eeprom_test

Dependencies:   mbed FastPWM

main.cpp

Committer:
Lightvalve
Date:
20 months ago
Revision:
16:903b5a4433b4
Parent:
15:bd0d12728506
Child:
17:1865016ca2e7

File content as of revision 16:903b5a4433b4:

#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
#include "function_CAN.h"
#include "SPI_EEP_ENC.h"
#include "I2C_AS5510.h"
#include "setting.h"
#include "function_utilities.h"
#include "stm32f4xx_flash.h"
#include "FlashWriter.h"

// dac & check ///////////////////////////////////////////
DigitalOut check(PC_2);
DigitalOut check_2(PC_3);
AnalogOut dac_1(PA_4);
AnalogOut dac_2(PA_5);
AnalogIn adc1(PC_4); //pressure_1
AnalogIn adc2(PB_0); //pressure_2
AnalogIn adc3(PC_1); //current

// PWM ///////////////////////////////////////////
double dtc_v=0.0;
double dtc_w=0.0;

// I2C ///////////////////////////////////////////
I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
const int i2c_slave_addr1 =  0x56;
unsigned int value; // 10bit output of reading sensor AS5510

// SPI ///////////////////////////////////////////
//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
//DigitalOut eeprom_cs(PB_12);
//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
DigitalOut LED(PA_15);

// UART ///////////////////////////////////////////
Serial pc(PA_9,PA_10); //  _ UART

// CAN ///////////////////////////////////////////
CAN can(PB_8, PB_9, 1000000);
CANMessage msg;
void onMsgReceived()
{
    CAN_RX_HANDLER();
}

// Variables ///////////////////////////////////////////
State pos;
State vel;
State Vout;
State torq;
State pres_A;
State pres_B;
State cur;
State valve_pos;

State INIT_Vout;
State INIT_Valve_Pos;
State INIT_Pos;
State INIT_torq;

double V_out=0.0;
double V_rem=0.0; // for anti-windup
double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV

double PWM_out=0.0;


// =============================================================================
// =============================================================================
// =============================================================================

/*******************************************************************************
 *  REFERENCE MODE
 ******************************************************************************/
enum _REFERENCE_MODE {
    MODE_REF_NO_ACT = 0,                                //0
    MODE_REF_DIRECT,                                //1
    MODE_REF_COS_INC,                                  //2
    MODE_REF_LINE_INC,                                 //3
    MODE_REF_SIN_WAVE,                                  //4
    MODE_REF_SQUARE_WAVE,                                  //5
};

/*******************************************************************************
 *  CONTROL MODE
 ******************************************************************************/
enum _CONTROL_MODE {
    //control mode
    MODE_NO_ACT = 0,                                    //0
    MODE_VALVE_OPEN_LOOP,                               //1
    MODE_VALVE_POSITION_CONTROL,                        //2

    MODE_JOINT_POSITION_TORQUE_CONTROL_PWM,             //3
    MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION,  //4
    MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING,        //5

    MODE_JOINT_POSITION_PRES_CONTROL_PWM,               //6
    MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION,    //7
    MODE_VALVE_POSITION_PRES_CONTROL_LEARNING,          //8

    MODE_TEST_CURRENT_CONTROL,                          //9
    MODE_TEST_PWM_CONTROL,                              //10
    
    MODE_CURRENT_CONTROL,                               //11
    MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT,         //12
    MODE_JOINT_POSITION_PRES_CONTROL_CURRENT,           //13

    //utility
    MODE_TORQUE_SENSOR_NULLING = 20,                    //20
    MODE_VALVE_NULLING_AND_DEADZONE_SETTING,            //21
    MODE_FIND_HOME,                                     //22
    MODE_VALVE_GAIN_SETTING,                        //23
    MODE_PRESSURE_SENSOR_NULLING,                       //24
    MODE_PRESSURE_SENSOR_CALIB,                         //25
    MODE_ROTARY_FRICTION_TUNING,                        //26

    MODE_DDV_POS_VS_PWM_ID = 30,                           //30
    MODE_DDV_DEADZONE_AND_CENTER,                       //31
    MODE_DDV_POS_VS_FLOWRATE,                           //32
};

int main()
{
    /*********************************
    ***     Initialization
    *********************************/
    pc.printf("a00000");
    
    LED = 1;
    pc.baud(9600);
    
    // i2c init
    i2c.frequency(400 * 1000);          // 0.4 mHz
    wait_ms(2);                         // Power Up wait
    look_for_hardware_i2c();            // Hardware present
    init_as5510(i2c_slave_addr1);
    make_delay();

//    // spi init
    //eeprom.format(8,3);
    //eeprom.frequency(5000000); //5M
    enc.format(8,0);
    enc.frequency(5000000); //5M
    make_delay();
    
    //rom
    
    ROM_INIT_DATA();
    make_delay();

    // ADC init
    Init_ADC();
    make_delay();

    // Pwm init
    Init_PWM();
    TIM4->CR1 ^= TIM_CR1_UDIS;
    make_delay();

    // TMR3 init
    Init_TMR3();
    TIM3->CR1 ^= TIM_CR1_UDIS;
    make_delay();
    
    // CAN
    can.attach(&CAN_RX_HANDLER);
    CAN_ID_INIT();
    make_delay();

    // spi _ enc
    spi_enc_set_init();
    make_delay();

    //DAC init
    dac_1 = PRES_A_VREF / 3.3;
    //dac_1 = 0.0;
    dac_2 = PRES_B_VREF / 3.3;
    //dac_2 = 0.0;
    make_delay();

    for (int i=0; i<100; i++) {
        if(i%2==0)
            ID_index_array[i] = - i * 0.5;
        else
            ID_index_array[i] =  (i+1) * 0.5;
    }

    /************************************
    ***     Program is operating!
    *************************************/
    while(1) {

        //spi _ enc
        //int a = spi_enc_read();
        //pc.printf("Message received: %d\n", msg.data[0]);
        //pc.printf("Message received: %d\n", 13);
        //i2c
        //read_field(i2c_slave_addr1);
        //wait(1);
    }
}

int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
{

    int i = 0;
    int Ref_Valve_Pos_FF = DDV_CENTER;
    for(i=0; i<VALVE_POS_NUM; i++) {
        if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <=  max(JOINT_VEL[i],JOINT_VEL[i+1])) {
            if(i==0) {
                Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
            } else {
                Ref_Valve_Pos_FF = ((int) 50.0*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 50*ID_index_array[i-1];
            }
            break;
        }
    }
    if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
        Ref_Valve_Pos_FF = VALVE_MAX_POS;
    } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
        Ref_Valve_Pos_FF = VALVE_MIN_POS;
    }
    return Ref_Valve_Pos_FF;
}


void VALVE_POS_CONTROL(double REF_VALVE_POS)
{
    int i = 0;

    valve_pos_err = REF_VALVE_POS - value;
    valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
    valve_pos_err_old = valve_pos_err;
    valve_pos_err_sum += valve_pos_err;
    if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
    if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;

    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;

    if(REF_VALVE_POS > VALVE_MAX_POS) {
        REF_VALVE_POS = VALVE_MAX_POS;
    } else if(REF_VALVE_POS < VALVE_MIN_POS) {
        REF_VALVE_POS = VALVE_MIN_POS;
    }

    for(i=0; i<16; i++) {
        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])) {
            if(i==0) {
                VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
            } else {
                VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1];
            }
            break;
        }
    }
    V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}

#define LT_MAX_IDX  57
double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0,
                                  -19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
                                  -9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
                                  1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
                                  11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
                                  25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
                                 };  // duty
double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8,
                                        -196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
                                        -156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
                                        12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
                                        173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
                                        214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
                                       }; // mV

double PWM_duty_byLT(double Ref_V)
{
    double PWM_duty = 0.0;
    if(Ref_V<LT_Voltage_Output[0]) {
        PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
    } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
        PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
    } else {
        int idx = 0;
        for(idx=0; idx<LT_MAX_IDX-1; idx++) {
            double ini_x = LT_Voltage_Output[idx];
            double fin_x = LT_Voltage_Output[idx+1];
            double ini_y = LT_PWM_duty[idx];
            double fin_y = LT_PWM_duty[idx+1];
            if(Ref_V>=ini_x && Ref_V<fin_x) {
                PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
                break;
            }
        }
    }

    return PWM_duty;
}

/*******************************************************************************
                            TIMER INTERRUPT
*******************************************************************************/

unsigned long CNT_TMR4 = 0;
double FREQ_TMR4 = (double)FREQ_20k;
double DT_TMR4 = (double)DT_20k;
extern "C" void TIM4_IRQHandler(void)
{
    if ( TIM4->SR & TIM_SR_UIF ) {
        /*******************************************************
        ***     Sensor Read & Data Handling
        ********************************************************/

        if((CNT_TMR4%2)==0) {
            //Using LoadCell
//            ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
//            //while((ADC1->SR & 0b10));
//            double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
//            double torque_new = ((double)ADC1->DR - PRES_A_NULL)  / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
//            torq.sen = torq.sen*(1.0-alpha_update_torque)+torque_new*(alpha_update_torque);
            
            //Pressure sensor A
            ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
            //while((ADC1->SR & 0b10));
            double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
            double pres_A_new = ((double)ADC1->DR - PRES_A_NULL)  / PRES_SENSOR_A_PULSE_PER_BAR + 1.0;
            pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
            //Pressure sensor 1B
            ADC2->CR2  |= 0x40000000;                        // adc _ 12bit
            //while((ADC2->SR & 0b10));
            double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
            double pres_B_new = ((double)ADC2->DR - PRES_B_NULL)  / PRES_SENSOR_B_PULSE_PER_BAR + 1.0;
            pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
            torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
            
/*                      
            //Current
            ADC3->CR2  |= 0x40000000;                        // adc _ 12bit
//          a1=ADC2->DR;
//          int raw_cur = ADC3->DR;
            while((ADC3->SR & 0b10));
            double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
            double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
            cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
*/
        }

        /*******************************************************
        ***     Timer Counting & etc.
        ********************************************************/
        CNT_TMR4++;
    }
    TIM4->SR = 0x0;  // reset the status register
}

unsigned long CNT_TMR3 = 0;
double FREQ_TMR3 = (double)FREQ_5k;
double DT_TMR3 = (double)DT_5k;
extern "C" void TIM3_IRQHandler(void)
{
    if ( TIM3->SR & TIM_SR_UIF ) {
        
        ENC_UPDATE();

        /*
        // Reference Loop
        switch (REFERENCE_MODE) {
            case MODE_REF_NO_ACT: {
                break;
            }
            case MODE_REF_DIRECT: {
                if (FLAG_REFERENCE_VALVE_PWM) {
                    Vout.ref = (double) Vout.ref;
                }
                if (FLAG_REFERENCE_VALVE_POSITION) {
                    valve_pos.ref = (double) valve_pos.ref;
                }
                if (FLAG_REFERENCE_JOINT_POSITION) {
                    pos.ref = (double) pos.ref;
                    vel.ref = (double) vel.ref;
                }
                if (FLAG_REFERENCE_JOINT_TORQUE) {
                    torq.ref = (double) torq.ref;
                }
                if (FLAG_REFERENCE_CURRENT) {
                    cur.ref = ((double)cur.ref);
                }
                break;
            }
            
            case MODE_REF_COS_INC: {
                if (FLAG_REFERENCE_VALVE_PWM) {
                    Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Vout.ref;
                }
                if (FLAG_REFERENCE_VALVE_POSITION) {
                    valve_pos.ref = ((double) valve_pos.ref - (double) INIT_Valve_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Valve_Pos.ref;
                }
                if (FLAG_REFERENCE_JOINT_POSITION) {
                    pos.ref = ((double) pos.ref - (double) INIT_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Pos.ref;
                    vel.ref = 0.0;
                }
                if (FLAG_REFERENCE_JOINT_TORQUE) {
                    torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_torq.ref;
                }
                TMR3_COUNT_REFERENCE++;
                if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
                    //REFERENCE_MODE = MODE_REF_DIRECT;
                    TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
                    //TMR3_COUNT_REFERENCE = 0;
                }
                break;
            }


            case MODE_REF_LINE_INC: {
                if (FLAG_REFERENCE_VALVE_PWM) {
                    Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_Vout.ref;
                }
                if (FLAG_REFERENCE_VALVE_POSITION) {
                    valve_pos.ref = ((double) valve_pos.ref - (double) INIT_valve_pos.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_valve_pos.ref;
                }
                if (FLAG_REFERENCE_JOINT_POSITION) {
                    pos.ref = ((double) pos.ref - (double) INIT_REF_POS)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_POS;
                    vel.ref = ((double) pos.ref - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k;    //   pulse/sec
                }
                if (FLAG_REFERENCE_JOINT_TORQUE) {
                    torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_torq.ref;
                }
                TMR3_COUNT_REFERENCE++;
                if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
                    //REFERENCE_MODE = MODE_REF_DIRECT;
                    TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
                    //TMR3_COUNT_REFERENCE = 0;
                }
                break;
            }

            case MODE_REF_SIN_WAVE: {
                if (FLAG_REFERENCE_VALVE_PWM) {
                    Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
                }
                if (FLAG_REFERENCE_VALVE_POSITION) {
                    valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
                }
                if (FLAG_REFERENCE_JOINT_POSITION) {
                    Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
                }
                if (FLAG_REFERENCE_JOINT_TORQUE) {
                    Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
                }
                TMR3_COUNT_REFERENCE++;
                if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
                    REFERENCE_MODE = MODE_REF_DIRECT;
                    TMR3_COUNT_REFERENCE = 0;
                }
                break;
            }

            case MODE_REF_SQUARE_WAVE: {
                if (FLAG_REFERENCE_VALVE_PWM) {
                    Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
                    if (Vout.ref >= Vout.ref) Vout.ref = REF_MAG + Vout.ref;
                    else Vout.ref = -REF_MAG + Vout.ref;
                }
                if (FLAG_REFERENCE_VALVE_POSITION) {
                    valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
                    if (valve_pos.ref >= valve_pos.ref) valve_pos.ref = REF_MAG + valve_pos.ref;
                    else valve_pos.ref = -REF_MAG + valve_pos.ref;
                }
                if (FLAG_REFERENCE_JOINT_POSITION) {
                    Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
                    if (Ref_Joint_Pos >= pos.ref) valve_pos.ref = REF_MAG + pos.ref;
                    else Ref_Joint_Pos = -REF_MAG + pos.ref;
                }
                if (FLAG_REFERENCE_JOINT_TORQUE) {
                    Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
                    if (Ref_Joint_Torq >= torq.ref) valve_pos.ref = REF_MAG + torq.ref;
                    else Ref_Joint_Torq = -REF_MAG + torq.ref;
                }
                TMR3_COUNT_REFERENCE++;
                if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
                    REFERENCE_MODE = MODE_REF_DIRECT;
                    TMR3_COUNT_REFERENCE = 0;
                }
                break;
            }
            
            default:
                break;
        }
        
        */

        // CONTROL LOOP ------------------------------------------------------------
        switch (CONTROL_MODE) {
            case MODE_NO_ACT: {
                V_out = 0;
                break;
            }

            case MODE_VALVE_OPEN_LOOP: {
                V_out = Vout.ref;
                break;
            }

            case MODE_VALVE_POSITION_CONTROL: {
                VALVE_POS_CONTROL(valve_pos.ref);
                break;
            }

            case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
                double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
                double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
                double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback

                // feedback input for position control
                pos.err = pos.ref - (double) pos.sen;
                pos.err_diff = pos.err - pos.err_old;
                pos.err_old = pos.err;
                pos.err_sum += pos.err;
                if (pos.err_sum > 1000) pos.err_sum = 1000;
                if (pos.err_sum<-1000) pos.err_sum = -1000;
                //            PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
                PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
                PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;

                // feedforward input for position control
                double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
                double K_ff = 0.9;
                if(Ref_Vel_Act > 0) K_ff = 0.90; // open
                if(Ref_Vel_Act > 0) K_ff = 0.75; // close
                PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;

                // torque feedback
                //            torq.err = torq.ref - torq.sen;
                //            torq.err_diff = torq.err - torq.err_old;
                //            torq.err_old = torq.err;
                //            torq.err_sum += torq.err;
                //            if (torq.err_sum > 1000) torq.err_sum = 1000;
                //            if (torq.err_sum<-1000) torq.err_sum = -1000;
                //            VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
                //            VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
                
                PWM_RAW_FORCE_FB = 0.0;

                V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;

                break;
            }

            case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
                double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
                double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
                double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
                int DDV_JOINT_CAN = 0;
                // feedback input for position control
                pos.err = pos.ref - (double) pos.sen;
                pos.err_diff = pos.err - pos.err_old;
                pos.err_old = pos.err;
                pos.err_sum += pos.err;
                if (pos.err_sum > 1000) pos.err_sum = 1000;
                if (pos.err_sum<-1000) pos.err_sum = -1000;
                VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
                VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;


                //Ref_Joint_Vel =  Ref_Vel_Test;
                // feedforward input for position control
                //            double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
                //            double K_ff = 0.9;
                //            if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
                //            if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
                //            VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;

                // torque feedback
                //            torq.err = torq.ref - torq.sen;
                //            torq.err_diff = torq.err - torq.err_old;
                //            torq.err_old = torq.err;
                //            torq.err_sum += torq.err;
                //            if (torq.err_sum > 1000) torq.err_sum = 1000;
                //            if (torq.err_sum<-1000) torq.err_sum = -1000;
                //            VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
                //            VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
                VALVE_POS_RAW_FORCE_FB = 0.0;

                valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
                //valve_pos.ref = DDV_JOINT_POS_FF(Ref_Joint_Vel);

                VALVE_POS_CONTROL(valve_pos.ref);
                break;
            }

            case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {

                break;
            }

            case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
                pos.err = pos.ref - (double) pos.sen;
                pos.err_diff = pos.err - pos.err_old;
                pos.err_old = pos.err;
                pos.err_sum += pos.err;
                if (pos.err_sum > 1000) pos.err_sum = 1000;
                if (pos.err_sum<-1000) pos.err_sum = -1000;
                VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;

                torq.err = torq.ref - torq.sen;
                torq.err_diff = torq.err - torq.err_old;
                torq.err_old = torq.err;
                torq.err_sum += torq.err;
                if (torq.err_sum > 1000) torq.err_sum = 1000;
                if (torq.err_sum<-1000) torq.err_sum = -1000;
                VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;

                VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;

                V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;

                CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
                CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
                if (DIR_VALVE > 0) {
                    if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
                    else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
                    else VALVE_FF_VOLTAGE = 0;
                } else {
                    if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
                    else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
                    else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
                    else VALVE_FF_VOLTAGE = 0;
                }
                //            VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;

                if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
                else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;

                V_out = V_out + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
                break;
            }

            case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
                pos.err = pos.ref - (double) pos.sen;
                pos.err_diff = pos.err - pos.err_old;
                pos.err_old = pos.err;
                pos.err_sum += pos.err;
                if (pos.err_sum > 1000) pos.err_sum = 1000;
                if (pos.err_sum<-1000) pos.err_sum = -1000;
                VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;

                torq.err = torq.ref - torq.sen;
                torq.err_diff = torq.err - torq.err_old;
                torq.err_old = torq.err;
                torq.err_sum += torq.err;
                if (torq.err_sum > 1000) torq.err_sum = 1000;
                if (torq.err_sum<-1000) torq.err_sum = -1000;
                VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;

                valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
                VALVE_POS_CONTROL(valve_pos.ref);
                
                break;
            }

            case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {

                break;
            }

           
            case MODE_TEST_CURRENT_CONTROL:
            {
                if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
                    TMR3_COUNT_IREF = 0;
                } TMR3_COUNT_IREF++;
            
                // Set Current Reference 
                double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
                double I_REF_MID = 0.0;
                if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
                    I_REF = I_REF_MID + 1.0;
                } else {
                    I_REF = I_REF_MID - 1.0;
                }    
//              double T = 1.0; // wave period
//              I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
//              I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
            
                if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
                    CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas  
                }
                break;
            }
                    
            case MODE_TEST_PWM_CONTROL:
            {
                if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
                    TMR3_COUNT_IREF = 0;
                } TMR3_COUNT_IREF++;
                
                // Set PWM reference
                double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
                double I_REF_MID = 0.0;
                if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
                    CUR_PWM = 1000;
                } else {
                    CUR_PWM = -1000;
                }    
         
                if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
                    CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
                }
                break;
            }
            
            
            case MODE_CURRENT_CONTROL: {

                cur.ref = cur.ref; // Unit : mA
                CurrentControl();
                break;
            }
            
            case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
                double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
                double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
                double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
                double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
    
                // feedback input for position control
                pos.err = pos.ref - pos.sen;
                double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
                double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
                pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
                pos.err_old = pos.err;
                I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
    
                // feedforward input for position control
                double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
                double K_ff = 1.3;
                double K_v = 0.0;
                if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
                if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
                I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
                
                // feedback input for position control
                I_REF_FORCE_FB = 0.0;
                
                // feedforward input for position control
                I_REF_FORCE_FF = 0.0;
    
                cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
                
                CurrentControl();
                
                break;
            }
            
            case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
                double T_REF = 0.0; // Torque Reference
                double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
                double I_REF_VC = 0.; // I_REF for velocity compensation
                
                // feedback input for position control
                double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] 
                double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] 
                double K_spring = 0.7;
                double D_damper = 0.02;
//              T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
            
                // torque feedback
                torq.err = torq.ref - torq.sen;
                //            torq.err_diff = torq.err - torq.err_old;
                //            torq.err_old = torq.err;
                torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
                I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum); 
                
                // velocity compensation for torque control
                double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] 
                double K_vc = 1.5; // Velocity comp. gain
                double K_v = 0.0; // Valve gain 
                if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
                if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
                I_REF_VC = K_vc*K_v*Joint_Vel_Act;
                
                cur.ref = I_REF_VC + I_REF_FORCE_FB;
    //            cur.ref = I_REF_FORCE_FB;
    
                double I_MAX = 10.00; // Maximum Current : 10mV 
                double Ka = 1.0/I_GAIN_JOINT_TORQUE;
                if(cur.ref > I_MAX) {
                    double I_rem = cur.ref-I_MAX;
                    I_rem = Ka*I_rem;
                    cur.ref = I_MAX;
                    torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
                } else if(cur.ref < -I_MAX) {
                    double I_rem = cur.ref-(-I_MAX);
                    I_rem = Ka*I_rem; 
                    cur.ref = -I_MAX;
                    torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
                }
                
                CurrentControl();
                
                
                /*
                double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
                double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
                double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
                double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
    
                // feedback input for position control
                pos.err = pos.ref - pos.sen;
                double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
                double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
                pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
                pos.err_old = pos.err;
                I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
    
                // feedforward input for position control
                double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
                double K_ff = 1.3;
                double K_v = 0.0;
                if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
                if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
                I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
                
                // feedback input for position control
                I_REF_FORCE_FB = 0.0;
                
                // feedforward input for position control
                I_REF_FORCE_FF = 0.0;
    
                cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
                
                CurrentControl();
                */
               
                break;
            }

            case MODE_TORQUE_SENSOR_NULLING: {
                // DAC Voltage reference set
                if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
                    CUR_TORQUE_sum += torq.sen;
                    
                    if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
                        CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
                        CUR_TORQUE_sum = 0;

                        TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
                        
                        if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
                        if (TORQUE_VREF < 0) TORQUE_VREF = 0;
                        
                        ROM_RESET_DATA();
                        
                        //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
                        dac_1 = TORQUE_VREF / 3.3;
                    }
                } else {
                    CONTROL_MODE = MODE_NO_ACT;
                    TMR3_COUNT_TORQUE_NULL = 0;
                    CUR_TORQUE_sum = 0;
                    CUR_TORQUE_mean = 0;
                    
                    ROM_RESET_DATA();
                    
                    //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
                    
                    pc.printf("%f\n", TORQUE_VREF);
                    dac_1 = TORQUE_VREF / 3.3;

                }
                TMR3_COUNT_TORQUE_NULL++;
                break;
            }     

            case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
                if (TMR3_COUNT_DEADZONE == 0) {
                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
                    else temp_time = 0;
                }
                if (need_enc_init) {
                    if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        pos_plus_end = pos.sen;
                    } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        pos_minus_end = pos.sen;
                    } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
                    temp_time = TMR_FREQ_5k;
                }

                if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
                    VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                    VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;

                } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
                    VALVE_PWM_RAW = 0;
                    CUR_VELOCITY_sum += CUR_VELOCITY;
                } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
                    if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
                    else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
                    else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
                    else DZ_temp_cnt2 = DZ_end;
                    CUR_VELOCITY_sum = 0;
                } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
                    if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;

                    // Position of Dead Zone
                    //  (CUR_VELOCITY < 0)  (CUR_VELOCITY == 0)  (CUR_VELOCITY > 0)
                    //     |        /                 |    /                      |/
                    //     | ______/               ___|___/                ______/|
                    //     |/                     /   |                   /       |
                    //    /|                     /    |                  /        |
                    //     0V                         0V                          0V

                    if (DZ_temp_cnt2 < DZ_end) {
                        if (TMR3_COUNT_DEADZONE % 20 != 0) {
                            CUR_VELOCITY_sum += CUR_VELOCITY;
                        } else {
                            VALVE_PWM_RAW -= DZ_dir;
                            if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
                            CUR_VELOCITY_sum = 0;
                        }
                        if (DZ_temp_cnt == 5) {
                            if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW;
                            else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW;
                            DZ_dir = -DZ_dir;
                            DZ_temp_cnt = 0;
                            DZ_temp_cnt2++;
                        }
                    } else {
                        TMR3_COUNT_DEADZONE = -1;
                        VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
                        if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
                            VALVE_DEADZONE_PLUS = VALVE_CENTER;
                            VALVE_DEADZONE_MINUS = VALVE_CENTER;
                        }
                        VALVE_PWM_RAW = 0;
                        
                        ROM_RESET_DATA();
                        
                        //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
                        //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);

                        CONTROL_MODE = MODE_NO_ACT;
                        DZ_temp_cnt2 = 0;
                    }
                }
                TMR3_COUNT_DEADZONE++;
                break;
            }

            case MODE_FIND_HOME: {
                
                
                ////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
                if (FLAG_FIND_HOME == true) {
                    cnt_findhome = 0;
                    cnt_vel_findhome = 0;
                    //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
                    pos.ref = pos.sen;
                    FLAG_FIND_HOME = false;
                }

                int check_enc = (TMR_FREQ_5k/10);
                if(cnt_findhome%check_enc == 0) {
                    FINDHOME_POSITION = pos.sen;
                    FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
                    FINDHOME_POSITION_OLD = FINDHOME_POSITION;
                }
                cnt_findhome++;
                if(cnt_findhome == 10000) cnt_findhome = 0;

                if (abs(FINDHOME_VELOCITY) <= 1) {
                    cnt_vel_findhome = cnt_vel_findhome + 1;
                } else {
                    cnt_vel_findhome = 0;
                }

                if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
                    //REFERENCE_MODE = MODE_REF_NO_ACT;
                    if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
                    else pos.ref = pos.ref - 1.0;
                    pos.err = pos.ref - (double) pos.sen;
                    V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
                    //                if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
                    //                else VALVE_PWM_RAW = -100;
                } else {
                    ENC_SET(HOMEPOS_OFFSET);
                    FLAG_REFERENCE_JOINT_POSITION = 1;
                    INIT_REF_POS = HOMEPOS_OFFSET;
                    REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
                    TMR3_COUNT_REFERENCE = 0;
                    vel.ref = 0.0;
                    //REFERENCE_MODE = MODE_REF_COS_INC;
                    CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;

                    FINDHOME_POSITION = 0;
                    FINDHOME_POSITION_OLD = 0;
                    FINDHOME_VELOCITY = 0;
                    cnt_findhome = 0;
                    cnt_vel_findhome = 0;
                }
                
                /*
                ////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
                if (FLAG_FIND_HOME == true) {
                    cnt_findhome = 0;
                    cnt_vel_findhome = 0;
                    REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
                    Ref_Joint_Pos = pos.sen;
                    FLAG_FIND_HOME = false;
                }
                
                int cnt_check_enc = (TMR_FREQ_5k/500);
                if(cnt_findhome%cnt_check_enc == 0){
                    FINDHOME_POSITION = pos.sen;
                    FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
                    FINDHOME_POSITION_OLD = FINDHOME_POSITION;
                } cnt_findhome++;
                if(cnt_findhome == 10000) cnt_findhome = 0;
                
                if (abs(FINDHOME_VELOCITY) <= 1) {
                    cnt_vel_findhome = cnt_vel_findhome + 1;
                } else {
                    cnt_vel_findhome = 0;
                }
                
                if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
                    REFERENCE_MODE = MODE_REF_NO_ACT;
                    if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
                    else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
                    pos.err = Ref_Joint_Pos - pos.sen;
                    I_REF = 0.001*((double)pos.err);    
                    if(I_REF>5.0) I_REF = 5.0;
                    if(I_REF<-5.0) I_REF = -5.0;
                    cur.ref = I_REF;
                    CurrentControl();
                } else {
                    ENC_SET(HOMEPOS_OFFSET);
                    FLAG_REFERENCE_JOINT_POSITION = 1;
                    INIT_REF_POS = HOMEPOS_OFFSET;
                    REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
                    TMR3_COUNT_REFERENCE = 0;
                    Ref_Joint_Vel = 0.0;
                    REFERENCE_MODE = MODE_REF_COS_INC;
                    CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
                    
                    FINDHOME_POSITION = 0;
                    FINDHOME_POSITION_OLD = 0;
                    FINDHOME_VELOCITY = 0;
                    cnt_findhome = 0;
                    cnt_vel_findhome = 0;
                }
                */
                
                break;
            }

            case MODE_VALVE_GAIN_SETTING: {
                if (TMR3_COUNT_FLOWRATE == 0) {
                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
                    else {
                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
                    }
                }
                if (need_enc_init) {
                    if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
                        VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        pos_plus_end = pos.sen;
                    } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
                        VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        pos_minus_end = pos.sen;
                    } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
                        need_enc_init = false;
                        check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
                        check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
                        check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
                    }
                    temp_time = TMR_FREQ_5k;
                }
                TMR3_COUNT_FLOWRATE++;
                if (TMR3_COUNT_FLOWRATE > temp_time) {
                    if (flag_flowrate % 2 == 0) { // (+)
                        VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1);
                        VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
                        if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
                            fl_temp_cnt++;
                        } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
                            VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
                            fl_temp_cnt2++;
                        }
                    } else if (flag_flowrate % 2 == 1) { // (-)
                        VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
                        VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
                        if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
                            fl_temp_cnt++;
                        } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
                            VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
                            fl_temp_cnt2++;
                        }
                    }
                    if (fl_temp_cnt2 == 100) {
                        
                        ROM_RESET_DATA();
                        
                        //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
                        cur_vel_sum = 0;
                        fl_temp_cnt = 0;
                        fl_temp_cnt2 = 0;
                        flag_flowrate++;
                    }
                    if (flag_flowrate == 10) {
                        VALVE_PWM_RAW = 0;
                        flag_flowrate = 0;
                        TMR3_COUNT_FLOWRATE = 0;
                        valve_gain_repeat_cnt++;
                        if (valve_gain_repeat_cnt >= 1) {
                            CONTROL_MODE = MODE_NO_ACT;
                            valve_gain_repeat_cnt = 0;
                        }

                    }
                    break;
                }

            }

            case MODE_PRESSURE_SENSOR_NULLING: {
                // DAC Voltage reference set
                if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
                    CUR_PRES_A_sum += pres_A.sen;
                    CUR_PRES_B_sum += pres_B.sen;

                    if (TMR3_COUNT_PRES_NULL % 10 == 0) {
                        CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
                        CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
                        CUR_PRES_A_sum = 0;
                        CUR_PRES_B_sum = 0;

                        double VREF_NullingGain = 0.003;
                        PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
                        PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);

                        if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
                        if (PRES_A_VREF < 0) PRES_A_VREF = 0;
                        if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
                        if (PRES_B_VREF < 0) PRES_B_VREF = 0;
                        
                        dac_1 = PRES_A_VREF / 3.3;
                        dac_2 = PRES_B_VREF / 3.3;
                    }
                } else {
                    CONTROL_MODE = MODE_NO_ACT;
                    TMR3_COUNT_PRES_NULL = 0;
                    CUR_PRES_A_sum = 0;
                    CUR_PRES_B_sum = 0;
                    CUR_PRES_A_mean = 0;
                    CUR_PRES_B_mean = 0;

                    ROM_RESET_DATA();
                
                    dac_1 = PRES_A_VREF / 3.3;
                    dac_2 = PRES_B_VREF / 3.3;
                    pc.printf("nulling end");
                }
                TMR3_COUNT_PRES_NULL++;
                break;
            }

            case MODE_PRESSURE_SENSOR_CALIB: {
                if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
                    VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
                    if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
                        CUR_PRES_A_sum += CUR_PRES_A;
                    }
                } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
                    VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
                    if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
                        CUR_PRES_B_sum += CUR_PRES_B;
                    }
                } else {
                    CONTROL_MODE = MODE_NO_ACT;
                    TMR3_COUNT_PRES_CALIB = 0;
                    VALVE_PWM_RAW = 0;
                    PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL;
                    PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
                    PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL;
                    PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
                    CUR_PRES_A_sum = 0;
                    CUR_PRES_B_sum = 0;
                    CUR_PRES_A_mean = 0;
                    CUR_PRES_B_mean = 0;
                    
                    ROM_RESET_DATA();

                    //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
                    //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
                }
                TMR3_COUNT_PRES_CALIB++;
                break;
            }

            case MODE_ROTARY_FRICTION_TUNING: {
                if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
                VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
                if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL;
                else VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                TMR3_COUNT_ROTARY_FRIC_TUNE++;
                if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
                    TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
                    VALVE_PWM_RAW = 0;
                    CONTROL_MODE = MODE_NO_ACT;
                }
                break;
            }

            case MODE_DDV_POS_VS_PWM_ID: {
                VALVE_ID_timer = VALVE_ID_timer + 1;

                if(VALVE_ID_timer < TMR_FREQ_5k*1) {
                    VALVE_PWM_RAW = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100);
                } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
                    VALVE_PWM_RAW = 1000*(ID_index_array[ID_index]);
                } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
                    VALVE_POS_TMP = 0;
                    data_num = 0;
                } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
                    data_num = data_num + 1;
                    VALVE_POS_TMP = VALVE_POS_TMP + value;
                } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
                    VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
                    VALVE_ID_timer = 0;
                    ID_index= ID_index +1;
                }

                if(ID_index>=18) {
                    int i;
                    VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
                    for(i=0; i<18; i++) {
                        VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
                        
                        ROM_RESET_DATA();
                        
                        //spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
                        if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
                            VALVE_MAX_POS = VALVE_POS_AVG[i];
                            VALVE_POS_AVG_OLD = VALVE_MAX_POS;
                        } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
                            VALVE_MIN_POS = VALVE_POS_AVG[i];
                            VALVE_POS_AVG_OLD = VALVE_MIN_POS;
                        }
                    }
                    
                    ROM_RESET_DATA();
                    
                    //spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
                    //spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
                    CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
                    ID_index = 0;
                    CONTROL_MODE = MODE_NO_ACT;
                }


                break;
            }

            case MODE_DDV_DEADZONE_AND_CENTER: {

                VALVE_DZ_timer = VALVE_DZ_timer + 1;
                if(first_check == 0) {
                    if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
                        V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                    } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
                        V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        pos_plus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
                        V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                    } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
                        V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        pos_minus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
                        V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                    } else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
                        V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                        data_num = data_num + 1;
                        VALVE_POS_TMP = VALVE_POS_TMP + value;
                    } else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
                        V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                        DDV_POS_AVG = VALVE_POS_TMP / data_num;
                        START_POS = pos.sen;
                        CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
                        VALVE_POS_TMP = 0;
                        data_num = 0;

                    } else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));

                    } else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        if(CUR_VELOCITY >= 0)
                            VEL_POINT = VEL_POINT + 1;
                        else
                            VEL_POINT = VEL_POINT - 1;
                    } else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        FINAL_POS = pos.sen;
                        //                    if(VEL_POINT >= 0)
                        //                    {
                        //                        DZ_case = 1;
                        //                    }
                        //                    else
                        //                    {
                        //                        DZ_case = -1;
                        //                    }
                        //                    if(abs(FINAL_POS - START_POS) < 100)
                        //                    {
                        //                        DZ_case = 0;
                        //                    }

                        if((FINAL_POS - START_POS)>100) {
                            DZ_case = 1;
                        } else if((FINAL_POS - START_POS)<-100) {
                            DZ_case = -1;
                        } else {
                            DZ_case = 0;
                        }

                        VEL_POINT = 0;
                        first_check = 1;
                        DZ_DIRECTION = 1;
                        VALVE_DZ_timer = 0;
                        Ref_Valve_Pos_Old = DDV_POS_AVG;
                        DZ_NUM = 1;
                        DZ_index = 1;
                        CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));

                    }
                }else {
                    if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
                        if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
                            V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                        } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);
                            if(CUR_VELOCITY >= 0)
                                VEL_POINT = VEL_POINT + 1;
                            else
                                VEL_POINT = VEL_POINT - 1;
                        } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;
                            //                        if(VEL_POINT >= 0)
                            //                            DZ_DIRECTION = 1 * DZ_case;
                            //                        else
                            //                            DZ_DIRECTION = -1 * DZ_case;
                            //                        if(abs(FINAL_POS - START_POS) < 100)
                            //                            DZ_DIRECTION = 1 * DZ_case;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1 * DZ_case;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1 * DZ_case;
                            } else {
                                DZ_DIRECTION = 1 * DZ_case;
                            }

                            VEL_POINT = 0;

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }

                            //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
                        }
                    } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
                        if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
                            V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                        } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  + DZ_DIRECTION + 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);
                            if(CUR_VELOCITY >= 0)
                                VEL_POINT = VEL_POINT + 1;
                            else
                                VEL_POINT = VEL_POINT - 1;
                        } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;
                            //                        if(VEL_POINT >= 0)
                            //                            DZ_DIRECTION = 1 * DZ_case;
                            //                        else
                            //                            DZ_DIRECTION = -1 * DZ_case;
                            //                        if(abs(FINAL_POS - START_POS) < 100)
                            //                            DZ_DIRECTION = -1 * DZ_case;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = -1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = 1;
                            } else {
                                DZ_DIRECTION = 1;
                            }

                            VEL_POINT = 0;


                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
                                first_check = 0;
                                
                                ROM_RESET_DATA();
                                
                                //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
                                //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
                                //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
                                //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
                                CONTROL_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }

                            CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
                        }
                    } else if(DZ_case == 0 && DZ_NUM ==1) {
                        if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
                            V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                        } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);
                            if(CUR_VELOCITY >= 0)
                                VEL_POINT = VEL_POINT + 1;
                            else
                                VEL_POINT = VEL_POINT - 1;
                        } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;
                            //                        if(VEL_POINT >= 0)
                            //                            DZ_DIRECTION = 1;
                            //                        else
                            //                            DZ_DIRECTION = -1;
                            //                        if(abs(FINAL_POS - START_POS) < 100)
                            //                            DZ_DIRECTION = 1;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1;
                            } else {
                                DZ_DIRECTION = 1;
                            }

                            VEL_POINT = 0;
                            //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }
                        }
                    } else {
                        if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
                            V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                        } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  + DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref > VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS - 1;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);
                            if(CUR_VELOCITY >= 0)
                                VEL_POINT = VEL_POINT + 1;
                            else
                                VEL_POINT = VEL_POINT - 1;
                        } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;
                            if(VEL_POINT >= 0)
                                DZ_DIRECTION = -1;
                            else
                                DZ_DIRECTION = 1;
                            if(abs(FINAL_POS - START_POS) < 100)
                                DZ_DIRECTION = 1;

                            VEL_POINT = 0;


                            VALVE_DZ_timer = 0;
                            //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
                                first_check = 0;
                                VALVE_DEADZONE_MINUS = FIRST_DZ;
                                
                                ROM_RESET_DATA();
                                
                                //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
                                VALVE_DEADZONE_PLUS = SECOND_DZ;
                                
                                ROM_RESET_DATA();
                                
                                //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
                                //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
                                CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
                                CONTROL_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }

                            //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
                        }
                    }
                }
                break;
            }

            case MODE_DDV_POS_VS_FLOWRATE: {
                VALVE_FR_timer = VALVE_FR_timer + 1;
                if(first_check == 0) {
                    if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
                        V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                    } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
                        V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        pos_plus_end = pos.sen;
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
                    } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
                        V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                    } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
                        V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
                        pos_minus_end = pos.sen;
                        first_check = 1;
                        VALVE_FR_timer = 0;
                        valve_pos.ref = DDV_CENTER;
                        ID_index = 0;
                        max_check = 0;
                        min_check = 0;
                    }
                } else {
                    if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
                        V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
                    } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
                        data_num = 0;
                        valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;

                        VALVE_POS_CONTROL(valve_pos.ref);
                        START_POS = pos.sen;
                    } else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
                        valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        data_num = data_num + 1;
                        if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000) {
                            FINAL_POS = pos.sen;
                            one_period_end = 1;
                        }
                    } else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
                        FINAL_POS = pos.sen;
                        one_period_end = 1;
                    }

                    if(one_period_end == 1) {
                        if(valve_pos.ref > VALVE_MAX_POS) {
                            max_check = 1;
                        } else if(valve_pos.ref < VALVE_MIN_POS) {
                            min_check = 1;
                        }
                        JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k;   //  pulse/sec
                        
                        ROM_RESET_DATA();
                        
                        //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
                        //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
                        VALVE_FR_timer = 0;
                        one_period_end = 0;
                        ID_index= ID_index +1;
                        //                    CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
                    }

                    if(max_check == 1 && min_check == 1) {
                        
                        ROM_RESET_DATA();
                        
                        //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
                        VALVE_POS_NUM = ID_index;
                        ID_index = 0;
                        first_check = 0;
                        VALVE_FR_timer = 0;
                        //                    CAN_TX_PRES((int16_t) (123), (int16_t) (123));
                        CONTROL_MODE = MODE_NO_ACT;
                    }
                }
                break;
            }

            default:
                break;
        }

        if (FLAG_VALVE_OUTPUT_CALIB) {
            // Valve Dead Zone (Mechanical dead-zone canceling)
            //    if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
            //        if (V_out > 0.) {
            //            VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
            //        } else if (V_out < 0.) {
            //            VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
            //        } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
            //    } else VALVE_PWM_VALVE_DZ = (int) V_out;

            if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
            else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;

            VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;

            // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
            double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV
            double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);

            if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
            else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
            else V_out = CUR_PWM_DZ;
        } else {
            CUR_PWM = V_out;
        }

        //VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
        //PWM_out = CUR_PWM;



        //CAN ----------------------------------------------------------------------
        //if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
        if (TMR3_COUNT_CAN_TX % 10 == 0) {

            if (flag_data_request[0] == HIGH) {
                //position+velocity
                CAN_TX_POSITION((int32_t) PRES_A_VREF, (int32_t) PRES_B_VREF);
                //pc.printf("can good");
                //                        CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.));
                //                                    CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
            }

            if (flag_data_request[1] == HIGH) {
                //torque
                //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
                CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
                //            CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
            }

            if (flag_data_request[2] == HIGH) {
                //pressure A and B
                //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
                CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
                //                        CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
                //            CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
                //            CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);

            }

            if (flag_data_request[3] == HIGH) {
                //PWM
                CAN_TX_PWM((int16_t) CUR_PWM);
                //            CAN_TX_PWM((int16_t) (CONTROL_MODE));
                //            CAN_TX_PWM((int16_t) cnt_vel_findhome);
                //            CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
                //                        CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));

            }

            if (flag_data_request[4] == HIGH) {
                //valve position
                CAN_TX_VALVE_POSITION((int16_t) (value));
                //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
                //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));


                //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
                //                        CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE));
                //            CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
                //            CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
                //            CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
            }

            TMR3_COUNT_CAN_TX = 0;

        }
        TMR3_COUNT_CAN_TX++;
        
        
        

        /*******************************************************
        ***     Valve Control
        ********************************************************/
        //ValveControl(CONTROL_MODE);

//      double t = (double)CNT_TMR4*DT_TMR4;
//      double T = 1.0;
//      V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
//      if(V_out > 0.0) V_out = 1000.0;
//      else if(V_out < 0.0) V_out = -1000.0;

        /*******************************************************
        ***     PWM
        ********************************************************/
        PWM_out= V_out/12000.0; // Full duty : 12000.0mV

        // Saturation of output voltage to 5.0V
        if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
        else if (PWM_out < -0.41667) PWM_out=-0.41667;

        if (PWM_out>0.0) {
            dtc_v=0.0;
            dtc_w=PWM_out;
        } else {
            dtc_v=-PWM_out;
            dtc_w=0.0;
        }

        //pwm
        TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
        TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);

        /*******************************************************
        ***     Data Send (CAN) & Print out (UART)
        ********************************************************/
//        if((CNT_TMR3%1000)==0){
//            msg.id = 50;
//            msg.len = 4;
//            int temp_CUR = (int)(cur.sen*1000.0);
//            msg.data[0]=0x00FF&temp_CUR;
//            msg.data[1]=0x00FF&(temp_CUR>>8);
//            int temp_PWM = (int)(V_out);
//            msg.data[2]=0x00FF&temp_PWM;
//            msg.data[3]=0x00FF&(temp_PWM>>8);
//            can.write(msg);
//        }

        if((CNT_TMR3%5000)==0) {
            if(LED==1) {
                LED=0;
            } else
                LED = 1;
//            LED != LED;
//            pc.printf("A %f\n", (double) pres_A.sen);
//            pc.printf("A %f\n", PRES_SENSOR_A_PULSE_PER_BAR);
//            pc.printf("B %f\n", (double) pres_B.sen);
//            pc.printf("B %f\n", PRES_SENSOR_B_PULSE_PER_BAR);
            pc.printf("preAVref %d\n", (int) PRES_A_VREF);
        }

        /*******************************************************
        ***     Timer Counting & etc.
        ********************************************************/
        CNT_TMR3++;
    }
    TIM3->SR = 0x0;  // reset the status register
}

/*
void ValveControl(unsigned int ControlMode)
{
    switch (ControlMode) {
        case MODE_NO_ACT: // 0
            V_out = 0.0;
            break;
        case MODE_VALVE_OPEN_LOOP: // 1
            V_out = Vout.ref;
            break;
        case MODE_VALVE_POSITION_CONTROL: // 2
            CurrentControl();
            break;
        case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3
            V_out = 0.0;
            break;
        case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4
            double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
            double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward

            // feedback input for position control
            pos.err = pos.ref - pos.sen;
            double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
            double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
            pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
            pos.err_old = pos.err;
            I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);

            // feedforward input for position control
            double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
            double K_ff = 1.3;
            double K_v = 0.0;
            if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
            if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
            I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;

            cur.ref = I_REF_POS_FF + I_REF_POS_FB;
            break;
        case MODE_TEST_CURRENT_CONTROL: // 9
            V_out = 0.0;
            break;
        case MODE_TEST_PWM_CONTROL: // 10
            V_out = 0.0;
            break;
        case MODE_FIND_HOME: // 22
            V_out = 0.0;
            break;
        default:
            V_out = 0.0;
            break;

    }
}
*/

void CurrentControl()
{
    cur.err = cur.ref - cur.sen;
    cur.err_int = cur.err_int + cur.err*DT_TMR4;
    cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
    cur.err_old = cur.err;

    double R_model = 150.0; // ohm
    double L_model = 0.3;
    double w0 = 2.0*3.14*90.0;
    double KP_I = L_model*w0;
    double KI_I = R_model*w0;
    double KD_I = 0.0;

    double FF_gain = 0.0;
    V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
    //          V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
    V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV

    double Ka = 5.0/KP_I;
    if(V_out > V_MAX) {
        V_rem = V_out-V_MAX;
        V_rem = Ka*V_rem;
        V_out = V_MAX;
        cur.err_int = cur.err_int - V_rem*DT_5k;
    } else if(V_out < -V_MAX) {
        V_rem = V_out-(-V_MAX);
        V_rem = Ka*V_rem;
        V_out = -V_MAX;
        cur.err_int = cur.err_int - V_rem*DT_5k;
    }
}