Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard

asdgas

Dependencies:   mbed Eigen FastPWM

main.cpp@63:376a20d2fbfd, 2020-05-07 (annotated)

Committer:
Lightvalve
Date:
Thu May 07 03:52:28 2020 +0000
Revision:
63:376a20d2fbfd
Parent:
62:456f87e3124e
Child:
64:368bcd2a230a
200507

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
jobuuu 7:e9086c72bb22 79 // =============================================================================
jobuuu 7:e9086c72bb22 80 // =============================================================================
jobuuu 7:e9086c72bb22 81 // =============================================================================
jobuuu 7:e9086c72bb22 82
Lightvalve 12:6f2531038ea4 83 /*******************************************************************************
Lightvalve 12:6f2531038ea4 84 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 85 ******************************************************************************/
Lightvalve 13:747daba9cf59 86 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 87 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 88 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 89 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 90 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 91 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 92 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 93 };
Lightvalve 12:6f2531038ea4 94
Lightvalve 12:6f2531038ea4 95 /*******************************************************************************
Lightvalve 12:6f2531038ea4 96 * CONTROL MODE
Lightvalve 12:6f2531038ea4 97 ******************************************************************************/
Lightvalve 13:747daba9cf59 98 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 99 //control mode
Lightvalve 12:6f2531038ea4 100 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 101 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 102 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 103
Lightvalve 47:fdcb8bd86fd6 104 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 105 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 106 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 107
Lightvalve 12:6f2531038ea4 108 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 109 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 110 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 111
Lightvalve 12:6f2531038ea4 112 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 113 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 114
Lightvalve 14:8e7590227d22 115 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 116 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 117 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 //utility
Lightvalve 12:6f2531038ea4 120 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 121 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 122 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 123 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 124 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 125 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 126 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 129 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 130 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 131 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 132 };
Lightvalve 12:6f2531038ea4 133
Lightvalve 62:456f87e3124e 134 void SystemClock_Config(void);
Lightvalve 61:8d36b4042096 135
GiJeongKim 0:51c43836c1d7 136 int main()
GiJeongKim 0:51c43836c1d7 137 {
jobuuu 6:df07d3491e3a 138 /*********************************
jobuuu 1:e04e563be5ce 139 *** Initialization
jobuuu 6:df07d3491e3a 140 *********************************/
Lightvalve 62:456f87e3124e 141 HAL_Init();
Lightvalve 63:376a20d2fbfd 142 // SystemClock_Config();
Lightvalve 62:456f87e3124e 143
Lightvalve 62:456f87e3124e 144
Lightvalve 63:376a20d2fbfd 145 // LED = 1;
Lightvalve 63:376a20d2fbfd 146 // pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 147
GiJeongKim 0:51c43836c1d7 148 // i2c init
Lightvalve 8:5d2eebdad025 149 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 150 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 151 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 152 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 153 make_delay();
jobuuu 2:a1c0a37df760 154
GiJeongKim 0:51c43836c1d7 155 // // spi init
Lightvalve 16:903b5a4433b4 156 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 157 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 158 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 159 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 160 make_delay();
Lightvalve 21:e5f1a43ea6f9 161
Lightvalve 16:903b5a4433b4 162 //rom
Lightvalve 19:23b7c1ad8683 163 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 164 make_delay();
Lightvalve 13:747daba9cf59 165
GiJeongKim 0:51c43836c1d7 166 // ADC init
jobuuu 5:a4319f79457b 167 Init_ADC();
Lightvalve 11:82d8768d7351 168 make_delay();
jobuuu 2:a1c0a37df760 169
GiJeongKim 0:51c43836c1d7 170 // Pwm init
GiJeongKim 0:51c43836c1d7 171 Init_PWM();
GiJeongKim 0:51c43836c1d7 172 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 173 make_delay();
Lightvalve 13:747daba9cf59 174
Lightvalve 11:82d8768d7351 175 // TMR3 init
Lightvalve 11:82d8768d7351 176 Init_TMR3();
Lightvalve 11:82d8768d7351 177 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 178 make_delay();
Lightvalve 21:e5f1a43ea6f9 179
Lightvalve 50:3c630b5eba9f 180 // TMR2 init
Lightvalve 56:6f50d9d3bfee 181 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 182 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 183 // make_delay();
Lightvalve 21:e5f1a43ea6f9 184
GiJeongKim 0:51c43836c1d7 185 // CAN
jobuuu 2:a1c0a37df760 186 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 187 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 188 make_delay();
Lightvalve 34:bb2ca2fc2a8e 189
Lightvalve 23:59218d4a256d 190 //Timer priority
Lightvalve 23:59218d4a256d 191 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 192 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 193 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 194
Lightvalve 23:59218d4a256d 195 //can.reset();
Lightvalve 19:23b7c1ad8683 196 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 197
GiJeongKim 0:51c43836c1d7 198 // spi _ enc
GiJeongKim 0:51c43836c1d7 199 spi_enc_set_init();
Lightvalve 11:82d8768d7351 200 make_delay();
Lightvalve 13:747daba9cf59 201
Lightvalve 11:82d8768d7351 202 //DAC init
Lightvalve 58:2eade98630e2 203 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 204 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 205 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 206 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 207 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 208 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 209 }
Lightvalve 11:82d8768d7351 210 make_delay();
Lightvalve 13:747daba9cf59 211
Lightvalve 19:23b7c1ad8683 212 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 213 if(i%2==0)
Lightvalve 38:118df027d851 214 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 215 else
Lightvalve 38:118df027d851 216 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 217 }
Lightvalve 58:2eade98630e2 218
jobuuu 6:df07d3491e3a 219 /************************************
jobuuu 1:e04e563be5ce 220 *** Program is operating!
jobuuu 6:df07d3491e3a 221 *************************************/
GiJeongKim 0:51c43836c1d7 222 while(1) {
Lightvalve 57:f4819de54e7a 223 if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 63:376a20d2fbfd 224 // if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 225 //i2c
Lightvalve 17:1865016ca2e7 226 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 227 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 57:f4819de54e7a 228 // if(LED==1) {
Lightvalve 57:f4819de54e7a 229 // LED=0;
Lightvalve 57:f4819de54e7a 230 // } else
Lightvalve 57:f4819de54e7a 231 // LED = 1;
Lightvalve 17:1865016ca2e7 232 timer_while = 0;
Lightvalve 17:1865016ca2e7 233 }
Lightvalve 17:1865016ca2e7 234 timer_while ++;
Lightvalve 61:8d36b4042096 235 //pc.printf("%d\n", value);
GiJeongKim 0:51c43836c1d7 236 }
jobuuu 1:e04e563be5ce 237 }
jobuuu 1:e04e563be5ce 238
Lightvalve 33:91b17819ec30 239 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 240 {
Lightvalve 14:8e7590227d22 241
Lightvalve 13:747daba9cf59 242 int i = 0;
Lightvalve 48:889798ff9329 243 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 244 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 245 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 246 if(i==0) {
Lightvalve 50:3c630b5eba9f 247 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 248 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 249 } else {
Lightvalve 57:f4819de54e7a 250 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 251 }
Lightvalve 14:8e7590227d22 252 } else {
Lightvalve 50:3c630b5eba9f 253 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 254 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 255 } else {
Lightvalve 57:f4819de54e7a 256 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 257 }
Lightvalve 13:747daba9cf59 258 }
Lightvalve 13:747daba9cf59 259 break;
Lightvalve 13:747daba9cf59 260 }
Lightvalve 13:747daba9cf59 261 }
Lightvalve 14:8e7590227d22 262 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 263 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 264 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 265 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 266 }
Lightvalve 36:a46e63505ed8 267
Lightvalve 57:f4819de54e7a 268 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 269 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 270
Lightvalve 13:747daba9cf59 271 }
jobuuu 6:df07d3491e3a 272
jobuuu 6:df07d3491e3a 273
Lightvalve 30:8d561f16383b 274 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 275 {
Lightvalve 13:747daba9cf59 276 int i = 0;
Lightvalve 13:747daba9cf59 277
Lightvalve 38:118df027d851 278 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 279 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 280 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 281 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 282 }
Lightvalve 38:118df027d851 283
Lightvalve 13:747daba9cf59 284 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 285 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 286 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 287 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 288 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 289 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 290
Lightvalve 13:747daba9cf59 291 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 292
Lightvalve 18:b8adf1582ea3 293 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 294 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 295 if(i==0) {
Lightvalve 48:889798ff9329 296 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 297 } else {
Lightvalve 48:889798ff9329 298 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 299 }
Lightvalve 13:747daba9cf59 300 break;
Lightvalve 13:747daba9cf59 301 }
Lightvalve 13:747daba9cf59 302 }
Lightvalve 59:f308b1656d9c 303 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 304 }
Lightvalve 13:747daba9cf59 305
Lightvalve 14:8e7590227d22 306 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 307 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 308 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 309 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 310 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 311 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 312 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 313 }; // duty
Lightvalve 62:456f87e3124e 314 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 62:456f87e3124e 315 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 62:456f87e3124e 316 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 62:456f87e3124e 317 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 62:456f87e3124e 318 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 62:456f87e3124e 319 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 320 }; // mV
Lightvalve 13:747daba9cf59 321
Lightvalve 30:8d561f16383b 322 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 323 {
Lightvalve 30:8d561f16383b 324 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 325 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 326 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 327 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 328 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 329 } else {
Lightvalve 13:747daba9cf59 330 int idx = 0;
Lightvalve 13:747daba9cf59 331 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 332 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 333 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 334 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 335 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 336 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 337 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 338 break;
Lightvalve 13:747daba9cf59 339 }
Lightvalve 13:747daba9cf59 340 }
Lightvalve 13:747daba9cf59 341 }
Lightvalve 14:8e7590227d22 342
Lightvalve 13:747daba9cf59 343 return PWM_duty;
Lightvalve 13:747daba9cf59 344 }
jobuuu 6:df07d3491e3a 345
Lightvalve 57:f4819de54e7a 346
Lightvalve 57:f4819de54e7a 347
Lightvalve 57:f4819de54e7a 348
Lightvalve 57:f4819de54e7a 349
jobuuu 2:a1c0a37df760 350 /*******************************************************************************
jobuuu 2:a1c0a37df760 351 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 352 *******************************************************************************/
jobuuu 2:a1c0a37df760 353
Lightvalve 51:b46bed7fec80 354 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 355 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 356 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 357 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 358 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 359 {
Lightvalve 19:23b7c1ad8683 360 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 361
Lightvalve 21:e5f1a43ea6f9 362 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 363 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 364 ********************************************************/
Lightvalve 13:747daba9cf59 365
Lightvalve 57:f4819de54e7a 366 //Encoder
Lightvalve 57:f4819de54e7a 367 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 368 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 369 }
Lightvalve 61:8d36b4042096 370
Lightvalve 61:8d36b4042096 371 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 372 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 373 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 374 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 375 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 376 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 62:456f87e3124e 377 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 62:456f87e3124e 378
Lightvalve 62:456f87e3124e 379
Lightvalve 62:456f87e3124e 380 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 62:456f87e3124e 381 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 62:456f87e3124e 382 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 62:456f87e3124e 383 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 62:456f87e3124e 384 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 62:456f87e3124e 385
Lightvalve 17:1865016ca2e7 386
Lightvalve 58:2eade98630e2 387 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 388 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 389 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 390 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 391 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 392 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 393 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 394 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 395 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 396
Lightvalve 58:2eade98630e2 397 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 398 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 399 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 400 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 401 }
Lightvalve 58:2eade98630e2 402 }
Lightvalve 61:8d36b4042096 403
Lightvalve 58:2eade98630e2 404 // //Pressure sensor A
Lightvalve 58:2eade98630e2 405 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 406 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 407 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 408 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 409 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 410 // 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 58:2eade98630e2 411 //
Lightvalve 58:2eade98630e2 412 //
Lightvalve 58:2eade98630e2 413 // //Pressure sensor B
Lightvalve 58:2eade98630e2 414 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 415 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 416 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 417 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 418
Lightvalve 17:1865016ca2e7 419
Lightvalve 21:e5f1a43ea6f9 420 //Current
Lightvalve 21:e5f1a43ea6f9 421 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 422 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 423 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 424 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 425 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 426 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 427 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 428
Lightvalve 57:f4819de54e7a 429 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 430 }
Lightvalve 11:82d8768d7351 431 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 432 }
Lightvalve 19:23b7c1ad8683 433
Lightvalve 19:23b7c1ad8683 434
Lightvalve 18:b8adf1582ea3 435 int j =0;
Lightvalve 54:647072f5307a 436 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 437 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 438 int cnt_trans = 0;
Lightvalve 48:889798ff9329 439 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 440 int can_rest =0;
Lightvalve 48:889798ff9329 441
Lightvalve 11:82d8768d7351 442 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 443 {
Lightvalve 19:23b7c1ad8683 444 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 445
Lightvalve 57:f4819de54e7a 446 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 447 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 448 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 449 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 450 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 451 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 452 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 453 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 454 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 455 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 456 }
Lightvalve 50:3c630b5eba9f 457
Lightvalve 50:3c630b5eba9f 458 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 459 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 460 cnt_trans++;
Lightvalve 46:2694daea349b 461 torq.err_sum = 0;
Lightvalve 48:889798ff9329 462 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 463 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 464 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 465 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 466 cnt_trans++;
Lightvalve 46:2694daea349b 467 torq.err_sum = 0;
Lightvalve 48:889798ff9329 468 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 469 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 470 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 471 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 472 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 473 } else {
Lightvalve 58:2eade98630e2 474 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 475 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 476 }
Lightvalve 45:35fa6884d0c6 477
Lightvalve 50:3c630b5eba9f 478
Lightvalve 57:f4819de54e7a 479 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 480 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 481
Lightvalve 57:f4819de54e7a 482 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 483 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 484 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 485 } else {
Lightvalve 57:f4819de54e7a 486 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 487 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 488 }
Lightvalve 56:6f50d9d3bfee 489
Lightvalve 56:6f50d9d3bfee 490
Lightvalve 56:6f50d9d3bfee 491
Lightvalve 57:f4819de54e7a 492 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 493
Lightvalve 57:f4819de54e7a 494 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 495 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 496 break;
Lightvalve 13:747daba9cf59 497 }
Lightvalve 14:8e7590227d22 498
Lightvalve 14:8e7590227d22 499 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 500 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 501 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 502 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 503
Lightvalve 14:8e7590227d22 504 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 505 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 506 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 507
Lightvalve 59:f308b1656d9c 508 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 509
Lightvalve 30:8d561f16383b 510 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 511 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 512
Lightvalve 16:903b5a4433b4 513 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 514 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 515 }
Lightvalve 13:747daba9cf59 516 } else {
Lightvalve 58:2eade98630e2 517 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 518 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 519 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 520 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 521
Lightvalve 16:903b5a4433b4 522 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 523
Lightvalve 30:8d561f16383b 524 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 525
Lightvalve 13:747daba9cf59 526 }
Lightvalve 14:8e7590227d22 527 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 528 break;
Lightvalve 19:23b7c1ad8683 529 }
Lightvalve 14:8e7590227d22 530
Lightvalve 50:3c630b5eba9f 531 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 532 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 533 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 534 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 535 // }
Lightvalve 50:3c630b5eba9f 536 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 537 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 538 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 539 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 540 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 541 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 542 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 543 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 544 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 545 // }
Lightvalve 50:3c630b5eba9f 546 //
Lightvalve 50:3c630b5eba9f 547 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 548 // 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 549 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 550 //
Lightvalve 50:3c630b5eba9f 551 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 552 // V_out = 0;
Lightvalve 50:3c630b5eba9f 553 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 554 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 555 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 556 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 557 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 558 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 559 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 560 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 561 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 562 //
Lightvalve 50:3c630b5eba9f 563 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 564 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 565 // // | / | / |/
Lightvalve 50:3c630b5eba9f 566 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 567 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 568 // // /| / | / |
Lightvalve 50:3c630b5eba9f 569 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 570 //
Lightvalve 50:3c630b5eba9f 571 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 572 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 573 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 574 // } else {
Lightvalve 50:3c630b5eba9f 575 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 576 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 577 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 578 // }
Lightvalve 50:3c630b5eba9f 579 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 580 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 581 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 582 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 583 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 584 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 585 // }
Lightvalve 50:3c630b5eba9f 586 // } else {
Lightvalve 50:3c630b5eba9f 587 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 588 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 589 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 590 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 591 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 592 // }
Lightvalve 50:3c630b5eba9f 593 // V_out = 0;
Lightvalve 50:3c630b5eba9f 594 //
Lightvalve 50:3c630b5eba9f 595 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 596 //
Lightvalve 50:3c630b5eba9f 597 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 598 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 599 //
Lightvalve 50:3c630b5eba9f 600 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 601 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 602 // }
Lightvalve 50:3c630b5eba9f 603 // }
Lightvalve 50:3c630b5eba9f 604 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 605 // break;
Lightvalve 50:3c630b5eba9f 606 // }
Lightvalve 14:8e7590227d22 607
Lightvalve 14:8e7590227d22 608 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 609 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 610 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 611 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 612 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 613 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 614 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 615 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 616 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 63:376a20d2fbfd 617 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 618 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 619 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 620 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 621 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 622 }
Lightvalve 29:69f3f5445d6d 623 cnt_findhome++;
Lightvalve 14:8e7590227d22 624
Lightvalve 29:69f3f5445d6d 625 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 626 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 627 } else {
Lightvalve 29:69f3f5445d6d 628 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 629 }
Lightvalve 19:23b7c1ad8683 630
Lightvalve 57:f4819de54e7a 631 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 632 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 63:376a20d2fbfd 633 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 63:376a20d2fbfd 634 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:8d36b4042096 635
Lightvalve 59:f308b1656d9c 636 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 637 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 638 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 639 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 640 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 641
Lightvalve 59:f308b1656d9c 642 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 643 alpha_trans = 0.0f;
Lightvalve 61:8d36b4042096 644
Lightvalve 34:bb2ca2fc2a8e 645
Lightvalve 29:69f3f5445d6d 646 } else {
Lightvalve 29:69f3f5445d6d 647 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 63:376a20d2fbfd 648 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 649 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 650 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 651 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 652 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 653 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 654 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 655 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 656 cnt_vel_findhome = 0;
Lightvalve 63:376a20d2fbfd 657 // FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 63:376a20d2fbfd 658
Lightvalve 63:376a20d2fbfd 659
Lightvalve 63:376a20d2fbfd 660 cnt_findhome = 0;
Lightvalve 63:376a20d2fbfd 661 pos.ref = 0.0f;
Lightvalve 63:376a20d2fbfd 662 vel.ref = 0.0f;
Lightvalve 63:376a20d2fbfd 663 pos.ref_home_pos = 0.0f;
Lightvalve 63:376a20d2fbfd 664 vel.ref_home_pos = 0.0f;
Lightvalve 63:376a20d2fbfd 665 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 63:376a20d2fbfd 666 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 63:376a20d2fbfd 667
Lightvalve 63:376a20d2fbfd 668
Lightvalve 29:69f3f5445d6d 669 }
Lightvalve 29:69f3f5445d6d 670 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 671 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 672 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 63:376a20d2fbfd 673 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 674 vel.ref = 0.0f;
Lightvalve 63:376a20d2fbfd 675
Lightvalve 29:69f3f5445d6d 676 // input for position control
Lightvalve 63:376a20d2fbfd 677
Lightvalve 63:376a20d2fbfd 678 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 63:376a20d2fbfd 679 alpha_trans = 0.0f;
Lightvalve 63:376a20d2fbfd 680
Lightvalve 63:376a20d2fbfd 681
Lightvalve 63:376a20d2fbfd 682
Lightvalve 63:376a20d2fbfd 683
Lightvalve 61:8d36b4042096 684
Lightvalve 63:376a20d2fbfd 685 double torq_ref = 0.0f;
Lightvalve 63:376a20d2fbfd 686 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 63:376a20d2fbfd 687 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 63:376a20d2fbfd 688 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 63:376a20d2fbfd 689
Lightvalve 63:376a20d2fbfd 690 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 63:376a20d2fbfd 691
Lightvalve 63:376a20d2fbfd 692 double I_REF_POS = 0.0f;
Lightvalve 63:376a20d2fbfd 693 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 63:376a20d2fbfd 694 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 63:376a20d2fbfd 695
Lightvalve 63:376a20d2fbfd 696 double temp_vel_pos = 0.0f;
Lightvalve 63:376a20d2fbfd 697 double temp_vel_torq = 0.0f;
Lightvalve 63:376a20d2fbfd 698 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 63:376a20d2fbfd 699
Lightvalve 63:376a20d2fbfd 700 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 63:376a20d2fbfd 701 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 63:376a20d2fbfd 702 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 63:376a20d2fbfd 703 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 63:376a20d2fbfd 704 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 63:376a20d2fbfd 705 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 63:376a20d2fbfd 706 }
Lightvalve 63:376a20d2fbfd 707 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 63:376a20d2fbfd 708 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 63:376a20d2fbfd 709
Lightvalve 63:376a20d2fbfd 710 I_REF = I_REF_POS;
Lightvalve 63:376a20d2fbfd 711
Lightvalve 63:376a20d2fbfd 712
Lightvalve 63:376a20d2fbfd 713
Lightvalve 63:376a20d2fbfd 714 } else {
Lightvalve 63:376a20d2fbfd 715 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 63:376a20d2fbfd 716
Lightvalve 63:376a20d2fbfd 717 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 63:376a20d2fbfd 718
Lightvalve 63:376a20d2fbfd 719 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 63:376a20d2fbfd 720 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 63:376a20d2fbfd 721 } else {
Lightvalve 63:376a20d2fbfd 722 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 63:376a20d2fbfd 723 }
Lightvalve 63:376a20d2fbfd 724
Lightvalve 63:376a20d2fbfd 725 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 63:376a20d2fbfd 726
Lightvalve 63:376a20d2fbfd 727 V_out = (float) Vout.ref;
Lightvalve 63:376a20d2fbfd 728
Lightvalve 63:376a20d2fbfd 729 }
Lightvalve 63:376a20d2fbfd 730
Lightvalve 63:376a20d2fbfd 731
Lightvalve 63:376a20d2fbfd 732
Lightvalve 63:376a20d2fbfd 733
Lightvalve 59:f308b1656d9c 734 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 735 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 736 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 737 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 738 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 739
Lightvalve 29:69f3f5445d6d 740 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 741 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 742 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 743 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 744 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 745 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 746 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 747 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 748 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 749 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 750 }
Lightvalve 13:747daba9cf59 751 }
Lightvalve 19:23b7c1ad8683 752
Lightvalve 13:747daba9cf59 753 break;
Lightvalve 13:747daba9cf59 754 }
Lightvalve 14:8e7590227d22 755
Lightvalve 50:3c630b5eba9f 756 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 757 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 758 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 759 // else {
Lightvalve 50:3c630b5eba9f 760 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 761 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 762 // }
Lightvalve 50:3c630b5eba9f 763 // }
Lightvalve 50:3c630b5eba9f 764 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 765 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 766 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 767 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 768 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 769 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 770 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 771 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 772 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 773 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 774 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 775 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 776 // }
Lightvalve 50:3c630b5eba9f 777 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 778 // }
Lightvalve 50:3c630b5eba9f 779 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 780 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 781 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 782 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 783 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 784 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 785 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 786 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 787 // 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 788 // // 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 789 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 790 // }
Lightvalve 50:3c630b5eba9f 791 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 792 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 793 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 794 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 795 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 796 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 797 // 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 798 // // 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 799 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 800 // }
Lightvalve 50:3c630b5eba9f 801 // }
Lightvalve 50:3c630b5eba9f 802 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 803 //
Lightvalve 50:3c630b5eba9f 804 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 805 //
Lightvalve 50:3c630b5eba9f 806 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 807 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 808 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 809 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 810 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 811 // }
Lightvalve 50:3c630b5eba9f 812 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 813 // V_out = 0;
Lightvalve 50:3c630b5eba9f 814 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 815 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 816 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 817 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 818 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 819 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 820 // }
Lightvalve 50:3c630b5eba9f 821 //
Lightvalve 50:3c630b5eba9f 822 // }
Lightvalve 50:3c630b5eba9f 823 // break;
Lightvalve 50:3c630b5eba9f 824 // }
Lightvalve 50:3c630b5eba9f 825 //
Lightvalve 50:3c630b5eba9f 826 // }
Lightvalve 14:8e7590227d22 827 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 828 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 829 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 830 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 831 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 832
Lightvalve 14:8e7590227d22 833 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 834 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 835 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 836 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 837 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 838
Lightvalve 38:118df027d851 839 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 840 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 841 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 842
Lightvalve 30:8d561f16383b 843 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 844 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 845 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 846 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 847
Lightvalve 30:8d561f16383b 848 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 849 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 850 }
Lightvalve 13:747daba9cf59 851 } else {
Lightvalve 57:f4819de54e7a 852 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 853 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 854 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 855 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 856 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 857 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 858
Lightvalve 16:903b5a4433b4 859 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 860
Lightvalve 30:8d561f16383b 861 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 862 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 863 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 864 }
Lightvalve 14:8e7590227d22 865 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 866 break;
Lightvalve 13:747daba9cf59 867 }
Lightvalve 14:8e7590227d22 868
Lightvalve 50:3c630b5eba9f 869 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 870 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 871 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 872 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 873 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 874 // }
Lightvalve 50:3c630b5eba9f 875 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 876 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 877 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 878 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 879 // }
Lightvalve 50:3c630b5eba9f 880 // } else {
Lightvalve 50:3c630b5eba9f 881 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 882 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 883 // V_out = 0;
Lightvalve 50:3c630b5eba9f 884 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 885 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 886 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 887 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 888 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 889 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 890 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 891 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 892 //
Lightvalve 50:3c630b5eba9f 893 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 894 //
Lightvalve 50:3c630b5eba9f 895 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 896 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 897 // }
Lightvalve 50:3c630b5eba9f 898 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 899 // break;
Lightvalve 50:3c630b5eba9f 900 // }
Lightvalve 19:23b7c1ad8683 901
Lightvalve 50:3c630b5eba9f 902 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 903 // 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 904 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 905 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 906 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 907 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 908 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 909 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 910 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 911 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 912 // }
Lightvalve 50:3c630b5eba9f 913 // break;
Lightvalve 50:3c630b5eba9f 914 // }
Lightvalve 14:8e7590227d22 915
Lightvalve 14:8e7590227d22 916 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 917 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 918 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 919
Lightvalve 14:8e7590227d22 920 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 921 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 922 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 923 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 924 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 925 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 926 data_num = 0;
Lightvalve 14:8e7590227d22 927 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 928 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 929 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 930 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 931 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 932 } else {
Lightvalve 13:747daba9cf59 933 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 934 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 935 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 936 }
Lightvalve 14:8e7590227d22 937
Lightvalve 17:1865016ca2e7 938 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 939 int i;
Lightvalve 13:747daba9cf59 940 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 941 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 942 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 943 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 944 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 945 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 946 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 947 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 948 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 949 }
Lightvalve 13:747daba9cf59 950 }
Lightvalve 59:f308b1656d9c 951 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 952 ID_index = 0;
Lightvalve 57:f4819de54e7a 953 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 954 }
Lightvalve 14:8e7590227d22 955
Lightvalve 14:8e7590227d22 956
Lightvalve 13:747daba9cf59 957 break;
Lightvalve 13:747daba9cf59 958 }
Lightvalve 14:8e7590227d22 959
Lightvalve 14:8e7590227d22 960 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 961 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 962 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 963 if(first_check == 0) {
Lightvalve 30:8d561f16383b 964 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 965 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 966 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 967 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 968 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 969 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 970 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 971 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 972 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 973 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 974 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 975 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 976 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 977 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 978 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 979 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 980 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 981 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 982 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 983 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 984 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 985 data_num = 0;
Lightvalve 14:8e7590227d22 986
Lightvalve 30:8d561f16383b 987 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 988 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 989 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 990
Lightvalve 30:8d561f16383b 991 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 992 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 993 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 994
Lightvalve 30:8d561f16383b 995 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 996 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 997 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 998 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 999
Lightvalve 60:64181f1d3e60 1000 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1001 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1002 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1003 DZ_case = -1;
Lightvalve 14:8e7590227d22 1004 } else {
Lightvalve 13:747daba9cf59 1005 DZ_case = 0;
Lightvalve 13:747daba9cf59 1006 }
Lightvalve 61:8d36b4042096 1007
Lightvalve 60:64181f1d3e60 1008 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1009
Lightvalve 13:747daba9cf59 1010 first_check = 1;
Lightvalve 13:747daba9cf59 1011 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1012 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1013 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1014 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1015 DZ_index = 1;
Lightvalve 14:8e7590227d22 1016
Lightvalve 13:747daba9cf59 1017 }
Lightvalve 19:23b7c1ad8683 1018 } else {
Lightvalve 14:8e7590227d22 1019 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1020 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1021 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 60:64181f1d3e60 1022 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1023 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1024 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1025 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1026 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1027 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1028 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1029 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1030 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1031 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1032 }
Lightvalve 14:8e7590227d22 1033 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1034
Lightvalve 30:8d561f16383b 1035 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1036 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1037 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1038
Lightvalve 14:8e7590227d22 1039 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1040 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1041 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1042 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1043 } else {
Lightvalve 13:747daba9cf59 1044 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1045 }
Lightvalve 14:8e7590227d22 1046
Lightvalve 13:747daba9cf59 1047 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1048 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1049 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1050 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1051 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1052 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1053 DZ_index = 1;
Lightvalve 13:747daba9cf59 1054 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1055 }
Lightvalve 13:747daba9cf59 1056 }
Lightvalve 14:8e7590227d22 1057 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1058 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1059 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 60:64181f1d3e60 1060 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1061 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1062 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1063 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1064 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1065 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1066 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1067 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1068 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1069 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1070 }
Lightvalve 14:8e7590227d22 1071 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 1072
Lightvalve 30:8d561f16383b 1073 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1074 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1075 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1076 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1077 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1078
Lightvalve 14:8e7590227d22 1079 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1080 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1081 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1082 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1083 } else {
Lightvalve 60:64181f1d3e60 1084 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1085 }
Lightvalve 14:8e7590227d22 1086
Lightvalve 13:747daba9cf59 1087 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1088 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1089 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1090 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1091 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1092 first_check = 0;
Lightvalve 33:91b17819ec30 1093 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1094 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1095
Lightvalve 16:903b5a4433b4 1096 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1097
Lightvalve 60:64181f1d3e60 1098 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1099 DZ_index = 1;
Lightvalve 13:747daba9cf59 1100 }
Lightvalve 13:747daba9cf59 1101 }
Lightvalve 14:8e7590227d22 1102 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1103 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1104 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 60:64181f1d3e60 1105 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1106 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1107 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1108 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1109 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1110 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1111 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1112 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1113 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1114 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1115 }
Lightvalve 14:8e7590227d22 1116 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 1117
Lightvalve 30:8d561f16383b 1118 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1119 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1120 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1121
Lightvalve 14:8e7590227d22 1122 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1123 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1124 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1125 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1126 } else {
Lightvalve 13:747daba9cf59 1127 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1128 }
Lightvalve 13:747daba9cf59 1129 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1130 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1131 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1132 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1133 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1134 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1135 DZ_index = 1;
Lightvalve 13:747daba9cf59 1136 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1137 }
Lightvalve 13:747daba9cf59 1138 }
Lightvalve 14:8e7590227d22 1139 } else {
Lightvalve 30:8d561f16383b 1140 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1141 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 60:64181f1d3e60 1142 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1143 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1144 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1145 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1146 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1147 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1148 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1149 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1150 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1151 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1152 }
Lightvalve 14:8e7590227d22 1153 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1154
Lightvalve 30:8d561f16383b 1155 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1156 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1157 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1158 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1159 FINAL_POS = pos.sen;
Lightvalve 61:8d36b4042096 1160
Lightvalve 60:64181f1d3e60 1161 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1162 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1163 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1164 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1165 } else {
Lightvalve 13:747daba9cf59 1166 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1167 }
Lightvalve 14:8e7590227d22 1168
Lightvalve 13:747daba9cf59 1169 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1170 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1171 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1172 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1173 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1174 first_check = 0;
Lightvalve 33:91b17819ec30 1175 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1176 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:8d36b4042096 1177
Lightvalve 59:f308b1656d9c 1178 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1179
Lightvalve 57:f4819de54e7a 1180 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1181 DZ_index = 1;
Lightvalve 13:747daba9cf59 1182 }
Lightvalve 13:747daba9cf59 1183 }
Lightvalve 13:747daba9cf59 1184 }
Lightvalve 14:8e7590227d22 1185 }
Lightvalve 13:747daba9cf59 1186 break;
Lightvalve 13:747daba9cf59 1187 }
Lightvalve 14:8e7590227d22 1188
Lightvalve 14:8e7590227d22 1189 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1190 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1191 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1192 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1193 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1194 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1195 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1196 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1197 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1198 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1199 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1200 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1201 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1202 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1203 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1204 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1205 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1206 first_check = 1;
Lightvalve 13:747daba9cf59 1207 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1208 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1209 ID_index = 0;
Lightvalve 13:747daba9cf59 1210 max_check = 0;
Lightvalve 13:747daba9cf59 1211 min_check = 0;
Lightvalve 13:747daba9cf59 1212 }
Lightvalve 14:8e7590227d22 1213 } else {
Lightvalve 30:8d561f16383b 1214 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1215 //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 59:f308b1656d9c 1216 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1217 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1218 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1219 data_num = 0;
Lightvalve 57:f4819de54e7a 1220 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1221
Lightvalve 14:8e7590227d22 1222 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1223 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1224 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1225 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1226 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1227 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1228 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1229 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1230 one_period_end = 1;
Lightvalve 13:747daba9cf59 1231 }
Lightvalve 30:8d561f16383b 1232 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1233 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1234 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1235 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1236 }
Lightvalve 14:8e7590227d22 1237
Lightvalve 14:8e7590227d22 1238 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1239 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1240 max_check = 1;
Lightvalve 14:8e7590227d22 1241 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1242 min_check = 1;
Lightvalve 13:747daba9cf59 1243 }
Lightvalve 13:747daba9cf59 1244 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1245
Lightvalve 13:747daba9cf59 1246 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1247 one_period_end = 0;
Lightvalve 13:747daba9cf59 1248 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1249 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1250 }
Lightvalve 14:8e7590227d22 1251
Lightvalve 14:8e7590227d22 1252 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1253
Lightvalve 13:747daba9cf59 1254 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1255 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1256 ID_index = 0;
Lightvalve 13:747daba9cf59 1257 first_check = 0;
Lightvalve 13:747daba9cf59 1258 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1259 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1260 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 13:747daba9cf59 1262 }
Lightvalve 13:747daba9cf59 1263 break;
Lightvalve 13:747daba9cf59 1264 }
Lightvalve 58:2eade98630e2 1265
Lightvalve 57:f4819de54e7a 1266 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1267 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1268 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1269 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1270 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1271 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1272 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1273 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1274 }
Lightvalve 57:f4819de54e7a 1275 break;
Lightvalve 57:f4819de54e7a 1276 }
Lightvalve 58:2eade98630e2 1277
Lightvalve 58:2eade98630e2 1278
Lightvalve 57:f4819de54e7a 1279
Lightvalve 57:f4819de54e7a 1280 default:
Lightvalve 57:f4819de54e7a 1281 break;
Lightvalve 57:f4819de54e7a 1282 }
Lightvalve 57:f4819de54e7a 1283
Lightvalve 57:f4819de54e7a 1284 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1285
Lightvalve 57:f4819de54e7a 1286 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1287 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1288 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1289 break;
Lightvalve 57:f4819de54e7a 1290 }
Lightvalve 57:f4819de54e7a 1291
Lightvalve 57:f4819de54e7a 1292 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 62:456f87e3124e 1293 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1294 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1295 V_out = Vout.ref;
Lightvalve 62:456f87e3124e 1296 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 62:456f87e3124e 1297 V_out = valve_pos.ref;
Lightvalve 62:456f87e3124e 1298 } else {
Lightvalve 62:456f87e3124e 1299 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1300 }
Lightvalve 58:2eade98630e2 1301
Lightvalve 57:f4819de54e7a 1302 break;
Lightvalve 57:f4819de54e7a 1303 }
Lightvalve 57:f4819de54e7a 1304
Lightvalve 57:f4819de54e7a 1305 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1306 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1307 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 62:456f87e3124e 1308 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1309 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 63:376a20d2fbfd 1310
Lightvalve 63:376a20d2fbfd 1311 //K & D Low Pass Filter
Lightvalve 63:376a20d2fbfd 1312 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 63:376a20d2fbfd 1313 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 63:376a20d2fbfd 1314 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 63:376a20d2fbfd 1315
Lightvalve 63:376a20d2fbfd 1316 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1317
Lightvalve 57:f4819de54e7a 1318 // torque feedback
Lightvalve 58:2eade98630e2 1319 torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1320 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1321
Lightvalve 57:f4819de54e7a 1322 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1323
Lightvalve 57:f4819de54e7a 1324 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1325 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1326 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1327
Lightvalve 57:f4819de54e7a 1328 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1329 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1330 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1331
Lightvalve 57:f4819de54e7a 1332 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1333 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1334 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1335 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1336 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1337 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1338 }
Lightvalve 57:f4819de54e7a 1339 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1340 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1341
Lightvalve 57:f4819de54e7a 1342 // velocity compensation for torque control
Lightvalve 57:f4819de54e7a 1343 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1344 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1345 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1346 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1347 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1348 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1349 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 1350 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1351 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1352 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1353 }
Lightvalve 57:f4819de54e7a 1354 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1355 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1356 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1357 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1358 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1359
Lightvalve 57:f4819de54e7a 1360 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 63:376a20d2fbfd 1361
Lightvalve 63:376a20d2fbfd 1362 // Anti-windup for FT
Lightvalve 63:376a20d2fbfd 1363 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 63:376a20d2fbfd 1364 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 63:376a20d2fbfd 1365 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 63:376a20d2fbfd 1366 if (I_REF > I_MAX) {
Lightvalve 63:376a20d2fbfd 1367 double I_rem = I_REF - I_MAX;
Lightvalve 63:376a20d2fbfd 1368 I_rem = Ka*I_rem;
Lightvalve 63:376a20d2fbfd 1369 I_REF = I_MAX;
Lightvalve 63:376a20d2fbfd 1370 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 63:376a20d2fbfd 1371 } else if (I_REF < -I_MAX) {
Lightvalve 63:376a20d2fbfd 1372 double I_rem = I_REF - (-I_MAX);
Lightvalve 63:376a20d2fbfd 1373 I_rem = Ka*I_rem;
Lightvalve 63:376a20d2fbfd 1374 I_REF = -I_MAX;
Lightvalve 63:376a20d2fbfd 1375 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 63:376a20d2fbfd 1376 }
Lightvalve 63:376a20d2fbfd 1377 }
Lightvalve 57:f4819de54e7a 1378
Lightvalve 57:f4819de54e7a 1379 } else {
Lightvalve 57:f4819de54e7a 1380 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 57:f4819de54e7a 1381
Lightvalve 57:f4819de54e7a 1382 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1383 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1384
Lightvalve 57:f4819de54e7a 1385 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 57:f4819de54e7a 1386 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1387 } else {
Lightvalve 57:f4819de54e7a 1388 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1389 }
Lightvalve 57:f4819de54e7a 1390
Lightvalve 57:f4819de54e7a 1391 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1392 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1393 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1394 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1395 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1396 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1397 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1398 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1399 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1400 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1401 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1402 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1403 }
Lightvalve 57:f4819de54e7a 1404 }
Lightvalve 61:8d36b4042096 1405
Lightvalve 57:f4819de54e7a 1406 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 1407
Lightvalve 62:456f87e3124e 1408 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1409 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1410
Lightvalve 57:f4819de54e7a 1411 }
Lightvalve 58:2eade98630e2 1412
Lightvalve 57:f4819de54e7a 1413 break;
Lightvalve 57:f4819de54e7a 1414 }
Lightvalve 58:2eade98630e2 1415
Lightvalve 57:f4819de54e7a 1416 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1417 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1418 break;
Lightvalve 57:f4819de54e7a 1419 }
Lightvalve 14:8e7590227d22 1420
Lightvalve 12:6f2531038ea4 1421 default:
Lightvalve 12:6f2531038ea4 1422 break;
Lightvalve 12:6f2531038ea4 1423 }
Lightvalve 14:8e7590227d22 1424
Lightvalve 57:f4819de54e7a 1425
Lightvalve 57:f4819de54e7a 1426 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1427
Lightvalve 57:f4819de54e7a 1428 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1429 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1430 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1431 if (CURRENT_CONTROL_MODE) {
Lightvalve 62:456f87e3124e 1432 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1433 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1434
Lightvalve 57:f4819de54e7a 1435 I_ERR = I_REF_fil - cur.sen;
Lightvalve 62:456f87e3124e 1436 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1437
Lightvalve 57:f4819de54e7a 1438
Lightvalve 57:f4819de54e7a 1439 // Moog Valve Current Control Gain
Lightvalve 62:456f87e3124e 1440 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1441 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1442 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1443 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1444 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1445
Lightvalve 57:f4819de54e7a 1446 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1447 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1448 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1449 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1450 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1451 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1452 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1453 }
Lightvalve 57:f4819de54e7a 1454
Lightvalve 57:f4819de54e7a 1455 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1456
Lightvalve 62:456f87e3124e 1457 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1458 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1459 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1460 I_REF_fil_old = I_REF_fil;
Lightvalve 62:456f87e3124e 1461 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 62:456f87e3124e 1462 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 62:456f87e3124e 1463 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1464
Lightvalve 57:f4819de54e7a 1465 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1466 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1467 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1468 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1469 VALVE_PWM_RAW = V_MAX;
Lightvalve 62:456f87e3124e 1470 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1471 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1472 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1473 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1474 VALVE_PWM_RAW = -V_MAX;
Lightvalve 62:456f87e3124e 1475 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1476 }
Lightvalve 57:f4819de54e7a 1477 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1478 } else {
Lightvalve 57:f4819de54e7a 1479 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1480 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1481 }
Lightvalve 57:f4819de54e7a 1482
Lightvalve 57:f4819de54e7a 1483 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1484 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1485 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1486 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1487 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1488 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1489 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1490
Lightvalve 57:f4819de54e7a 1491 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1492
Lightvalve 57:f4819de54e7a 1493 } else {
Lightvalve 57:f4819de54e7a 1494 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1495 }
Lightvalve 57:f4819de54e7a 1496
Lightvalve 57:f4819de54e7a 1497 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1498 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 62:456f87e3124e 1499 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1500
Lightvalve 57:f4819de54e7a 1501 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 62:456f87e3124e 1502 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 62:456f87e3124e 1503 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 62:456f87e3124e 1504 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1505 }
Lightvalve 62:456f87e3124e 1506
Lightvalve 62:456f87e3124e 1507 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 62:456f87e3124e 1508 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 62:456f87e3124e 1509 // else V_out = V_out;
Lightvalve 62:456f87e3124e 1510
jobuuu 7:e9086c72bb22 1511 /*******************************************************
jobuuu 7:e9086c72bb22 1512 *** PWM
jobuuu 7:e9086c72bb22 1513 ********************************************************/
Lightvalve 62:456f87e3124e 1514 if(DIR_VALVE<0){
Lightvalve 62:456f87e3124e 1515 V_out = -V_out;
Lightvalve 62:456f87e3124e 1516 }
Lightvalve 62:456f87e3124e 1517
Lightvalve 49:e7bcfc244d40 1518 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1519 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1520 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1521 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1522 }
Lightvalve 49:e7bcfc244d40 1523 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1524
Lightvalve 19:23b7c1ad8683 1525 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1526 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1527 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1528
Lightvalve 30:8d561f16383b 1529 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1530 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1531 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1532 } else {
jobuuu 2:a1c0a37df760 1533 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1534 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1535 }
Lightvalve 13:747daba9cf59 1536
jobuuu 1:e04e563be5ce 1537 //pwm
Lightvalve 30:8d561f16383b 1538 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1539 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1540
Lightvalve 20:806196fda269 1541
Lightvalve 57:f4819de54e7a 1542 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1543
Lightvalve 54:647072f5307a 1544 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1545 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1546 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1547 if (SENSING_MODE == 0) {
Lightvalve 62:456f87e3124e 1548 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1549 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1550 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 1551 }
Lightvalve 57:f4819de54e7a 1552 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1553 if (SENSING_MODE == 0) {
Lightvalve 62:456f87e3124e 1554 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen));
Lightvalve 54:647072f5307a 1555 } else if (SENSING_MODE == 1) {
Lightvalve 62:456f87e3124e 1556 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 1557 }
Lightvalve 52:8ea76864368a 1558 }
Lightvalve 52:8ea76864368a 1559 }
Lightvalve 56:6f50d9d3bfee 1560 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1561 //valve position
Lightvalve 54:647072f5307a 1562 double t_value = 0;
Lightvalve 63:376a20d2fbfd 1563 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 63:376a20d2fbfd 1564 // t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 63:376a20d2fbfd 1565 // } else {
Lightvalve 63:376a20d2fbfd 1566 // t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 63:376a20d2fbfd 1567 // }
Lightvalve 58:2eade98630e2 1568 if(OPERATING_MODE==5) {
Lightvalve 57:f4819de54e7a 1569 t_value = (double) value;
Lightvalve 58:2eade98630e2 1570 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 57:f4819de54e7a 1571 t_value = cur.sen;
Lightvalve 58:2eade98630e2 1572 } else {
Lightvalve 57:f4819de54e7a 1573 t_value = V_out;
Lightvalve 54:647072f5307a 1574 }
Lightvalve 63:376a20d2fbfd 1575 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 63:376a20d2fbfd 1576 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 63:376a20d2fbfd 1577 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1578 }
Lightvalve 58:2eade98630e2 1579
Lightvalve 58:2eade98630e2 1580
Lightvalve 56:6f50d9d3bfee 1581 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1582 //pressure A and B
Lightvalve 57:f4819de54e7a 1583 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1584 }
Lightvalve 58:2eade98630e2 1585
Lightvalve 57:f4819de54e7a 1586 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1587 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1588 ;
Lightvalve 57:f4819de54e7a 1589 }
Lightvalve 58:2eade98630e2 1590
Lightvalve 56:6f50d9d3bfee 1591 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1592 //PWM
Lightvalve 63:376a20d2fbfd 1593 CAN_TX_PWM((int16_t) value); //1500
Lightvalve 54:647072f5307a 1594 }
Lightvalve 57:f4819de54e7a 1595 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1596 // ;
Lightvalve 57:f4819de54e7a 1597 // }
Lightvalve 56:6f50d9d3bfee 1598 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1599 //valve position
Lightvalve 57:f4819de54e7a 1600 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1601 }
Lightvalve 20:806196fda269 1602
Lightvalve 54:647072f5307a 1603 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1604 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1605 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1606 // }
Lightvalve 54:647072f5307a 1607 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1608 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1609 //}
Lightvalve 52:8ea76864368a 1610
Lightvalve 54:647072f5307a 1611 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1612 }
Lightvalve 54:647072f5307a 1613 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1614
Lightvalve 20:806196fda269 1615 }
Lightvalve 52:8ea76864368a 1616 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1617
Lightvalve 62:456f87e3124e 1618 }
Lightvalve 62:456f87e3124e 1619
Lightvalve 62:456f87e3124e 1620 void SystemClock_Config(void)
Lightvalve 62:456f87e3124e 1621 {
Lightvalve 62:456f87e3124e 1622 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 62:456f87e3124e 1623 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 62:456f87e3124e 1624
Lightvalve 62:456f87e3124e 1625 /** Configure the main internal regulator output voltage
Lightvalve 62:456f87e3124e 1626 */
Lightvalve 62:456f87e3124e 1627 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 62:456f87e3124e 1628 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 62:456f87e3124e 1629 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 62:456f87e3124e 1630 */
Lightvalve 62:456f87e3124e 1631 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 62:456f87e3124e 1632 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 62:456f87e3124e 1633 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 62:456f87e3124e 1634 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 62:456f87e3124e 1635 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 62:456f87e3124e 1636 RCC_OscInitStruct.PLL.PLLM = 8; //8
Lightvalve 62:456f87e3124e 1637 RCC_OscInitStruct.PLL.PLLN = 180;//180
Lightvalve 62:456f87e3124e 1638 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 62:456f87e3124e 1639 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 62:456f87e3124e 1640 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 62:456f87e3124e 1641 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 62:456f87e3124e 1642 //Error_Handler();
Lightvalve 62:456f87e3124e 1643 }
Lightvalve 62:456f87e3124e 1644 /** Activate the Over-Drive mode
Lightvalve 62:456f87e3124e 1645 */
Lightvalve 62:456f87e3124e 1646 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 62:456f87e3124e 1647 //Error_Handler();
Lightvalve 62:456f87e3124e 1648 }
Lightvalve 62:456f87e3124e 1649 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 62:456f87e3124e 1650 */
Lightvalve 62:456f87e3124e 1651 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 62:456f87e3124e 1652 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 62:456f87e3124e 1653 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 62:456f87e3124e 1654 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 62:456f87e3124e 1655 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 62:456f87e3124e 1656 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 62:456f87e3124e 1657
Lightvalve 62:456f87e3124e 1658 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 62:456f87e3124e 1659 //Error_Handler();
Lightvalve 62:456f87e3124e 1660 }
Lightvalve 62:456f87e3124e 1661 HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
Lightvalve 62:456f87e3124e 1662 HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_SYSCLK, RCC_MCODIV_2);
Lightvalve 58:2eade98630e2 1663 }