0;
Lightvalve	13:747daba9cf59	1036	fl_temp_cnt = 0;
Lightvalve	13:747daba9cf59	1037	fl_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	1038	flag_flowrate++;
Lightvalve	13:747daba9cf59	1039	}
Lightvalve	13:747daba9cf59	1040	if (flag_flowrate == 10) {
Lightvalve	18:b8adf1582ea3	1041	V_out = 0;
Lightvalve	13:747daba9cf59	1042	flag_flowrate = 0;
Lightvalve	14:8e7590227d22	1043	TMR3_COUNT_FLOWRATE = 0;
Lightvalve	13:747daba9cf59	1044	valve_gain_repeat_cnt++;
Lightvalve	13:747daba9cf59	1045	if (valve_gain_repeat_cnt >= 1) {
Lightvalve	13:747daba9cf59	1046	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1047	valve_gain_repeat_cnt = 0;
Lightvalve	13:747daba9cf59	1048	}
Lightvalve	14:8e7590227d22	1049
Lightvalve	13:747daba9cf59	1050	}
Lightvalve	13:747daba9cf59	1051	break;
Lightvalve	13:747daba9cf59	1052	}
Lightvalve	14:8e7590227d22	1053
Lightvalve	13:747daba9cf59	1054	}
Lightvalve	14:8e7590227d22	1055
Lightvalve	14:8e7590227d22	1056	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1057	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1058	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1059	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1060	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1061
Lightvalve	14:8e7590227d22	1062	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	13:747daba9cf59	1063	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
Lightvalve	13:747daba9cf59	1064	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
Lightvalve	13:747daba9cf59	1065	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1066	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1067
Lightvalve	16:903b5a4433b4	1068	double VREF_NullingGain = 0.003;
Lightvalve	13:747daba9cf59	1069	PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve	13:747daba9cf59	1070	PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve	14:8e7590227d22	1071
Lightvalve	13:747daba9cf59	1072	if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
Lightvalve	13:747daba9cf59	1073	if (PRES_A_VREF < 0) PRES_A_VREF = 0;
Lightvalve	13:747daba9cf59	1074	if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
Lightvalve	13:747daba9cf59	1075	if (PRES_B_VREF < 0) PRES_B_VREF = 0;
Lightvalve	19:23b7c1ad8683	1076
Lightvalve	16:903b5a4433b4	1077	dac_1 = PRES_A_VREF / 3.3;
Lightvalve	16:903b5a4433b4	1078	dac_2 = PRES_B_VREF / 3.3;
Lightvalve	13:747daba9cf59	1079	}
Lightvalve	13:747daba9cf59	1080	} else {
Lightvalve	13:747daba9cf59	1081	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1082	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1083	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1084	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1085	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1086	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1087
Lightvalve	16:903b5a4433b4	1088	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1089
Lightvalve	15:bd0d12728506	1090	dac_1 = PRES_A_VREF / 3.3;
Lightvalve	15:bd0d12728506	1091	dac_2 = PRES_B_VREF / 3.3;
Lightvalve	17:1865016ca2e7	1092	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1093	}
Lightvalve	14:8e7590227d22	1094	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1095	break;
Lightvalve	13:747daba9cf59	1096	}
Lightvalve	14:8e7590227d22	1097
Lightvalve	14:8e7590227d22	1098	case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	14:8e7590227d22	1099	if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1100	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1101	if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1102	CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	13:747daba9cf59	1103	}
Lightvalve	14:8e7590227d22	1104	} else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1105	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1106	if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1107	CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	13:747daba9cf59	1108	}
Lightvalve	13:747daba9cf59	1109	} else {
Lightvalve	13:747daba9cf59	1110	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1111	TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	18:b8adf1582ea3	1112	V_out = 0;
Lightvalve	18:b8adf1582ea3	1113	PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_A_NULL;
Lightvalve	18:b8adf1582ea3	1114	PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve	18:b8adf1582ea3	1115	PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_B_NULL;
Lightvalve	18:b8adf1582ea3	1116	PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve	13:747daba9cf59	1117	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1118	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1119	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1120	CUR_PRES_B_mean = 0;
Lightvalve	19:23b7c1ad8683	1121
Lightvalve	16:903b5a4433b4	1122	ROM_RESET_DATA();
Lightvalve	14:8e7590227d22	1123
Lightvalve	16:903b5a4433b4	1124	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
Lightvalve	16:903b5a4433b4	1125	//spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
Lightvalve	13:747daba9cf59	1126	}
Lightvalve	14:8e7590227d22	1127	TMR3_COUNT_PRES_CALIB++;
Lightvalve	13:747daba9cf59	1128	break;
Lightvalve	13:747daba9cf59	1129	}
Lightvalve	14:8e7590227d22	1130
Lightvalve	14:8e7590227d22	1131	case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	14:8e7590227d22	1132	if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
Lightvalve	18:b8adf1582ea3	1133	V_out = PWM_out * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
Lightvalve	18:b8adf1582ea3	1134	if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	18:b8adf1582ea3	1135	else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1136	TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	14:8e7590227d22	1137	if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	1138	TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	17:1865016ca2e7	1139	V_out = 0;
Lightvalve	13:747daba9cf59	1140	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1141	}
Lightvalve	13:747daba9cf59	1142	break;
Lightvalve	13:747daba9cf59	1143	}
Lightvalve	14:8e7590227d22	1144
Lightvalve	14:8e7590227d22	1145	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	13:747daba9cf59	1146	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1147
Lightvalve	14:8e7590227d22	1148	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	18:b8adf1582ea3	1149	V_out = 3000.0 * sin(23.14VALVE_ID_timer/TMR_FREQ_5k * 100.0);
Lightvalve	14:8e7590227d22	1150	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	18:b8adf1582ea3	1151	V_out = 1000.0*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1152	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1153	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1154	data_num = 0;
Lightvalve	14:8e7590227d22	1155	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1156	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1157	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1158	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1159	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1160	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1161	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1162	}
Lightvalve	14:8e7590227d22	1163
Lightvalve	17:1865016ca2e7	1164	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1165	int i;
Lightvalve	13:747daba9cf59	1166	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1167	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1168	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	19:23b7c1ad8683	1169
Lightvalve	17:1865016ca2e7	1170	//ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1171
Lightvalve	16:903b5a4433b4	1172	//spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
Lightvalve	14:8e7590227d22	1173	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1174	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1175	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1176	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1177	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1178	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1179	}
Lightvalve	13:747daba9cf59	1180	}
Lightvalve	19:23b7c1ad8683	1181
Lightvalve	16:903b5a4433b4	1182	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1183
Lightvalve	16:903b5a4433b4	1184	//spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
Lightvalve	16:903b5a4433b4	1185	//spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
Lightvalve	13:747daba9cf59	1186	CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve	13:747daba9cf59	1187	ID_index = 0;
Lightvalve	13:747daba9cf59	1188	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1189	}
Lightvalve	14:8e7590227d22	1190
Lightvalve	14:8e7590227d22	1191
Lightvalve	13:747daba9cf59	1192	break;
Lightvalve	13:747daba9cf59	1193	}
Lightvalve	14:8e7590227d22	1194
Lightvalve	14:8e7590227d22	1195	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	14:8e7590227d22	1196
Lightvalve	13:747daba9cf59	1197	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1198	if(first_check == 0) {
Lightvalve	14:8e7590227d22	1199	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1200	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1201	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1202	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1203	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1204	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1205	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1206	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1207	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1208	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	1209	} else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1210	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1211	} else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1212	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	13:747daba9cf59	1213	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1214	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1215	} else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1216	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	13:747daba9cf59	1217	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1218	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1219	CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve	13:747daba9cf59	1220	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1221	data_num = 0;
Lightvalve	14:8e7590227d22	1222
Lightvalve	14:8e7590227d22	1223	} else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1224	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1225	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1226	//CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve	14:8e7590227d22	1227
Lightvalve	14:8e7590227d22	1228	} else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1229	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1230	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1231	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1232	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1233	else
Lightvalve	13:747daba9cf59	1234	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1235	} else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1236	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1237	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1238	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1239	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1240	// {
Lightvalve	14:8e7590227d22	1241	// DZ_case = 1;
Lightvalve	14:8e7590227d22	1242	// }
Lightvalve	14:8e7590227d22	1243	// else
Lightvalve	14:8e7590227d22	1244	// {
Lightvalve	14:8e7590227d22	1245	// DZ_case = -1;
Lightvalve	14:8e7590227d22	1246	// }
Lightvalve	14:8e7590227d22	1247	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1248	// {
Lightvalve	14:8e7590227d22	1249	// DZ_case = 0;
Lightvalve	14:8e7590227d22	1250	// }
Lightvalve	14:8e7590227d22	1251
Lightvalve	14:8e7590227d22	1252	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1253	DZ_case = 1;
Lightvalve	14:8e7590227d22	1254	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	13:747daba9cf59	1255	DZ_case = -1;
Lightvalve	14:8e7590227d22	1256	} else {
Lightvalve	13:747daba9cf59	1257	DZ_case = 0;
Lightvalve	13:747daba9cf59	1258	}
Lightvalve	14:8e7590227d22	1259
Lightvalve	14:8e7590227d22	1260	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1261	first_check = 1;
Lightvalve	13:747daba9cf59	1262	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1263	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1264	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1265	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1266	DZ_index = 1;
Lightvalve	18:b8adf1582ea3	1267	//CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve	14:8e7590227d22	1268
Lightvalve	13:747daba9cf59	1269	}
Lightvalve	19:23b7c1ad8683	1270	} else {
Lightvalve	14:8e7590227d22	1271	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	14:8e7590227d22	1272	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1273	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1274	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1275	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1276	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1277	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1278	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1279	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1280	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1281	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1282	}
Lightvalve	14:8e7590227d22	1283	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1284	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1285	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1286	else
Lightvalve	13:747daba9cf59	1287	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1288	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1289	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1290	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1291	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1292	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1293	// else
Lightvalve	14:8e7590227d22	1294	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1295	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1296	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1297
Lightvalve	14:8e7590227d22	1298	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1299	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1300	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1301	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1302	} else {
Lightvalve	13:747daba9cf59	1303	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1304	}
Lightvalve	14:8e7590227d22	1305
Lightvalve	14:8e7590227d22	1306	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1307
Lightvalve	13:747daba9cf59	1308	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1309	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1310	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1311	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1312	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1313	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1314	DZ_index = 1;
Lightvalve	13:747daba9cf59	1315	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1316	}
Lightvalve	14:8e7590227d22	1317
Lightvalve	13:747daba9cf59	1318	//CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1319	}
Lightvalve	14:8e7590227d22	1320	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	14:8e7590227d22	1321	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1322	V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1323	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1324	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1325	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1326	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1327	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1328	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1329	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1330	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1331	}
Lightvalve	14:8e7590227d22	1332	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1333	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1334	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1335	else
Lightvalve	13:747daba9cf59	1336	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1337	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1338	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1339	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1340	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1341	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1342	// else
Lightvalve	14:8e7590227d22	1343	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1344	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1345	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1346
Lightvalve	14:8e7590227d22	1347	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1348	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1349	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1350	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1351	} else {
Lightvalve	13:747daba9cf59	1352	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1353	}
Lightvalve	14:8e7590227d22	1354
Lightvalve	14:8e7590227d22	1355	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1356
Lightvalve	14:8e7590227d22	1357
Lightvalve	13:747daba9cf59	1358	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1359	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1360	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1361	SECOND_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1362	DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1363	first_check = 0;
Lightvalve	19:23b7c1ad8683	1364	VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve	19:23b7c1ad8683	1365	VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1366
Lightvalve	16:903b5a4433b4	1367	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1368
Lightvalve	16:903b5a4433b4	1369	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve	16:903b5a4433b4	1370	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve	18:b8adf1582ea3	1371	//spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve	13:747daba9cf59	1372	//CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve	13:747daba9cf59	1373	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1374	DZ_index = 1;
Lightvalve	13:747daba9cf59	1375	}
Lightvalve	14:8e7590227d22	1376
Lightvalve	13:747daba9cf59	1377	CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1378	}
Lightvalve	14:8e7590227d22	1379	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	14:8e7590227d22	1380	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1381	V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1382	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1383	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1384	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1385	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1386	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1387	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1388	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1389	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1390	}
Lightvalve	14:8e7590227d22	1391	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1392	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1393	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1394	else
Lightvalve	13:747daba9cf59	1395	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1396	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1397	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1398	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1399	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1400	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1401	// else
Lightvalve	14:8e7590227d22	1402	// DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1403	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1404	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1405
Lightvalve	14:8e7590227d22	1406	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1407	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1408	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1409	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1410	} else {
Lightvalve	13:747daba9cf59	1411	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1412	}
Lightvalve	14:8e7590227d22	1413
Lightvalve	14:8e7590227d22	1414	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1415	//CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve	13:747daba9cf59	1416	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1417	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1418	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1419	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1420	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1421	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1422	DZ_index = 1;
Lightvalve	13:747daba9cf59	1423	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1424	}
Lightvalve	13:747daba9cf59	1425	}
Lightvalve	14:8e7590227d22	1426	} else {
Lightvalve	14:8e7590227d22	1427	if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1428	V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1429	} else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1430	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1431	} else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1432	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1433	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1434	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1435	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1436	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1437	}
Lightvalve	14:8e7590227d22	1438	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1439	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1440	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1441	else
Lightvalve	13:747daba9cf59	1442	VEL_POINT = VEL_POINT - 1;
Lightvalve	14:8e7590227d22	1443	} else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1444	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1445	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1446	if(VEL_POINT >= 0)
Lightvalve	13:747daba9cf59	1447	DZ_DIRECTION = -1;
Lightvalve	13:747daba9cf59	1448	else
Lightvalve	13:747daba9cf59	1449	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1450	if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	13:747daba9cf59	1451	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1452
Lightvalve	14:8e7590227d22	1453	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1454
Lightvalve	14:8e7590227d22	1455
Lightvalve	13:747daba9cf59	1456	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1457	//CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1458	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1459	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1460	SECOND_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1461	DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1462	first_check = 0;
Lightvalve	13:747daba9cf59	1463	VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve	16:903b5a4433b4	1464	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve	13:747daba9cf59	1465	VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve	16:903b5a4433b4	1466	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1467
Lightvalve	16:903b5a4433b4	1468	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve	18:b8adf1582ea3	1469	//spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve	13:747daba9cf59	1470	CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve	13:747daba9cf59	1471	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1472	DZ_index = 1;
Lightvalve	13:747daba9cf59	1473	}
Lightvalve	14:8e7590227d22	1474
Lightvalve	13:747daba9cf59	1475	//CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1476	}
Lightvalve	13:747daba9cf59	1477	}
Lightvalve	14:8e7590227d22	1478	}
Lightvalve	13:747daba9cf59	1479	break;
Lightvalve	13:747daba9cf59	1480	}
Lightvalve	14:8e7590227d22	1481
Lightvalve	14:8e7590227d22	1482	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	13:747daba9cf59	1483	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1484	if(first_check == 0) {
Lightvalve	14:8e7590227d22	1485	if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1486	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	13:747daba9cf59	1487	CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	14:8e7590227d22	1488	} else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1489	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1490	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1491	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	14:8e7590227d22	1492	} else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1493	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1494	} else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1495	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	18:b8adf1582ea3	1496	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1497	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1498	first_check = 1;
Lightvalve	13:747daba9cf59	1499	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1500	valve_pos.ref = DDV_CENTER;
Lightvalve	13:747daba9cf59	1501	ID_index = 0;
Lightvalve	13:747daba9cf59	1502	max_check = 0;
Lightvalve	13:747daba9cf59	1503	min_check = 0;
Lightvalve	13:747daba9cf59	1504	}
Lightvalve	14:8e7590227d22	1505	} else {
Lightvalve	14:8e7590227d22	1506	if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1507	V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve	14:8e7590227d22	1508	} else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1509	data_num = 0;
Lightvalve	19:23b7c1ad8683	1510	valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1511
Lightvalve	14:8e7590227d22	1512	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1513	START_POS = pos.sen;
Lightvalve	14:8e7590227d22	1514	} else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve	19:23b7c1ad8683	1515	valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1516	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1517	data_num = data_num + 1;
Lightvalve	19:23b7c1ad8683	1518	if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000.0) {
Lightvalve	14:8e7590227d22	1519	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1520	one_period_end = 1;
Lightvalve	13:747daba9cf59	1521	}
Lightvalve	14:8e7590227d22	1522	} else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1523	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1524	one_period_end = 1;
Lightvalve	13:747daba9cf59	1525	}
Lightvalve	14:8e7590227d22	1526
Lightvalve	14:8e7590227d22	1527	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1528	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1529	max_check = 1;
Lightvalve	14:8e7590227d22	1530	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1531	min_check = 1;
Lightvalve	13:747daba9cf59	1532	}
Lightvalve	13:747daba9cf59	1533	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1534
Lightvalve	19:23b7c1ad8683	1535	//ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1536
Lightvalve	16:903b5a4433b4	1537	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	16:903b5a4433b4	1538	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve	13:747daba9cf59	1539	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1540	one_period_end = 0;
Lightvalve	13:747daba9cf59	1541	ID_index= ID_index +1;
Lightvalve	14:8e7590227d22	1542	// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve	19:23b7c1ad8683	1543	V_out = 0.0;
Lightvalve	13:747daba9cf59	1544	}
Lightvalve	14:8e7590227d22	1545
Lightvalve	14:8e7590227d22	1546	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1547
Lightvalve	16:903b5a4433b4	1548	//spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve	13:747daba9cf59	1549	VALVE_POS_NUM = ID_index;
Lightvalve	19:23b7c1ad8683	1550	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1551	ID_index = 0;
Lightvalve	13:747daba9cf59	1552	first_check = 0;
Lightvalve	13:747daba9cf59	1553	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1554	// CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve	13:747daba9cf59	1555	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1556	}
Lightvalve	13:747daba9cf59	1557	}
Lightvalve	13:747daba9cf59	1558	break;
Lightvalve	13:747daba9cf59	1559	}
Lightvalve	14:8e7590227d22	1560
Lightvalve	12:6f2531038ea4	1561	default:
Lightvalve	12:6f2531038ea4	1562	break;
Lightvalve	12:6f2531038ea4	1563	}
Lightvalve	14:8e7590227d22	1564
Lightvalve	13:747daba9cf59	1565	if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve	13:747daba9cf59	1566	// Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve	14:8e7590227d22	1567	// if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve	14:8e7590227d22	1568	// if (V_out > 0.) {
Lightvalve	14:8e7590227d22	1569	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1570	// } else if (V_out < 0.) {
Lightvalve	14:8e7590227d22	1571	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1572	// } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1573	// } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve	14:8e7590227d22	1574
Lightvalve	14:8e7590227d22	1575	if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1576	else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1577
Lightvalve	14:8e7590227d22	1578	VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1579
Lightvalve	13:747daba9cf59	1580	// Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	18:b8adf1582ea3	1581	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0*1000.0; // convert PWM duty to mV
Lightvalve	13:747daba9cf59	1582	double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	14:8e7590227d22	1583
Lightvalve	14:8e7590227d22	1584	if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve	14:8e7590227d22	1585	else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve	14:8e7590227d22	1586	else V_out = CUR_PWM_DZ;
Lightvalve	13:747daba9cf59	1587	} else {
Lightvalve	17:1865016ca2e7	1588	V_out = V_out;
Lightvalve	13:747daba9cf59	1589	}
Lightvalve	14:8e7590227d22	1590
Lightvalve	14:8e7590227d22	1591	//VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
Lightvalve	15:bd0d12728506	1592	//PWM_out = CUR_PWM;
Lightvalve	14:8e7590227d22	1593
Lightvalve	21:e5f1a43ea6f9	1594	/*
Lightvalve	14:8e7590227d22	1595
Lightvalve	21:e5f1a43ea6f9	1596	//CAN ----------------------------------------------------------------------
Lightvalve	21:e5f1a43ea6f9	1597	//if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	21:e5f1a43ea6f9	1598	if (TMR3_COUNT_CAN_TX % 1000 == 0) {
Lightvalve	14:8e7590227d22	1599
Lightvalve	21:e5f1a43ea6f9	1600	if (flag_data_request[0] == HIGH) {
Lightvalve	21:e5f1a43ea6f9	1601	//position+velocity
Lightvalve	21:e5f1a43ea6f9	1602	CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve	21:e5f1a43ea6f9	1603	//CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve	21:e5f1a43ea6f9	1604	//CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve	21:e5f1a43ea6f9	1605	//pc.printf("can good");
Lightvalve	21:e5f1a43ea6f9	1606	// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve	21:e5f1a43ea6f9	1607	}
Lightvalve	14:8e7590227d22	1608
Lightvalve	21:e5f1a43ea6f9	1609	if (flag_data_request[1] == HIGH) {
Lightvalve	21:e5f1a43ea6f9	1610	//torque
Lightvalve	21:e5f1a43ea6f9	1611	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve	21:e5f1a43ea6f9	1612	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve	21:e5f1a43ea6f9	1613	CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve	21:e5f1a43ea6f9	1614	//CAN_TX_TORQUE((int16_t) (Ref_Valve_Pos_FF_CAN));
Lightvalve	21:e5f1a43ea6f9	1615	// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve	21:e5f1a43ea6f9	1616	}
Lightvalve	14:8e7590227d22	1617
Lightvalve	21:e5f1a43ea6f9	1618	if (flag_data_request[2] == HIGH) {
Lightvalve	21:e5f1a43ea6f9	1619	//pressure A and B
Lightvalve	21:e5f1a43ea6f9	1620	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	21:e5f1a43ea6f9	1621	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	21:e5f1a43ea6f9	1622	// CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve	21:e5f1a43ea6f9	1623	// CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)1000.), (int16_t) ((DEADZONE_PLUS + 1.))1000.);
Lightvalve	21:e5f1a43ea6f9	1624	// CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve	14:8e7590227d22	1625
Lightvalve	21:e5f1a43ea6f9	1626	}
Lightvalve	14:8e7590227d22	1627
Lightvalve	21:e5f1a43ea6f9	1628	if (flag_data_request[3] == HIGH) {
Lightvalve	21:e5f1a43ea6f9	1629	//PWM
Lightvalve	21:e5f1a43ea6f9	1630	CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve	21:e5f1a43ea6f9	1631	//CAN_TX_PWM((int16_t) (Ref_Valve_Pos_FF_CAN));
Lightvalve	21:e5f1a43ea6f9	1632	// CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve	21:e5f1a43ea6f9	1633	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve	21:e5f1a43ea6f9	1634	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve	14:8e7590227d22	1635
Lightvalve	21:e5f1a43ea6f9	1636	}
Lightvalve	14:8e7590227d22	1637
Lightvalve	21:e5f1a43ea6f9	1638	if (flag_data_request[4] == HIGH) {
Lightvalve	21:e5f1a43ea6f9	1639	//valve position
Lightvalve	21:e5f1a43ea6f9	1640	CAN_TX_VALVE_POSITION((int16_t) (value));
Lightvalve	21:e5f1a43ea6f9	1641	//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	21:e5f1a43ea6f9	1642	//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve	14:8e7590227d22	1643
Lightvalve	14:8e7590227d22	1644
Lightvalve	21:e5f1a43ea6f9	1645	//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve	21:e5f1a43ea6f9	1646	// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve	21:e5f1a43ea6f9	1647	// CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	21:e5f1a43ea6f9	1648	// CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve	21:e5f1a43ea6f9	1649	// CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve	21:e5f1a43ea6f9	1650	}
Lightvalve	14:8e7590227d22	1651
Lightvalve	21:e5f1a43ea6f9	1652	TMR3_COUNT_CAN_TX = 0;
Lightvalve	14:8e7590227d22	1653
Lightvalve	21:e5f1a43ea6f9	1654	}
Lightvalve	21:e5f1a43ea6f9	1655	TMR3_COUNT_CAN_TX++;
Lightvalve	19:23b7c1ad8683	1656
Lightvalve	21:e5f1a43ea6f9	1657	*/
Lightvalve	19:23b7c1ad8683	1658
Lightvalve	13:747daba9cf59	1659
jobuuu	1:e04e563be5ce	1660	/*******************************************************
Lightvalve	13:747daba9cf59	1661	*** Valve Control
jobuuu	1:e04e563be5ce	1662	********************************************************/
Lightvalve	14:8e7590227d22	1663	//ValveControl(CONTROL_MODE);
Lightvalve	13:747daba9cf59	1664
Lightvalve	14:8e7590227d22	1665	// double t = (double)CNT_TMR4*DT_TMR4;
Lightvalve	14:8e7590227d22	1666	// double T = 1.0;
Lightvalve	14:8e7590227d22	1667	// V_out = 1000.0sin(2.0PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
jobuuu	7:e9086c72bb22	1668	// if(V_out > 0.0) V_out = 1000.0;
Lightvalve	13:747daba9cf59	1669	// else if(V_out < 0.0) V_out = -1000.0;
jobuuu	5:a4319f79457b	1670
Lightvalve	17:1865016ca2e7	1671	//V_out = 2000.0 * sin(2 * 3.14159 * (double) CNT_TMR3 / (double) 5000.0);
Lightvalve	17:1865016ca2e7	1672
jobuuu	7:e9086c72bb22	1673	/*******************************************************
jobuuu	7:e9086c72bb22	1674	*** PWM
jobuuu	7:e9086c72bb22	1675	********************************************************/
Lightvalve	18:b8adf1582ea3	1676	PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1677
jobuuu	2:a1c0a37df760	1678	// Saturation of output voltage to 5.0V
Lightvalve	17:1865016ca2e7	1679	// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve	17:1865016ca2e7	1680	// else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve	19:23b7c1ad8683	1681
Lightvalve	19:23b7c1ad8683	1682	// Saturation of output voltage to 12.0V
Lightvalve	17:1865016ca2e7	1683	if(PWM_out > 1.0) PWM_out=1.0;
Lightvalve	17:1865016ca2e7	1684	else if (PWM_out < -1.0) PWM_out=-1.0;
Lightvalve	13:747daba9cf59	1685
jobuuu	2:a1c0a37df760	1686	if (PWM_out>0.0) {
jobuuu	2:a1c0a37df760	1687	dtc_v=0.0;
jobuuu	1:e04e563be5ce	1688	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1689	} else {
jobuuu	2:a1c0a37df760	1690	dtc_v=-PWM_out;
jobuuu	2:a1c0a37df760	1691	dtc_w=0.0;
jobuuu	1:e04e563be5ce	1692	}
Lightvalve	13:747daba9cf59	1693
jobuuu	1:e04e563be5ce	1694	//pwm
jobuuu	2:a1c0a37df760	1695	TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
jobuuu	2:a1c0a37df760	1696	TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
Lightvalve	13:747daba9cf59	1697
jobuuu	1:e04e563be5ce	1698	/*******************************************************
jobuuu	2:a1c0a37df760	1699	*** Data Send (CAN) & Print out (UART)
jobuuu	1:e04e563be5ce	1700	********************************************************/
Lightvalve	14:8e7590227d22	1701	// if((CNT_TMR3%1000)==0){
Lightvalve	11:82d8768d7351	1702	// msg.id = 50;
Lightvalve	11:82d8768d7351	1703	// msg.len = 4;
Lightvalve	11:82d8768d7351	1704	// int temp_CUR = (int)(cur.sen*1000.0);
Lightvalve	11:82d8768d7351	1705	// msg.data[0]=0x00FF&temp_CUR;
Lightvalve	11:82d8768d7351	1706	// msg.data[1]=0x00FF&(temp_CUR>>8);
Lightvalve	11:82d8768d7351	1707	// int temp_PWM = (int)(V_out);
Lightvalve	11:82d8768d7351	1708	// msg.data[2]=0x00FF&temp_PWM;
Lightvalve	11:82d8768d7351	1709	// msg.data[3]=0x00FF&(temp_PWM>>8);
Lightvalve	11:82d8768d7351	1710	// can.write(msg);
Lightvalve	11:82d8768d7351	1711	// }
Lightvalve	11:82d8768d7351	1712
Lightvalve	19:23b7c1ad8683	1713	//if((CNT_TMR3%5000)==0) {
Lightvalve	17:1865016ca2e7	1714	// if(LED==1) {
Lightvalve	17:1865016ca2e7	1715	// LED=0;
Lightvalve	17:1865016ca2e7	1716	// } else
Lightvalve	17:1865016ca2e7	1717	// LED = 1;
Lightvalve	11:82d8768d7351	1718	// LED != LED;
Lightvalve	15:bd0d12728506	1719	// pc.printf("A %f\n", (double) pres_A.sen);
Lightvalve	18:b8adf1582ea3	1720	// CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[j]);
Lightvalve	18:b8adf1582ea3	1721	// j++;
Lightvalve	19:23b7c1ad8683	1722	//}
jobuuu	1:e04e563be5ce	1723
jobuuu	1:e04e563be5ce	1724	/*******************************************************
jobuuu	1:e04e563be5ce	1725	*** Timer Counting & etc.
jobuuu	1:e04e563be5ce	1726	********************************************************/
Lightvalve	19:23b7c1ad8683	1727	//CNT_TMR3++;
Lightvalve	21:e5f1a43ea6f9	1728
jobuuu	1:e04e563be5ce	1729	}
Lightvalve	11:82d8768d7351	1730	TIM3->SR = 0x0; // reset the status register
Lightvalve	21:e5f1a43ea6f9	1731
jobuuu	7:e9086c72bb22	1732	}
jobuuu	7:e9086c72bb22	1733
Lightvalve	20:806196fda269	1734
Lightvalve	20:806196fda269	1735
Lightvalve	20:806196fda269	1736	//unsigned long CNT_TMR5 = 0;
Lightvalve	20:806196fda269	1737	//double FREQ_TMR5 = (double)FREQ_500;
Lightvalve	20:806196fda269	1738	//double DT_TMR5 = (double)DT_500;
Lightvalve	20:806196fda269	1739	extern "C" void TIM5_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	1740	{
Lightvalve	20:806196fda269	1741	if (TIM5->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	1742
Lightvalve	20:806196fda269	1743	//CAN ----------------------------------------------------------------------
Lightvalve	20:806196fda269	1744	if (flag_data_request[0] == HIGH) {
Lightvalve	20:806196fda269	1745	//position+velocity
Lightvalve	20:806196fda269	1746	CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve	20:806196fda269	1747	//CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve	20:806196fda269	1748	//CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve	20:806196fda269	1749	//pc.printf("can good");
Lightvalve	20:806196fda269	1750	// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve	20:806196fda269	1751	}
Lightvalve	20:806196fda269	1752
Lightvalve	20:806196fda269	1753	if (flag_data_request[1] == HIGH) {
Lightvalve	20:806196fda269	1754	//torque
Lightvalve	20:806196fda269	1755	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve	20:806196fda269	1756	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve	20:806196fda269	1757	CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve	20:806196fda269	1758	//CAN_TX_TORQUE((int16_t) (Ref_Valve_Pos_FF_CAN));
Lightvalve	20:806196fda269	1759	// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve	20:806196fda269	1760	}
Lightvalve	20:806196fda269	1761
Lightvalve	20:806196fda269	1762	if (flag_data_request[2] == HIGH) {
Lightvalve	20:806196fda269	1763	//pressure A and B
Lightvalve	20:806196fda269	1764	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	20:806196fda269	1765	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	20:806196fda269	1766	// CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve	20:806196fda269	1767	// CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)1000.), (int16_t) ((DEADZONE_PLUS + 1.))1000.);
Lightvalve	20:806196fda269	1768	// CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve	20:806196fda269	1769
Lightvalve	20:806196fda269	1770	}
Lightvalve	20:806196fda269	1771
Lightvalve	20:806196fda269	1772	if (flag_data_request[3] == HIGH) {
Lightvalve	20:806196fda269	1773	//PWM
Lightvalve	20:806196fda269	1774	CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve	20:806196fda269	1775	//CAN_TX_PWM((int16_t) (Ref_Valve_Pos_FF_CAN));
Lightvalve	20:806196fda269	1776	// CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve	20:806196fda269	1777	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve	20:806196fda269	1778	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve	20:806196fda269	1779
Lightvalve	20:806196fda269	1780	}
Lightvalve	20:806196fda269	1781
Lightvalve	20:806196fda269	1782	if (flag_data_request[4] == HIGH) {
Lightvalve	20:806196fda269	1783	//valve position
Lightvalve	20:806196fda269	1784	CAN_TX_VALVE_POSITION((int16_t) (value));
Lightvalve	20:806196fda269	1785	//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	20:806196fda269	1786	//SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve	20:806196fda269	1787
Lightvalve	20:806196fda269	1788
Lightvalve	20:806196fda269	1789	//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve	20:806196fda269	1790	// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve	20:806196fda269	1791	// CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	20:806196fda269	1792	// CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve	20:806196fda269	1793	// CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve	20:806196fda269	1794	}
Lightvalve	20:806196fda269	1795
Lightvalve	20:806196fda269	1796	}
Lightvalve	20:806196fda269	1797	TIM5->SR = 0x0; // reset the status register
Lightvalve	20:806196fda269	1798	}
Lightvalve	20:806196fda269	1799
Lightvalve	20:806196fda269	1800
Lightvalve	20:806196fda269	1801
Lightvalve	13:747daba9cf59	1802	void CurrentControl()
Lightvalve	13:747daba9cf59	1803	{
jobuuu	7:e9086c72bb22	1804	cur.err = cur.ref - cur.sen;
jobuuu	7:e9086c72bb22	1805	cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu	7:e9086c72bb22	1806	cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu	7:e9086c72bb22	1807	cur.err_old = cur.err;
jobuuu	7:e9086c72bb22	1808
jobuuu	7:e9086c72bb22	1809	double R_model = 150.0; // ohm
jobuuu	7:e9086c72bb22	1810	double L_model = 0.3;
jobuuu	7:e9086c72bb22	1811	double w0 = 2.03.1490.0;
jobuuu	7:e9086c72bb22	1812	double KP_I = L_model*w0;
jobuuu	7:e9086c72bb22	1813	double KI_I = R_model*w0;
jobuuu	7:e9086c72bb22	1814	double KD_I = 0.0;
jobuuu	7:e9086c72bb22	1815
jobuuu	7:e9086c72bb22	1816	double FF_gain = 0.0;
jobuuu	7:e9086c72bb22	1817	V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu	7:e9086c72bb22	1818	// V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu	7:e9086c72bb22	1819	V_out = V_out + FF_gain * (R_modelcur.ref + L_modelcur.ref_diff); // Unit : mV
Lightvalve	13:747daba9cf59	1820
Lightvalve	13:747daba9cf59	1821	double Ka = 5.0/KP_I;
jobuuu	7:e9086c72bb22	1822	if(V_out > V_MAX) {
jobuuu	7:e9086c72bb22	1823	V_rem = V_out-V_MAX;
jobuuu	7:e9086c72bb22	1824	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1825	V_out = V_MAX;
jobuuu	7:e9086c72bb22	1826	cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu	7:e9086c72bb22	1827	} else if(V_out < -V_MAX) {
jobuuu	7:e9086c72bb22	1828	V_rem = V_out-(-V_MAX);
Lightvalve	13:747daba9cf59	1829	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1830	V_out = -V_MAX;
jobuuu	7:e9086c72bb22	1831	cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve	13:747daba9cf59	1832	}
Lightvalve	21:e5f1a43ea6f9	1833	}

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

main.cpp@21:e5f1a43ea6f9, 2019-09-09 (annotated)

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