eeprom_test

Dependencies:   mbed FastPWM

Committer:
Lightvalve
Date:
Fri May 15 03:25:15 2020 +0000
Revision:
63:a3c7f31742c9
Parent:
62:851cf7b7aa7a
Child:
64:dc5b5c258579
200515

Who changed what in which revision?

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