HydraulicControlBoard_LIGHT_GJ - eeprom_test

Users » GiJeongKim » Code » HydraulicControlBoard_LIGHT_GJ

Kim GiJeong / Mbed 2 deprecated HydraulicControlBoard_LIGHT_GJ

eeprom_test

main.cpp@57:f4819de54e7a, 2020-03-06 (annotated)

Committer:: Lightvalve
Date:: Fri Mar 06 12:14:38 2020 +0000
Revision:: 57:f4819de54e7a
Parent:: 56:6f50d9d3bfee
Child:: 58:2eade98630e2

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
Lightvalve	31:66738bfecec5	12	///191008////
Lightvalve	31:66738bfecec5	13
jobuuu	7:e9086c72bb22	14	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	15	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	16	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	17	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	18	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	19	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	20	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	21	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	22
Lightvalve	24:ef6e1092e9e6	23
jobuuu	7:e9086c72bb22	24	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	25	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	26	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	30	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	31	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	32
jobuuu	7:e9086c72bb22	33	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	34	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	35	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	36	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	37	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	38	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	39	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	43
jobuuu	7:e9086c72bb22	44	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	45	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	46	CANMessage msg;
Lightvalve	11:82d8768d7351	47	void onMsgReceived()
Lightvalve	11:82d8768d7351	48	{
Lightvalve	11:82d8768d7351	49	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
jobuuu	7:e9086c72bb22	52	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	53	State pos;
jobuuu	7:e9086c72bb22	54	State vel;
jobuuu	7:e9086c72bb22	55	State Vout;
jobuuu	7:e9086c72bb22	56	State torq;
jobuuu	7:e9086c72bb22	57	State pres_A;
jobuuu	7:e9086c72bb22	58	State pres_B;
jobuuu	7:e9086c72bb22	59	State cur;
Lightvalve	14:8e7590227d22	60	State valve_pos;
Lightvalve	14:8e7590227d22	61
Lightvalve	14:8e7590227d22	62	State INIT_Vout;
Lightvalve	14:8e7590227d22	63	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	64	State INIT_Pos;
Lightvalve	14:8e7590227d22	65	State INIT_torq;
jobuuu	5:a4319f79457b	66
Lightvalve	19:23b7c1ad8683	67	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	68	extern int CID_RX_REF_POSITION;
Lightvalve	49:e7bcfc244d40	69	extern int CID_RX_REF_VALVE_POS;
Lightvalve	45:35fa6884d0c6	70	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	71
Lightvalve	19:23b7c1ad8683	72	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	73	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	74	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	75	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	76	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	77	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	78
jobuuu	7:e9086c72bb22	79	// =============================================================================
jobuuu	7:e9086c72bb22	80	// =============================================================================
jobuuu	7:e9086c72bb22	81	// =============================================================================
jobuuu	7:e9086c72bb22	82
Lightvalve	12:6f2531038ea4	83	/*******************************************************************************
Lightvalve	12:6f2531038ea4	84	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	85	******************************************************************************/
Lightvalve	13:747daba9cf59	86	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	87	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	88	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	89	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	90	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	91	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	92	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	93	};
Lightvalve	12:6f2531038ea4	94
Lightvalve	12:6f2531038ea4	95	/*******************************************************************************
Lightvalve	12:6f2531038ea4	96	* CONTROL MODE
Lightvalve	12:6f2531038ea4	97	******************************************************************************/
Lightvalve	13:747daba9cf59	98	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	99	//control mode
Lightvalve	12:6f2531038ea4	100	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	101	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	102	MODE_JOINT_CONTROL, //2
Lightvalve	50:3c630b5eba9f	103
Lightvalve	47:fdcb8bd86fd6	104	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	12:6f2531038ea4	105	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	106	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	107
Lightvalve	12:6f2531038ea4	108	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	109	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	110	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	111
Lightvalve	12:6f2531038ea4	112	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	113	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	114
Lightvalve	14:8e7590227d22	115	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	116	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	117	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	//utility
Lightvalve	12:6f2531038ea4	120	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	121	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	122	MODE_FIND_HOME, //22
Lightvalve	57:f4819de54e7a	123	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	124	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	125	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	126	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	127
Lightvalve	12:6f2531038ea4	128	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	129	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	130	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	57:f4819de54e7a	131	MODE_SYSTEM_ID, //33
Lightvalve	12:6f2531038ea4	132	};
Lightvalve	12:6f2531038ea4	133
GiJeongKim	0:51c43836c1d7	134	int main()
GiJeongKim	0:51c43836c1d7	135	{
jobuuu	6:df07d3491e3a	136	/*********************************
jobuuu	1:e04e563be5ce	137	*** Initialization
jobuuu	6:df07d3491e3a	138	*********************************/
Lightvalve	57:f4819de54e7a	139	LED = 1;
Lightvalve	19:23b7c1ad8683	140	//pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	141
GiJeongKim	0:51c43836c1d7	142	// i2c init
Lightvalve	8:5d2eebdad025	143	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	144	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	145	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	146	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	147	make_delay();
jobuuu	2:a1c0a37df760	148
GiJeongKim	0:51c43836c1d7	149	// // spi init
Lightvalve	16:903b5a4433b4	150	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	151	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	152	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	153	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	154	make_delay();
Lightvalve	21:e5f1a43ea6f9	155
Lightvalve	16:903b5a4433b4	156	//rom
Lightvalve	19:23b7c1ad8683	157	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	158	make_delay();
Lightvalve	13:747daba9cf59	159
GiJeongKim	0:51c43836c1d7	160	// ADC init
jobuuu	5:a4319f79457b	161	Init_ADC();
Lightvalve	11:82d8768d7351	162	make_delay();
jobuuu	2:a1c0a37df760	163
GiJeongKim	0:51c43836c1d7	164	// Pwm init
GiJeongKim	0:51c43836c1d7	165	Init_PWM();
GiJeongKim	0:51c43836c1d7	166	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	167	make_delay();
Lightvalve	13:747daba9cf59	168
Lightvalve	11:82d8768d7351	169	// TMR3 init
Lightvalve	11:82d8768d7351	170	Init_TMR3();
Lightvalve	11:82d8768d7351	171	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	172	make_delay();
Lightvalve	21:e5f1a43ea6f9	173
Lightvalve	50:3c630b5eba9f	174	// TMR2 init
Lightvalve	56:6f50d9d3bfee	175	// Init_TMR2();
Lightvalve	56:6f50d9d3bfee	176	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	56:6f50d9d3bfee	177	// make_delay();
Lightvalve	21:e5f1a43ea6f9	178
GiJeongKim	0:51c43836c1d7	179	// CAN
jobuuu	2:a1c0a37df760	180	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	181	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	182	make_delay();
Lightvalve	34:bb2ca2fc2a8e	183
Lightvalve	23:59218d4a256d	184	//Timer priority
Lightvalve	23:59218d4a256d	185	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	57:f4819de54e7a	186	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	54:647072f5307a	187	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	188
Lightvalve	23:59218d4a256d	189	//can.reset();
Lightvalve	19:23b7c1ad8683	190	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	191
GiJeongKim	0:51c43836c1d7	192	// spi _ enc
GiJeongKim	0:51c43836c1d7	193	spi_enc_set_init();
Lightvalve	11:82d8768d7351	194	make_delay();
Lightvalve	13:747daba9cf59	195
Lightvalve	11:82d8768d7351	196	//DAC init
Lightvalve	43:b084e5f5d0d5	197	// dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	198	// dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	199	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	43:b084e5f5d0d5	200	dac_2 = 0.0f;
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	38:118df027d851	205	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	206	else
Lightvalve	38:118df027d851	207	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	208	}
Lightvalve	57:f4819de54e7a	209
jobuuu	6:df07d3491e3a	210	/************************************
jobuuu	1:e04e563be5ce	211	*** Program is operating!
jobuuu	6:df07d3491e3a	212	*************************************/
GiJeongKim	0:51c43836c1d7	213	while(1) {
Lightvalve	57:f4819de54e7a	214	if(timer_while==1000 && OPERATING_MODE==5) {
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	57:f4819de54e7a	218	// if(LED==1) {
Lightvalve	57:f4819de54e7a	219	// LED=0;
Lightvalve	57:f4819de54e7a	220	// } else
Lightvalve	57:f4819de54e7a	221	// LED = 1;
Lightvalve	17:1865016ca2e7	222	timer_while = 0;
Lightvalve	17:1865016ca2e7	223	}
Lightvalve	17:1865016ca2e7	224	timer_while ++;
GiJeongKim	0:51c43836c1d7	225	}
jobuuu	1:e04e563be5ce	226	}
jobuuu	1:e04e563be5ce	227
Lightvalve	33:91b17819ec30	228	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	229	{
Lightvalve	14:8e7590227d22	230
Lightvalve	13:747daba9cf59	231	int i = 0;
Lightvalve	48:889798ff9329	232	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	233	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	234	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	235	if(i==0) {
Lightvalve	50:3c630b5eba9f	236	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	237	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	238	} else {
Lightvalve	57:f4819de54e7a	239	Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve	38:118df027d851	240	}
Lightvalve	14:8e7590227d22	241	} else {
Lightvalve	50:3c630b5eba9f	242	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	57:f4819de54e7a	243	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	244	} else {
Lightvalve	57:f4819de54e7a	245	Ref_Valve_Pos_FF = ((float) 10(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve	38:118df027d851	246	}
Lightvalve	13:747daba9cf59	247	}
Lightvalve	13:747daba9cf59	248	break;
Lightvalve	13:747daba9cf59	249	}
Lightvalve	13:747daba9cf59	250	}
Lightvalve	14:8e7590227d22	251	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	252	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	253	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	254	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	255	}
Lightvalve	36:a46e63505ed8	256
Lightvalve	57:f4819de54e7a	257	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	258	return Ref_Valve_Pos_FF;
Lightvalve	50:3c630b5eba9f	259
Lightvalve	13:747daba9cf59	260	}
jobuuu	6:df07d3491e3a	261
jobuuu	6:df07d3491e3a	262
Lightvalve	30:8d561f16383b	263	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	264	{
Lightvalve	13:747daba9cf59	265	int i = 0;
Lightvalve	13:747daba9cf59	266
Lightvalve	38:118df027d851	267	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	268	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	269	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	270	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	271	}
Lightvalve	38:118df027d851	272
Lightvalve	13:747daba9cf59	273	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	274	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	275	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	276	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	277	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	278	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	279
Lightvalve	13:747daba9cf59	280	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	281
Lightvalve	18:b8adf1582ea3	282	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	283	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	284	if(i==0) {
Lightvalve	48:889798ff9329	285	VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	286	} else {
Lightvalve	48:889798ff9329	287	VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	288	}
Lightvalve	13:747daba9cf59	289	break;
Lightvalve	13:747daba9cf59	290	}
Lightvalve	13:747daba9cf59	291	}
Lightvalve	50:3c630b5eba9f	292	V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	293	}
Lightvalve	13:747daba9cf59	294
Lightvalve	14:8e7590227d22	295	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	296	float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve	34:bb2ca2fc2a8e	297	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	298	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	299	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	300	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	301	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	302	}; // duty
Lightvalve	30:8d561f16383b	303	float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve	34:bb2ca2fc2a8e	304	-196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve	34:bb2ca2fc2a8e	305	-156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	306	12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve	34:bb2ca2fc2a8e	307	173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve	34:bb2ca2fc2a8e	308	214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve	34:bb2ca2fc2a8e	309	}; // mV
Lightvalve	13:747daba9cf59	310
Lightvalve	30:8d561f16383b	311	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	312	{
Lightvalve	30:8d561f16383b	313	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	314	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	315	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	316	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	317	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	318	} else {
Lightvalve	13:747daba9cf59	319	int idx = 0;
Lightvalve	13:747daba9cf59	320	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	321	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	322	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	323	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	324	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	325	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	326	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	327	break;
Lightvalve	13:747daba9cf59	328	}
Lightvalve	13:747daba9cf59	329	}
Lightvalve	13:747daba9cf59	330	}
Lightvalve	14:8e7590227d22	331
Lightvalve	13:747daba9cf59	332	return PWM_duty;
Lightvalve	13:747daba9cf59	333	}
jobuuu	6:df07d3491e3a	334
Lightvalve	57:f4819de54e7a	335
Lightvalve	57:f4819de54e7a	336
Lightvalve	57:f4819de54e7a	337
Lightvalve	57:f4819de54e7a	338
jobuuu	2:a1c0a37df760	339	/*******************************************************************************
jobuuu	2:a1c0a37df760	340	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	341	*******************************************************************************/
jobuuu	2:a1c0a37df760	342
Lightvalve	51:b46bed7fec80	343	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	344	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	345	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	346	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	347	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	348	{
Lightvalve	19:23b7c1ad8683	349	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	350
Lightvalve	21:e5f1a43ea6f9	351	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	352	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	353	********************************************************/
Lightvalve	13:747daba9cf59	354
Lightvalve	57:f4819de54e7a	355	//Encoder
Lightvalve	57:f4819de54e7a	356	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	357	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	358	}
Lightvalve	17:1865016ca2e7	359
Lightvalve	21:e5f1a43ea6f9	360	//Pressure sensor A
Lightvalve	21:e5f1a43ea6f9	361	ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	21:e5f1a43ea6f9	362	//while((ADC1->SR & 0b10));
Lightvalve	51:b46bed7fec80	363	float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	38:118df027d851	364	float pres_A_new = ((float)ADC1->DR);
Lightvalve	30:8d561f16383b	365	pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	57:f4819de54e7a	366	torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve	50:3c630b5eba9f	367
Lightvalve	19:23b7c1ad8683	368
Lightvalve	57:f4819de54e7a	369	//Pressure sensor B
Lightvalve	57:f4819de54e7a	370	float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	57:f4819de54e7a	371	float pres_B_new = ((float)ADC2->DR);
Lightvalve	57:f4819de54e7a	372	pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	55:b25725257569	373	//torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	374
Lightvalve	17:1865016ca2e7	375
Lightvalve	21:e5f1a43ea6f9	376	//Current
Lightvalve	21:e5f1a43ea6f9	377	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	378	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	379	//while((ADC3->SR & 0b10));
Lightvalve	51:b46bed7fec80	380	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	381	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	382	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	383	//cur.sen = raw_cur;
Lightvalve	57:f4819de54e7a	384
Lightvalve	57:f4819de54e7a	385	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	386	}
Lightvalve	11:82d8768d7351	387	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	388	}
Lightvalve	19:23b7c1ad8683	389
Lightvalve	19:23b7c1ad8683	390
Lightvalve	18:b8adf1582ea3	391	int j =0;
Lightvalve	54:647072f5307a	392	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	393	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	394	int cnt_trans = 0;
Lightvalve	48:889798ff9329	395	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	396	int can_rest =0;
Lightvalve	48:889798ff9329	397
Lightvalve	11:82d8768d7351	398	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	399	{
Lightvalve	19:23b7c1ad8683	400	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	401
Lightvalve	57:f4819de54e7a	402
Lightvalve	57:f4819de54e7a	403
Lightvalve	57:f4819de54e7a	404	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	405	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	406	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	407	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	408	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	409	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	410	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	411	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	412	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	413	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	414	}
Lightvalve	50:3c630b5eba9f	415
Lightvalve	50:3c630b5eba9f	416	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	417	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	418	cnt_trans++;
Lightvalve	46:2694daea349b	419	torq.err_sum = 0;
Lightvalve	48:889798ff9329	420	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	421	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	422	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	423	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	424	cnt_trans++;
Lightvalve	46:2694daea349b	425	torq.err_sum = 0;
Lightvalve	48:889798ff9329	426	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	427	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	428	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	45:35fa6884d0c6	429	alpha_trans = 1.0;
Lightvalve	45:35fa6884d0c6	430	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	431	} else {
Lightvalve	45:35fa6884d0c6	432	alpha_trans = 0.0;
Lightvalve	45:35fa6884d0c6	433	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	434	}
Lightvalve	45:35fa6884d0c6	435
Lightvalve	50:3c630b5eba9f	436
Lightvalve	57:f4819de54e7a	437	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	438	int CONTROL_MODE = 0;
Lightvalve	57:f4819de54e7a	439
Lightvalve	57:f4819de54e7a	440	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	441	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	442	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	443	} else {
Lightvalve	57:f4819de54e7a	444	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	445	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	446	}
Lightvalve	56:6f50d9d3bfee	447
Lightvalve	56:6f50d9d3bfee	448
Lightvalve	56:6f50d9d3bfee	449
Lightvalve	57:f4819de54e7a	450	// UTILITY MODE ------------------------------------------------------------
Lightvalve	56:6f50d9d3bfee	451
Lightvalve	57:f4819de54e7a	452	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	453	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	454	break;
Lightvalve	13:747daba9cf59	455	}
Lightvalve	14:8e7590227d22	456
Lightvalve	14:8e7590227d22	457	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	458	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	459	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	460	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	461
Lightvalve	14:8e7590227d22	462	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	463	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	464	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	465
Lightvalve	43:b084e5f5d0d5	466	TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	467
Lightvalve	30:8d561f16383b	468	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	13:747daba9cf59	469	if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve	50:3c630b5eba9f	470
Lightvalve	16:903b5a4433b4	471	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	472	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	473	}
Lightvalve	13:747daba9cf59	474	} else {
Lightvalve	13:747daba9cf59	475	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	476	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	477	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	478	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	479
Lightvalve	16:903b5a4433b4	480	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	481
Lightvalve	30:8d561f16383b	482	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	483
Lightvalve	13:747daba9cf59	484	}
Lightvalve	14:8e7590227d22	485	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	486	break;
Lightvalve	19:23b7c1ad8683	487	}
Lightvalve	14:8e7590227d22	488
Lightvalve	50:3c630b5eba9f	489	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	490	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	491	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	492	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	493	// }
Lightvalve	50:3c630b5eba9f	494	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	495	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	496	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	497	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	498	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	499	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	500	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	501	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	502	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	503	// }
Lightvalve	50:3c630b5eba9f	504	//
Lightvalve	50:3c630b5eba9f	505	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	506	// V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	50:3c630b5eba9f	507	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	508	//
Lightvalve	50:3c630b5eba9f	509	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	510	// V_out = 0;
Lightvalve	50:3c630b5eba9f	511	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	512	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	513	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	514	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	515	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	516	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	517	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	518	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	519	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	520	//
Lightvalve	50:3c630b5eba9f	521	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	522	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	523	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	524	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	525	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	526	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	527	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	528	//
Lightvalve	50:3c630b5eba9f	529	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	530	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	531	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	532	// } else {
Lightvalve	50:3c630b5eba9f	533	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	534	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	535	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	536	// }
Lightvalve	50:3c630b5eba9f	537	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	538	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	539	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	540	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	541	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	542	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	543	// }
Lightvalve	50:3c630b5eba9f	544	// } else {
Lightvalve	50:3c630b5eba9f	545	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	546	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	547	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	548	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	549	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	550	// }
Lightvalve	50:3c630b5eba9f	551	// V_out = 0;
Lightvalve	50:3c630b5eba9f	552	//
Lightvalve	50:3c630b5eba9f	553	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	554	//
Lightvalve	50:3c630b5eba9f	555	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	556	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	557	//
Lightvalve	50:3c630b5eba9f	558	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	559	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	560	// }
Lightvalve	50:3c630b5eba9f	561	// }
Lightvalve	50:3c630b5eba9f	562	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	563	// break;
Lightvalve	50:3c630b5eba9f	564	// }
Lightvalve	14:8e7590227d22	565
Lightvalve	14:8e7590227d22	566	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	567	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	568	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	569	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	570	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	29:69f3f5445d6d	571	pos.ref_home_pos = pos.sen;
Lightvalve	30:8d561f16383b	572	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	573	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	574	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	29:69f3f5445d6d	575	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	29:69f3f5445d6d	576	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	577	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	578	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	579	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	580	}
Lightvalve	29:69f3f5445d6d	581	cnt_findhome++;
Lightvalve	14:8e7590227d22	582
Lightvalve	29:69f3f5445d6d	583	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	584	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	585	} else {
Lightvalve	29:69f3f5445d6d	586	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	587	}
Lightvalve	19:23b7c1ad8683	588
Lightvalve	57:f4819de54e7a	589	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	590	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	30:8d561f16383b	591	if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve	30:8d561f16383b	592	else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve	29:69f3f5445d6d	593	pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	30:8d561f16383b	594	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	50:3c630b5eba9f	595	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	57:f4819de54e7a	596	valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	29:69f3f5445d6d	597	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	598
Lightvalve	30:8d561f16383b	599	//float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	600	//I_REF = 0.04fwn_Pos((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve	29:69f3f5445d6d	601	//// L velocity >> mA convert
Lightvalve	30:8d561f16383b	602	//if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve	30:8d561f16383b	603	//if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve	29:69f3f5445d6d	604	//FLAG_CURRNET_CONTROL = true;
Lightvalve	29:69f3f5445d6d	605	} else {
Lightvalve	29:69f3f5445d6d	606	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	29:69f3f5445d6d	607	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	608	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	609	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	610	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	611	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	612	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	613	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	614	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	615	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	29:69f3f5445d6d	616	}
Lightvalve	29:69f3f5445d6d	617	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	618	int T_move = 2*TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	619	pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)0.5f(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve	30:8d561f16383b	620	vel.ref_home_pos = 0.0f;
Lightvalve	19:23b7c1ad8683	621
Lightvalve	29:69f3f5445d6d	622	// input for position control
Lightvalve	40:3f2c0619c8c4	623	pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve	30:8d561f16383b	624	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	50:3c630b5eba9f	625	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	57:f4819de54e7a	626	valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	29:69f3f5445d6d	627	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	628
Lightvalve	29:69f3f5445d6d	629	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	630	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	631	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	632	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	633	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	634	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	635	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	636	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	637	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	638	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	639	}
Lightvalve	13:747daba9cf59	640	}
Lightvalve	19:23b7c1ad8683	641
Lightvalve	13:747daba9cf59	642	break;
Lightvalve	13:747daba9cf59	643	}
Lightvalve	14:8e7590227d22	644
Lightvalve	50:3c630b5eba9f	645	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	646	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	647	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	648	// else {
Lightvalve	50:3c630b5eba9f	649	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	650	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	651	// }
Lightvalve	50:3c630b5eba9f	652	// }
Lightvalve	50:3c630b5eba9f	653	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	654	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	655	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	656	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	657	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	658	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	659	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	660	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	661	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	662	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	663	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	664	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	665	// }
Lightvalve	50:3c630b5eba9f	666	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	667	// }
Lightvalve	50:3c630b5eba9f	668	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	669	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	670	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	671	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	672	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	673	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	674	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	675	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	676	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	677	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	50:3c630b5eba9f	678	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	679	// }
Lightvalve	50:3c630b5eba9f	680	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	681	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	682	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	683	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	684	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	685	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	686	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	50:3c630b5eba9f	687	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	50:3c630b5eba9f	688	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	689	// }
Lightvalve	50:3c630b5eba9f	690	// }
Lightvalve	50:3c630b5eba9f	691	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	692	//
Lightvalve	50:3c630b5eba9f	693	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	694	//
Lightvalve	50:3c630b5eba9f	695	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	696	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	697	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	698	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	699	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	700	// }
Lightvalve	50:3c630b5eba9f	701	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	702	// V_out = 0;
Lightvalve	50:3c630b5eba9f	703	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	704	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	705	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	706	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	707	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	708	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	709	// }
Lightvalve	50:3c630b5eba9f	710	//
Lightvalve	50:3c630b5eba9f	711	// }
Lightvalve	50:3c630b5eba9f	712	// break;
Lightvalve	50:3c630b5eba9f	713	// }
Lightvalve	50:3c630b5eba9f	714	//
Lightvalve	50:3c630b5eba9f	715	// }
Lightvalve	14:8e7590227d22	716
Lightvalve	14:8e7590227d22	717	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	718	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	719	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	720	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	721	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	722
Lightvalve	14:8e7590227d22	723	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	724	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	725	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	726	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	727	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	728
Lightvalve	38:118df027d851	729	float VREF_NullingGain = 0.0003f;
Lightvalve	38:118df027d851	730	PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve	38:118df027d851	731	PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve	14:8e7590227d22	732
Lightvalve	30:8d561f16383b	733	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	734	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	735	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	736	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	737
Lightvalve	30:8d561f16383b	738	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	739	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	740	}
Lightvalve	13:747daba9cf59	741	} else {
Lightvalve	57:f4819de54e7a	742	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	743	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	744	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	745	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	746	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	747	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	748
Lightvalve	16:903b5a4433b4	749	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	750
Lightvalve	30:8d561f16383b	751	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	752	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	753	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	754	}
Lightvalve	14:8e7590227d22	755	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	756	break;
Lightvalve	13:747daba9cf59	757	}
Lightvalve	14:8e7590227d22	758
Lightvalve	50:3c630b5eba9f	759	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	760	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	761	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	762	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	763	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	764	// }
Lightvalve	50:3c630b5eba9f	765	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	766	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	767	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	768	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	769	// }
Lightvalve	50:3c630b5eba9f	770	// } else {
Lightvalve	50:3c630b5eba9f	771	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	772	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	773	// V_out = 0;
Lightvalve	50:3c630b5eba9f	774	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	775	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	776	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	777	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	778	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	779	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	780	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	781	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	782	//
Lightvalve	50:3c630b5eba9f	783	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	784	//
Lightvalve	50:3c630b5eba9f	785	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	786	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	787	// }
Lightvalve	50:3c630b5eba9f	788	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	789	// break;
Lightvalve	50:3c630b5eba9f	790	// }
Lightvalve	19:23b7c1ad8683	791
Lightvalve	50:3c630b5eba9f	792	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	793	// if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve	50:3c630b5eba9f	794	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	795	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	796	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	797	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	798	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	799	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	800	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	801	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	802	// }
Lightvalve	50:3c630b5eba9f	803	// break;
Lightvalve	50:3c630b5eba9f	804	// }
Lightvalve	14:8e7590227d22	805
Lightvalve	14:8e7590227d22	806	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	13:747daba9cf59	807	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	808
Lightvalve	14:8e7590227d22	809	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	30:8d561f16383b	810	V_out = 3000.0f * sin(23.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	811	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	30:8d561f16383b	812	V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	813	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	814	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	815	data_num = 0;
Lightvalve	14:8e7590227d22	816	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	817	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	818	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	819	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	820	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	821	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	822	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	823	}
Lightvalve	14:8e7590227d22	824
Lightvalve	17:1865016ca2e7	825	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	826	int i;
Lightvalve	13:747daba9cf59	827	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	828	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	829	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	830	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	831	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	832	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	833	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	834	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	835	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	836	}
Lightvalve	13:747daba9cf59	837	}
Lightvalve	27:a2254a485f23	838	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	839	ID_index = 0;
Lightvalve	57:f4819de54e7a	840	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	841	}
Lightvalve	14:8e7590227d22	842
Lightvalve	14:8e7590227d22	843
Lightvalve	13:747daba9cf59	844	break;
Lightvalve	13:747daba9cf59	845	}
Lightvalve	14:8e7590227d22	846
Lightvalve	14:8e7590227d22	847	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	14:8e7590227d22	848
Lightvalve	13:747daba9cf59	849	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	850	if(first_check == 0) {
Lightvalve	30:8d561f16383b	851	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	852	V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	853	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	854	V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	855	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	856	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	857	V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	858	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	859	V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	860	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	861	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	862	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	863	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	864	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	865	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	866	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	867	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	868	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	869	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	870	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	871	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	872	data_num = 0;
Lightvalve	14:8e7590227d22	873
Lightvalve	30:8d561f16383b	874	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	875	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	876	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	877
Lightvalve	30:8d561f16383b	878	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	879	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	880	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	881	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	882	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	883	else
Lightvalve	13:747daba9cf59	884	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	885	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	886	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	887	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	888	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	889
Lightvalve	14:8e7590227d22	890	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	891	DZ_case = 1;
Lightvalve	14:8e7590227d22	892	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	13:747daba9cf59	893	DZ_case = -1;
Lightvalve	14:8e7590227d22	894	} else {
Lightvalve	13:747daba9cf59	895	DZ_case = 0;
Lightvalve	13:747daba9cf59	896	}
Lightvalve	14:8e7590227d22	897
Lightvalve	49:e7bcfc244d40	898	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	899
Lightvalve	14:8e7590227d22	900	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	901	first_check = 1;
Lightvalve	13:747daba9cf59	902	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	903	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	904	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	905	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	906	DZ_index = 1;
Lightvalve	14:8e7590227d22	907
Lightvalve	13:747daba9cf59	908	}
Lightvalve	19:23b7c1ad8683	909	} else {
Lightvalve	14:8e7590227d22	910	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	911	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	912	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	913	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	914	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	915	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	916	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	917	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	918	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	919	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	920	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	921	}
Lightvalve	14:8e7590227d22	922	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	923	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	924	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	925	else
Lightvalve	13:747daba9cf59	926	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	927	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	928	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	929	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	930
Lightvalve	14:8e7590227d22	931	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	932	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	933	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	934	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	935	} else {
Lightvalve	13:747daba9cf59	936	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	937	}
Lightvalve	14:8e7590227d22	938
Lightvalve	14:8e7590227d22	939	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	940
Lightvalve	13:747daba9cf59	941	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	942	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	943	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	944	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	945	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	946	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	947	DZ_index = 1;
Lightvalve	13:747daba9cf59	948	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	949	}
Lightvalve	13:747daba9cf59	950	}
Lightvalve	14:8e7590227d22	951	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	952	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	953	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	954	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	955	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	956	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	957	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	958	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	959	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	960	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	961	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	962	}
Lightvalve	14:8e7590227d22	963	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	964	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	965	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	966	else
Lightvalve	13:747daba9cf59	967	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	968	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	969	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	970	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	971
Lightvalve	14:8e7590227d22	972	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	973	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	974	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	975	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	976	} else {
Lightvalve	13:747daba9cf59	977	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	978	}
Lightvalve	14:8e7590227d22	979
Lightvalve	14:8e7590227d22	980	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	981
Lightvalve	14:8e7590227d22	982
Lightvalve	13:747daba9cf59	983	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	984	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	985	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	986	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	987	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	988	first_check = 0;
Lightvalve	33:91b17819ec30	989	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	990	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	991
Lightvalve	16:903b5a4433b4	992	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	993
Lightvalve	13:747daba9cf59	994	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	995	DZ_index = 1;
Lightvalve	13:747daba9cf59	996	}
Lightvalve	13:747daba9cf59	997	}
Lightvalve	14:8e7590227d22	998	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	999	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1000	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1001	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1002	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1003	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1004	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1005	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1006	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1007	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1008	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1009	}
Lightvalve	14:8e7590227d22	1010	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1011	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1012	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1013	else
Lightvalve	13:747daba9cf59	1014	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1015	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1016	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1017	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1018
Lightvalve	14:8e7590227d22	1019	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1020	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1021	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1022	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1023	} else {
Lightvalve	13:747daba9cf59	1024	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1025	}
Lightvalve	14:8e7590227d22	1026
Lightvalve	14:8e7590227d22	1027	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1028	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1029	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1030	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1031	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1032	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1033	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1034	DZ_index = 1;
Lightvalve	13:747daba9cf59	1035	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1036	}
Lightvalve	13:747daba9cf59	1037	}
Lightvalve	14:8e7590227d22	1038	} else {
Lightvalve	30:8d561f16383b	1039	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1040	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1041	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1042	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1043	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1044	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1045	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1046	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1047	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1048	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1049	}
Lightvalve	14:8e7590227d22	1050	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1051	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1052	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1053	else
Lightvalve	13:747daba9cf59	1054	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1055	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1056	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1057	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1058	if(VEL_POINT >= 0)
Lightvalve	13:747daba9cf59	1059	DZ_DIRECTION = -1;
Lightvalve	13:747daba9cf59	1060	else
Lightvalve	13:747daba9cf59	1061	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1062	if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	13:747daba9cf59	1063	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1064
Lightvalve	14:8e7590227d22	1065	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1066
Lightvalve	14:8e7590227d22	1067
Lightvalve	13:747daba9cf59	1068	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1069	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1070	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1071	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1072	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1073	first_check = 0;
Lightvalve	33:91b17819ec30	1074	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1075	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	34:bb2ca2fc2a8e	1076
Lightvalve	57:f4819de54e7a	1077	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1078	DZ_index = 1;
Lightvalve	13:747daba9cf59	1079	}
Lightvalve	13:747daba9cf59	1080	}
Lightvalve	13:747daba9cf59	1081	}
Lightvalve	14:8e7590227d22	1082	}
Lightvalve	13:747daba9cf59	1083	break;
Lightvalve	13:747daba9cf59	1084	}
Lightvalve	14:8e7590227d22	1085
Lightvalve	14:8e7590227d22	1086	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	13:747daba9cf59	1087	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1088	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1089	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1090	V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1091	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1092	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1093	V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1094	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1095	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1096	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1097	V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1098	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1099	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	49:e7bcfc244d40	1100	V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1101	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1102	first_check = 1;
Lightvalve	13:747daba9cf59	1103	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1104	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1105	ID_index = 0;
Lightvalve	13:747daba9cf59	1106	max_check = 0;
Lightvalve	13:747daba9cf59	1107	min_check = 0;
Lightvalve	13:747daba9cf59	1108	}
Lightvalve	14:8e7590227d22	1109	} else {
Lightvalve	30:8d561f16383b	1110	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	49:e7bcfc244d40	1111	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1112	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1113	data_num = 0;
Lightvalve	57:f4819de54e7a	1114	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1115
Lightvalve	14:8e7590227d22	1116	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1117	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1118	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1119	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1120	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1121	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1122	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1123	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1124	one_period_end = 1;
Lightvalve	13:747daba9cf59	1125	}
Lightvalve	30:8d561f16383b	1126	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1127	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1128	one_period_end = 1;
Lightvalve	13:747daba9cf59	1129	}
Lightvalve	14:8e7590227d22	1130
Lightvalve	14:8e7590227d22	1131	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1132	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1133	max_check = 1;
Lightvalve	14:8e7590227d22	1134	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1135	min_check = 1;
Lightvalve	13:747daba9cf59	1136	}
Lightvalve	13:747daba9cf59	1137	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1138
Lightvalve	19:23b7c1ad8683	1139	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1140	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1141	one_period_end = 0;
Lightvalve	13:747daba9cf59	1142	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1143	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1144	}
Lightvalve	14:8e7590227d22	1145
Lightvalve	14:8e7590227d22	1146	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1147
Lightvalve	13:747daba9cf59	1148	VALVE_POS_NUM = ID_index;
Lightvalve	27:a2254a485f23	1149	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1150	ID_index = 0;
Lightvalve	13:747daba9cf59	1151	first_check = 0;
Lightvalve	13:747daba9cf59	1152	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1153	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1154	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1155	}
Lightvalve	13:747daba9cf59	1156	}
Lightvalve	13:747daba9cf59	1157	break;
Lightvalve	13:747daba9cf59	1158	}
Lightvalve	57:f4819de54e7a	1159
Lightvalve	57:f4819de54e7a	1160	case MODE_SYSTEM_ID: {
Lightvalve	57:f4819de54e7a	1161	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	57:f4819de54e7a	1162	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1163	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1164	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1165	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1166	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1167	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1168	}
Lightvalve	57:f4819de54e7a	1169	break;
Lightvalve	57:f4819de54e7a	1170	}
Lightvalve	57:f4819de54e7a	1171
Lightvalve	57:f4819de54e7a	1172
Lightvalve	57:f4819de54e7a	1173
Lightvalve	57:f4819de54e7a	1174	default:
Lightvalve	57:f4819de54e7a	1175	break;
Lightvalve	57:f4819de54e7a	1176	}
Lightvalve	57:f4819de54e7a	1177
Lightvalve	57:f4819de54e7a	1178	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1179
Lightvalve	57:f4819de54e7a	1180	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1181	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1182	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1183	break;
Lightvalve	57:f4819de54e7a	1184	}
Lightvalve	57:f4819de54e7a	1185
Lightvalve	57:f4819de54e7a	1186	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	57:f4819de54e7a	1187	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	57:f4819de54e7a	1188	I_REF = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1189	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	57:f4819de54e7a	1190	V_out = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1191	} else { //SW Valve
Lightvalve	57:f4819de54e7a	1192	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	57:f4819de54e7a	1193	}
Lightvalve	57:f4819de54e7a	1194
Lightvalve	57:f4819de54e7a	1195	break;
Lightvalve	57:f4819de54e7a	1196	}
Lightvalve	57:f4819de54e7a	1197
Lightvalve	57:f4819de54e7a	1198	case MODE_JOINT_CONTROL: {
Lightvalve	57:f4819de54e7a	1199	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1200	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	57:f4819de54e7a	1201	vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1202	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	57:f4819de54e7a	1203	torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1204
Lightvalve	57:f4819de54e7a	1205	// torque feedback
Lightvalve	57:f4819de54e7a	1206	torq.err = (torq_ref - torq.sen)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE); //[N]
Lightvalve	57:f4819de54e7a	1207	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1208
Lightvalve	57:f4819de54e7a	1209	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	1210
Lightvalve	57:f4819de54e7a	1211	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1212	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1213	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1214
Lightvalve	57:f4819de54e7a	1215	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1216	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1217	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	57:f4819de54e7a	1218
Lightvalve	57:f4819de54e7a	1219	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1220	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1221	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1222	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1223	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1224	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1225	}
Lightvalve	57:f4819de54e7a	1226	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1227	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1228
Lightvalve	57:f4819de54e7a	1229	// velocity compensation for torque control
Lightvalve	57:f4819de54e7a	1230	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1231	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1232	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve	57:f4819de54e7a	1233	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1234	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1235	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1236	I_REF_FORCE_FB = 0.001f * 0.01f((double) P_GAIN_JOINT_TORQUE torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve	57:f4819de54e7a	1237	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1238	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1239	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1240	}
Lightvalve	57:f4819de54e7a	1241	if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1242	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1243	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1244	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1245	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1246
Lightvalve	57:f4819de54e7a	1247	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	57:f4819de54e7a	1248
Lightvalve	57:f4819de54e7a	1249	} else {
Lightvalve	57:f4819de54e7a	1250	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	57:f4819de54e7a	1251
Lightvalve	57:f4819de54e7a	1252	VALVE_POS_RAW_FORCE_FB = alpha_trans(((float) P_GAIN_JOINT_TORQUE torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve	57:f4819de54e7a	1253	+ DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	57:f4819de54e7a	1254
Lightvalve	57:f4819de54e7a	1255	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	57:f4819de54e7a	1256	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1257	} else {
Lightvalve	57:f4819de54e7a	1258	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1259	}
Lightvalve	57:f4819de54e7a	1260
Lightvalve	57:f4819de54e7a	1261	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	57:f4819de54e7a	1262	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1263	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1264	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1265	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1266	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1267	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1268	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1269	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1270	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1271	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1272	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1273	}
Lightvalve	57:f4819de54e7a	1274	}
Lightvalve	57:f4819de54e7a	1275	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	57:f4819de54e7a	1276
Lightvalve	57:f4819de54e7a	1277	}
Lightvalve	57:f4819de54e7a	1278
Lightvalve	57:f4819de54e7a	1279	break;
Lightvalve	57:f4819de54e7a	1280	}
Lightvalve	57:f4819de54e7a	1281
Lightvalve	57:f4819de54e7a	1282	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1283	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1284	break;
Lightvalve	57:f4819de54e7a	1285	}
Lightvalve	14:8e7590227d22	1286
Lightvalve	12:6f2531038ea4	1287	default:
Lightvalve	12:6f2531038ea4	1288	break;
Lightvalve	12:6f2531038ea4	1289	}
Lightvalve	14:8e7590227d22	1290
Lightvalve	57:f4819de54e7a	1291
Lightvalve	57:f4819de54e7a	1292	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	57:f4819de54e7a	1293
Lightvalve	57:f4819de54e7a	1294	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1295	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1296	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1297	if (CURRENT_CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1298	double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1299	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1300
Lightvalve	57:f4819de54e7a	1301	I_ERR = I_REF_fil - cur.sen;
Lightvalve	57:f4819de54e7a	1302	I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
Lightvalve	57:f4819de54e7a	1303
Lightvalve	57:f4819de54e7a	1304
Lightvalve	57:f4819de54e7a	1305	// Moog Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1306	double R_model = 539.0f; // ohm
Lightvalve	57:f4819de54e7a	1307	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1308	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1309	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1310	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1311
Lightvalve	57:f4819de54e7a	1312	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1313	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1314	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1315	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1316	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1317	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1318	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1319	}
Lightvalve	57:f4819de54e7a	1320
Lightvalve	57:f4819de54e7a	1321	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1322
Lightvalve	57:f4819de54e7a	1323	VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
Lightvalve	57:f4819de54e7a	1324	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	57:f4819de54e7a	1325	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1326	I_REF_fil_old = I_REF_fil;
Lightvalve	57:f4819de54e7a	1327	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
Lightvalve	57:f4819de54e7a	1328	double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1329
Lightvalve	57:f4819de54e7a	1330	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1331	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1332	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1333	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1334	VALVE_PWM_RAW = V_MAX;
Lightvalve	57:f4819de54e7a	1335	I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve	57:f4819de54e7a	1336	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1337	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1338	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1339	VALVE_PWM_RAW = -V_MAX;
Lightvalve	57:f4819de54e7a	1340	I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve	57:f4819de54e7a	1341	}
Lightvalve	57:f4819de54e7a	1342	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1343	} else {
Lightvalve	57:f4819de54e7a	1344	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1345	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1346	}
Lightvalve	57:f4819de54e7a	1347
Lightvalve	57:f4819de54e7a	1348	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1349	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1350	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1351	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1352	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1353	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1354	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1355
Lightvalve	57:f4819de54e7a	1356	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1357
Lightvalve	57:f4819de54e7a	1358	} else {
Lightvalve	57:f4819de54e7a	1359	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1360	}
Lightvalve	57:f4819de54e7a	1361
Lightvalve	57:f4819de54e7a	1362	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1363	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	57:f4819de54e7a	1364	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	57:f4819de54e7a	1365
Lightvalve	57:f4819de54e7a	1366	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	57:f4819de54e7a	1367	if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
Lightvalve	57:f4819de54e7a	1368	else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
Lightvalve	57:f4819de54e7a	1369	else V_out = CUR_PWM_lin;
Lightvalve	57:f4819de54e7a	1370	}
Lightvalve	57:f4819de54e7a	1371
Lightvalve	57:f4819de54e7a	1372
Lightvalve	14:8e7590227d22	1373
jobuuu	7:e9086c72bb22	1374	/*******************************************************
jobuuu	7:e9086c72bb22	1375	*** PWM
jobuuu	7:e9086c72bb22	1376	********************************************************/
Lightvalve	49:e7bcfc244d40	1377	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1378	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1379	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1380	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1381	}
Lightvalve	49:e7bcfc244d40	1382	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1383
Lightvalve	19:23b7c1ad8683	1384	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1385	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1386	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1387
Lightvalve	30:8d561f16383b	1388	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1389	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1390	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1391	} else {
jobuuu	2:a1c0a37df760	1392	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1393	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1394	}
Lightvalve	13:747daba9cf59	1395
jobuuu	1:e04e563be5ce	1396	//pwm
Lightvalve	30:8d561f16383b	1397	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1398	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1399
Lightvalve	20:806196fda269	1400
Lightvalve	57:f4819de54e7a	1401	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1402
Lightvalve	54:647072f5307a	1403	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1404	if (flag_data_request[0] == HIGH) {
Lightvalve	57:f4819de54e7a	1405	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1406	if (SENSING_MODE == 0) {
Lightvalve	54:647072f5307a	1407	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1408	} else if (SENSING_MODE == 1) {
Lightvalve	54:647072f5307a	1409	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen10.0f), (int16_t) (pres_B.sen10.0f));
Lightvalve	54:647072f5307a	1410	}
Lightvalve	57:f4819de54e7a	1411	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1412	if (SENSING_MODE == 0) {
Lightvalve	54:647072f5307a	1413	CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1414	} else if (SENSING_MODE == 1) {
Lightvalve	54:647072f5307a	1415	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen10.0f), (int16_t) (pres_B.sen10.0f));
Lightvalve	54:647072f5307a	1416	}
Lightvalve	52:8ea76864368a	1417	}
Lightvalve	52:8ea76864368a	1418	}
Lightvalve	56:6f50d9d3bfee	1419	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1420	//valve position
Lightvalve	54:647072f5307a	1421	double t_value = 0;
Lightvalve	57:f4819de54e7a	1422	// if(value>=(float) VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1423	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1424	// } else {
Lightvalve	57:f4819de54e7a	1425	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	57:f4819de54e7a	1426	// }
Lightvalve	57:f4819de54e7a	1427	if(OPERATING_MODE==5){
Lightvalve	57:f4819de54e7a	1428	t_value = (double) value;
Lightvalve	57:f4819de54e7a	1429	}else if(CURRENT_CONTROL_MODE==1){
Lightvalve	57:f4819de54e7a	1430	t_value = cur.sen;
Lightvalve	57:f4819de54e7a	1431	}else{
Lightvalve	57:f4819de54e7a	1432	t_value = V_out;
Lightvalve	54:647072f5307a	1433	}
Lightvalve	57:f4819de54e7a	1434	CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve	54:647072f5307a	1435	}
Lightvalve	57:f4819de54e7a	1436
Lightvalve	57:f4819de54e7a	1437
Lightvalve	56:6f50d9d3bfee	1438	if (flag_data_request[2] == HIGH) {
Lightvalve	56:6f50d9d3bfee	1439	//pressure A and B
Lightvalve	57:f4819de54e7a	1440	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve	55:b25725257569	1441	}
Lightvalve	57:f4819de54e7a	1442
Lightvalve	57:f4819de54e7a	1443	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1444	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1445	;
Lightvalve	57:f4819de54e7a	1446	}
Lightvalve	57:f4819de54e7a	1447
Lightvalve	56:6f50d9d3bfee	1448	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1449	//PWM
Lightvalve	57:f4819de54e7a	1450	CAN_TX_PWM((int16_t) cur.sen); //1500
Lightvalve	54:647072f5307a	1451	}
Lightvalve	57:f4819de54e7a	1452	//for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1453	// ;
Lightvalve	57:f4819de54e7a	1454	// }
Lightvalve	56:6f50d9d3bfee	1455	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1456	//valve position
Lightvalve	57:f4819de54e7a	1457	CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve	54:647072f5307a	1458	}
Lightvalve	20:806196fda269	1459
Lightvalve	54:647072f5307a	1460	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1461	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1462	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1463	// }
Lightvalve	54:647072f5307a	1464	//if (flag_delay_test == 1){
Lightvalve	54:647072f5307a	1465	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1466	//}
Lightvalve	52:8ea76864368a	1467
Lightvalve	54:647072f5307a	1468	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1469	}
Lightvalve	54:647072f5307a	1470	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1471
Lightvalve	20:806196fda269	1472	}
Lightvalve	52:8ea76864368a	1473	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1474
Lightvalve	20:806196fda269	1475	}
Lightvalve	20:806196fda269	1476
Lightvalve	20:806196fda269	1477
Lightvalve	20:806196fda269	1478
Lightvalve	52:8ea76864368a	1479	//unsigned long CNT_TMR5 = 0;
Lightvalve	52:8ea76864368a	1480	//float FREQ_TMR5 = (float)FREQ_500;
Lightvalve	52:8ea76864368a	1481	//float DT_TMR5 = (float)DT_500;
Lightvalve	57:f4819de54e7a	1482
Lightvalve	52:8ea76864368a	1483	//extern "C" void TIM2_IRQHandler(void)
Lightvalve	52:8ea76864368a	1484	//{
Lightvalve	52:8ea76864368a	1485	// LED = 1;
Lightvalve	52:8ea76864368a	1486	// if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve	52:8ea76864368a	1487	//
Lightvalve	52:8ea76864368a	1488	// //CAN ----------------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1489	// //if (flag_data_request[0] == LOW) {
Lightvalve	52:8ea76864368a	1490	// //position+velocity
Lightvalve	52:8ea76864368a	1491	// CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	57:f4819de54e7a	1492	// //}
Lightvalve	52:8ea76864368a	1493	//
Lightvalve	57:f4819de54e7a	1494	// //if (flag_data_request[1] == LOW) {
Lightvalve	52:8ea76864368a	1495	// //valve position
Lightvalve	52:8ea76864368a	1496	// double t_value = 0;
Lightvalve	57:f4819de54e7a	1497	// if(value>=(double)VALVE_CENTER) {
Lightvalve	57:f4819de54e7a	1498	// t_value = 10000.0f*((double)value-(double)VALVE_CENTER)/((double)VALVE_MAX_POS-(double)VALVE_CENTER);
Lightvalve	52:8ea76864368a	1499	// } else {
Lightvalve	57:f4819de54e7a	1500	// t_value = -10000.0f*((double)value-(double)VALVE_CENTER)/((double)VALVE_MIN_POS-(double)VALVE_CENTER);
Lightvalve	52:8ea76864368a	1501	// }
Lightvalve	52:8ea76864368a	1502	// CAN_TX_TORQUE((int16_t) (t_value));
Lightvalve	57:f4819de54e7a	1503	// //}
Lightvalve	52:8ea76864368a	1504	//
Lightvalve	57:f4819de54e7a	1505	// //if (flag_data_request[2] == LOW) {
Lightvalve	52:8ea76864368a	1506	// //pressure A and B
Lightvalve	52:8ea76864368a	1507	// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (MODE_POS_FT_TRANS * 100.0f)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	57:f4819de54e7a	1508	//
Lightvalve	57:f4819de54e7a	1509	// //}
Lightvalve	55:b25725257569	1510	//
Lightvalve	57:f4819de54e7a	1511	// //if (flag_data_request[3] == LOW) {
Lightvalve	57:f4819de54e7a	1512	// //PWM
Lightvalve	57:f4819de54e7a	1513	// int i = 0;
Lightvalve	57:f4819de54e7a	1514	// for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1515	// ;
Lightvalve	56:6f50d9d3bfee	1516	// }
Lightvalve	52:8ea76864368a	1517	// CAN_TX_PWM((int16_t) VALVE_DEADZONE_PLUS);
Lightvalve	52:8ea76864368a	1518	// // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve	52:8ea76864368a	1519	// // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve	52:8ea76864368a	1520	// // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve	52:8ea76864368a	1521	//
Lightvalve	57:f4819de54e7a	1522	// //}
Lightvalve	57:f4819de54e7a	1523	//
Lightvalve	57:f4819de54e7a	1524	// //if (flag_data_request[4] == LOW) {
Lightvalve	57:f4819de54e7a	1525	// //valve position
Lightvalve	52:8ea76864368a	1526	//
Lightvalve	57:f4819de54e7a	1527	// for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1528	// ;
Lightvalve	57:f4819de54e7a	1529	// }
Lightvalve	52:8ea76864368a	1530	// CAN_TX_VALVE_POSITION((int16_t) (K_SPRING), (int16_t) (D_DAMPER), (int16_t) VALVE_POS_RAW_FORCE_FB_LOGGING);
Lightvalve	57:f4819de54e7a	1531	// //CAN_TX_VALVE_POSITION((int16_t) ((float) VALVE_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve	52:8ea76864368a	1532	//
Lightvalve	52:8ea76864368a	1533	// //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve	52:8ea76864368a	1534	// // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve	52:8ea76864368a	1535	// // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	52:8ea76864368a	1536	// // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve	52:8ea76864368a	1537	// // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve	57:f4819de54e7a	1538	// //}
Lightvalve	52:8ea76864368a	1539	//
Lightvalve	52:8ea76864368a	1540	//
Lightvalve	52:8ea76864368a	1541	// }
Lightvalve	52:8ea76864368a	1542	// TIM2->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1543	//}
Lightvalve	52:8ea76864368a	1544
Lightvalve	52:8ea76864368a	1545
Lightvalve	57:f4819de54e7a	1546	//
Lightvalve	57:f4819de54e7a	1547	//void CurrentControl()
Lightvalve	57:f4819de54e7a	1548	//{
Lightvalve	57:f4819de54e7a	1549	// cur.err = cur.ref - cur.sen;
Lightvalve	57:f4819de54e7a	1550	// cur.err_int = cur.err_int + cur.err*DT_TMR4;
Lightvalve	57:f4819de54e7a	1551	// cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
Lightvalve	57:f4819de54e7a	1552	// cur.err_old = cur.err;
Lightvalve	57:f4819de54e7a	1553	//
Lightvalve	57:f4819de54e7a	1554	// float R_model = 150.0f; // ohm
Lightvalve	57:f4819de54e7a	1555	// float L_model = 0.3f;
Lightvalve	57:f4819de54e7a	1556	// float w0 = 2.0f3.14f90.0f;
Lightvalve	57:f4819de54e7a	1557	// float KP_I = L_model*w0;
Lightvalve	57:f4819de54e7a	1558	// float KI_I = R_model*w0;
Lightvalve	57:f4819de54e7a	1559	// float KD_I = 0.0f;
Lightvalve	57:f4819de54e7a	1560	//
Lightvalve	57:f4819de54e7a	1561	// float FF_gain = 0.0f;
Lightvalve	57:f4819de54e7a	1562	// V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
Lightvalve	57:f4819de54e7a	1563	// // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	57:f4819de54e7a	1564	// V_out = V_out + FF_gain * (R_modelcur.ref + L_modelcur.ref_diff); // Unit : mV
Lightvalve	57:f4819de54e7a	1565	//
Lightvalve	57:f4819de54e7a	1566	// float Ka = 5.0f/KP_I;
Lightvalve	57:f4819de54e7a	1567	// if(V_out > V_MAX) {
Lightvalve	57:f4819de54e7a	1568	// V_rem = V_out-V_MAX;
Lightvalve	57:f4819de54e7a	1569	// V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1570	// V_out = V_MAX;
Lightvalve	57:f4819de54e7a	1571	// cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve	57:f4819de54e7a	1572	// } else if(V_out < -V_MAX) {
Lightvalve	57:f4819de54e7a	1573	// V_rem = V_out-(-V_MAX);
Lightvalve	57:f4819de54e7a	1574	// V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1575	// V_out = -V_MAX;
Lightvalve	57:f4819de54e7a	1576	// cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve	57:f4819de54e7a	1577	// }
Lightvalve	57:f4819de54e7a	1578	//}
Lightvalve	23:59218d4a256d	1579
Lightvalve	28:2a62d73e3dd0	1580
Lightvalve	30:8d561f16383b	1581
Lightvalve	32:4b8c0fedaf2c	1582
Lightvalve	36:a46e63505ed8	1583
Lightvalve	42:1cf66990ccab	1584
Lightvalve	44:fe7d5cfd2eea	1585
Lightvalve	50:3c630b5eba9f	1586

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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@57:f4819de54e7a, 2020-03-06 (annotated)

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