HydraulicControlBoard - asdgas

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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard

asdgas

main.cpp@62:456f87e3124e, 2020-04-28 (annotated)

Committer:: Lightvalve
Date:: Tue Apr 28 09:19:26 2020 +0000
Revision:: 62:456f87e3124e
Parent:: 61:8d36b4042096
Child:: 63:376a20d2fbfd

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
Lightvalve	31:66738bfecec5	12	///191008////
Lightvalve	31:66738bfecec5	13
jobuuu	7:e9086c72bb22	14	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	15	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	16	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	17	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	18	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	19	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	20	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	21	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	22
Lightvalve	24:ef6e1092e9e6	23
jobuuu	7:e9086c72bb22	24	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	25	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	26	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	30	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	31	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	32
jobuuu	7:e9086c72bb22	33	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	34	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	35	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	36	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	37	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	38	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	39	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	43
jobuuu	7:e9086c72bb22	44	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	45	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	46	CANMessage msg;
Lightvalve	11:82d8768d7351	47	void onMsgReceived()
Lightvalve	11:82d8768d7351	48	{
Lightvalve	11:82d8768d7351	49	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
jobuuu	7:e9086c72bb22	52	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	53	State pos;
jobuuu	7:e9086c72bb22	54	State vel;
jobuuu	7:e9086c72bb22	55	State Vout;
jobuuu	7:e9086c72bb22	56	State torq;
jobuuu	7:e9086c72bb22	57	State pres_A;
jobuuu	7:e9086c72bb22	58	State pres_B;
jobuuu	7:e9086c72bb22	59	State cur;
Lightvalve	14:8e7590227d22	60	State valve_pos;
Lightvalve	14:8e7590227d22	61
Lightvalve	14:8e7590227d22	62	State INIT_Vout;
Lightvalve	14:8e7590227d22	63	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	64	State INIT_Pos;
Lightvalve	14:8e7590227d22	65	State INIT_torq;
jobuuu	5:a4319f79457b	66
Lightvalve	19:23b7c1ad8683	67	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	68	extern int CID_RX_REF_POSITION;
Lightvalve	49:e7bcfc244d40	69	extern int CID_RX_REF_VALVE_POS;
Lightvalve	45:35fa6884d0c6	70	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	71
Lightvalve	19:23b7c1ad8683	72	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	73	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	74	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	75	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	76	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	77	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	78
jobuuu	7:e9086c72bb22	79	// =============================================================================
jobuuu	7:e9086c72bb22	80	// =============================================================================
jobuuu	7:e9086c72bb22	81	// =============================================================================
jobuuu	7:e9086c72bb22	82
Lightvalve	12:6f2531038ea4	83	/*******************************************************************************
Lightvalve	12:6f2531038ea4	84	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	85	******************************************************************************/
Lightvalve	13:747daba9cf59	86	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	87	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	88	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	89	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	90	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	91	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	92	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	93	};
Lightvalve	12:6f2531038ea4	94
Lightvalve	12:6f2531038ea4	95	/*******************************************************************************
Lightvalve	12:6f2531038ea4	96	* CONTROL MODE
Lightvalve	12:6f2531038ea4	97	******************************************************************************/
Lightvalve	13:747daba9cf59	98	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	99	//control mode
Lightvalve	12:6f2531038ea4	100	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	101	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	102	MODE_JOINT_CONTROL, //2
Lightvalve	50:3c630b5eba9f	103
Lightvalve	47:fdcb8bd86fd6	104	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	12:6f2531038ea4	105	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	106	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	107
Lightvalve	12:6f2531038ea4	108	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	109	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	110	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	111
Lightvalve	12:6f2531038ea4	112	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	113	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	114
Lightvalve	14:8e7590227d22	115	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	116	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	117	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	//utility
Lightvalve	12:6f2531038ea4	120	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	121	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	122	MODE_FIND_HOME, //22
Lightvalve	57:f4819de54e7a	123	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	124	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	125	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	126	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	127
Lightvalve	12:6f2531038ea4	128	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	129	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	130	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	57:f4819de54e7a	131	MODE_SYSTEM_ID, //33
Lightvalve	12:6f2531038ea4	132	};
Lightvalve	12:6f2531038ea4	133
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	62:456f87e3124e	142	SystemClock_Config();
Lightvalve	62:456f87e3124e	143
Lightvalve	62:456f87e3124e	144
Lightvalve	57:f4819de54e7a	145	LED = 1;
Lightvalve	61:8d36b4042096	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	61:8d36b4042096	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/(2.0f3.14f100.0f));
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/(2.0f3.14f100.0f));
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/(2.0f3.14f100.0f));
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/(2.0f3.14f500.0f)); // 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	29:69f3f5445d6d	617	int cnt_check_enc = (TMR_FREQ_5k/500);
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 < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	632	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	62:456f87e3124e	633	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 8.0f;
Lightvalve	62:456f87e3124e	634	else pos.ref = pos.ref - 8.0f;
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	29:69f3f5445d6d	648	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	649	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	650	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	651	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	652	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	653	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	654	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	655	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	656	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	29:69f3f5445d6d	657	}
Lightvalve	29:69f3f5445d6d	658	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	659	int T_move = 2*TMR_FREQ_5k;
Lightvalve	59:f308b1656d9c	660	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	59:f308b1656d9c	661	vel.ref = 0.0f;
Lightvalve	19:23b7c1ad8683	662
Lightvalve	29:69f3f5445d6d	663	// input for position control
Lightvalve	61:8d36b4042096	664
Lightvalve	59:f308b1656d9c	665	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	59:f308b1656d9c	666	alpha_trans = 0.0f;
Lightvalve	59:f308b1656d9c	667	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	59:f308b1656d9c	668	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	669	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	59:f308b1656d9c	670	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	671	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	672
Lightvalve	29:69f3f5445d6d	673	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	674	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	675	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	676	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	677	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	678	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	679	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	680	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	681	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	682	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	683	}
Lightvalve	13:747daba9cf59	684	}
Lightvalve	19:23b7c1ad8683	685
Lightvalve	13:747daba9cf59	686	break;
Lightvalve	13:747daba9cf59	687	}
Lightvalve	14:8e7590227d22	688
Lightvalve	50:3c630b5eba9f	689	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	690	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	691	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	692	// else {
Lightvalve	50:3c630b5eba9f	693	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	694	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	695	// }
Lightvalve	50:3c630b5eba9f	696	// }
Lightvalve	50:3c630b5eba9f	697	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	698	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	699	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	700	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	701	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	702	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	703	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	704	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	705	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	706	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	707	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	708	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	709	// }
Lightvalve	50:3c630b5eba9f	710	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	711	// }
Lightvalve	50:3c630b5eba9f	712	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	713	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	714	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	715	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	716	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	717	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	718	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	719	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	720	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	721	// // 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	722	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	723	// }
Lightvalve	50:3c630b5eba9f	724	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	725	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	726	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	727	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	728	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	729	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	730	// 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	731	// // 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	732	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	733	// }
Lightvalve	50:3c630b5eba9f	734	// }
Lightvalve	50:3c630b5eba9f	735	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	736	//
Lightvalve	50:3c630b5eba9f	737	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	738	//
Lightvalve	50:3c630b5eba9f	739	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	740	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	741	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	742	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	743	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	744	// }
Lightvalve	50:3c630b5eba9f	745	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	746	// V_out = 0;
Lightvalve	50:3c630b5eba9f	747	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	748	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	749	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	750	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	751	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	752	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	753	// }
Lightvalve	50:3c630b5eba9f	754	//
Lightvalve	50:3c630b5eba9f	755	// }
Lightvalve	50:3c630b5eba9f	756	// break;
Lightvalve	50:3c630b5eba9f	757	// }
Lightvalve	50:3c630b5eba9f	758	//
Lightvalve	50:3c630b5eba9f	759	// }
Lightvalve	14:8e7590227d22	760	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	761	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	762	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	763	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	764	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	765
Lightvalve	14:8e7590227d22	766	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	767	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	768	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	769	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	770	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	771
Lightvalve	38:118df027d851	772	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	773	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	774	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	775
Lightvalve	30:8d561f16383b	776	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	777	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	778	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	779	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	780
Lightvalve	30:8d561f16383b	781	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	782	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	783	}
Lightvalve	13:747daba9cf59	784	} else {
Lightvalve	57:f4819de54e7a	785	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	786	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	787	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	788	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	789	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	790	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	791
Lightvalve	16:903b5a4433b4	792	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	793
Lightvalve	30:8d561f16383b	794	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	795	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	796	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	797	}
Lightvalve	14:8e7590227d22	798	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	799	break;
Lightvalve	13:747daba9cf59	800	}
Lightvalve	14:8e7590227d22	801
Lightvalve	50:3c630b5eba9f	802	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	803	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	804	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	805	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	806	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	807	// }
Lightvalve	50:3c630b5eba9f	808	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	809	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	810	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	811	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	812	// }
Lightvalve	50:3c630b5eba9f	813	// } else {
Lightvalve	50:3c630b5eba9f	814	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	815	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	816	// V_out = 0;
Lightvalve	50:3c630b5eba9f	817	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	818	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	819	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	820	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	821	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	822	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	823	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	824	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	825	//
Lightvalve	50:3c630b5eba9f	826	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	827	//
Lightvalve	50:3c630b5eba9f	828	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	829	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	830	// }
Lightvalve	50:3c630b5eba9f	831	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	832	// break;
Lightvalve	50:3c630b5eba9f	833	// }
Lightvalve	19:23b7c1ad8683	834
Lightvalve	50:3c630b5eba9f	835	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	836	// 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	837	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	838	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	839	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	840	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	841	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	842	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	843	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	844	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	845	// }
Lightvalve	50:3c630b5eba9f	846	// break;
Lightvalve	50:3c630b5eba9f	847	// }
Lightvalve	14:8e7590227d22	848
Lightvalve	14:8e7590227d22	849	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	59:f308b1656d9c	850	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	851	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	852
Lightvalve	14:8e7590227d22	853	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	60:64181f1d3e60	854	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	855	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	59:f308b1656d9c	856	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	857	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	858	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	859	data_num = 0;
Lightvalve	14:8e7590227d22	860	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	861	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	862	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	863	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	59:f308b1656d9c	864	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	865	} else {
Lightvalve	13:747daba9cf59	866	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	867	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	868	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	869	}
Lightvalve	14:8e7590227d22	870
Lightvalve	17:1865016ca2e7	871	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	872	int i;
Lightvalve	13:747daba9cf59	873	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	874	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	875	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	876	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	877	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	878	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	879	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	880	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	881	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	882	}
Lightvalve	13:747daba9cf59	883	}
Lightvalve	59:f308b1656d9c	884	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	885	ID_index = 0;
Lightvalve	57:f4819de54e7a	886	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	887	}
Lightvalve	14:8e7590227d22	888
Lightvalve	14:8e7590227d22	889
Lightvalve	13:747daba9cf59	890	break;
Lightvalve	13:747daba9cf59	891	}
Lightvalve	14:8e7590227d22	892
Lightvalve	14:8e7590227d22	893	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	59:f308b1656d9c	894	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	895	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	896	if(first_check == 0) {
Lightvalve	30:8d561f16383b	897	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	898	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	899	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	900	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	901	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	902	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	903	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	904	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	905	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	906	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	907	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	908	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	909	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	910	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	911	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	912	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	913	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	914	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	915	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	916	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	917	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	918	data_num = 0;
Lightvalve	14:8e7590227d22	919
Lightvalve	30:8d561f16383b	920	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	921	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	922	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	923
Lightvalve	30:8d561f16383b	924	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	925	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	926	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	927
Lightvalve	30:8d561f16383b	928	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	929	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	930	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	931	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	932
Lightvalve	60:64181f1d3e60	933	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	934	DZ_case = 1;
Lightvalve	60:64181f1d3e60	935	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	936	DZ_case = -1;
Lightvalve	14:8e7590227d22	937	} else {
Lightvalve	13:747daba9cf59	938	DZ_case = 0;
Lightvalve	13:747daba9cf59	939	}
Lightvalve	61:8d36b4042096	940
Lightvalve	60:64181f1d3e60	941	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	942
Lightvalve	13:747daba9cf59	943	first_check = 1;
Lightvalve	13:747daba9cf59	944	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	945	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	946	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	947	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	948	DZ_index = 1;
Lightvalve	14:8e7590227d22	949
Lightvalve	13:747daba9cf59	950	}
Lightvalve	19:23b7c1ad8683	951	} else {
Lightvalve	14:8e7590227d22	952	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	953	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	954	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	955	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	956	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	957	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	958	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	959	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	960	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	961	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	962	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	963	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	964	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	965	}
Lightvalve	14:8e7590227d22	966	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	967
Lightvalve	30:8d561f16383b	968	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	969	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	970	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	971
Lightvalve	14:8e7590227d22	972	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	973	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	974	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	975	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	976	} else {
Lightvalve	13:747daba9cf59	977	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	978	}
Lightvalve	14:8e7590227d22	979
Lightvalve	13:747daba9cf59	980	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	981	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	982	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	983	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	984	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	985	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	986	DZ_index = 1;
Lightvalve	13:747daba9cf59	987	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	988	}
Lightvalve	13:747daba9cf59	989	}
Lightvalve	14:8e7590227d22	990	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	991	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	992	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	993	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	994	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	995	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	996	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	997	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	998	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	999	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1000	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1001	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1002	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1003	}
Lightvalve	14:8e7590227d22	1004	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:8d36b4042096	1005
Lightvalve	30:8d561f16383b	1006	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1007	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1008	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1009	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1010	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1011
Lightvalve	14:8e7590227d22	1012	if((FINAL_POS - START_POS)>100) {
Lightvalve	60:64181f1d3e60	1013	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1014	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1015	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1016	} else {
Lightvalve	60:64181f1d3e60	1017	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1018	}
Lightvalve	14:8e7590227d22	1019
Lightvalve	13:747daba9cf59	1020	VALVE_DZ_timer = 0;
Lightvalve	60:64181f1d3e60	1021	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1022	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1023	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1024	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1025	first_check = 0;
Lightvalve	33:91b17819ec30	1026	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1027	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1028
Lightvalve	16:903b5a4433b4	1029	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1030
Lightvalve	60:64181f1d3e60	1031	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1032	DZ_index = 1;
Lightvalve	13:747daba9cf59	1033	}
Lightvalve	13:747daba9cf59	1034	}
Lightvalve	14:8e7590227d22	1035	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1036	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1037	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	1038	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1039	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1040	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1041	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1042	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1043	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1044	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1045	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1046	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1047	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1048	}
Lightvalve	14:8e7590227d22	1049	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:8d36b4042096	1050
Lightvalve	30:8d561f16383b	1051	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1052	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1053	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1054
Lightvalve	14:8e7590227d22	1055	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1056	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1057	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1058	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1059	} else {
Lightvalve	13:747daba9cf59	1060	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1061	}
Lightvalve	13:747daba9cf59	1062	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1063	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1064	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1065	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1066	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1067	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1068	DZ_index = 1;
Lightvalve	13:747daba9cf59	1069	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1070	}
Lightvalve	13:747daba9cf59	1071	}
Lightvalve	14:8e7590227d22	1072	} else {
Lightvalve	30:8d561f16383b	1073	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1074	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	1075	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1076	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1077	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1078	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1079	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1080	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1081	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1082	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1083	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1084	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1085	}
Lightvalve	14:8e7590227d22	1086	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1087
Lightvalve	30:8d561f16383b	1088	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1089	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1090	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1091	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1092	FINAL_POS = pos.sen;
Lightvalve	61:8d36b4042096	1093
Lightvalve	60:64181f1d3e60	1094	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1095	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1096	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1097	DZ_DIRECTION = -1;
Lightvalve	60:64181f1d3e60	1098	} else {
Lightvalve	13:747daba9cf59	1099	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1100	}
Lightvalve	14:8e7590227d22	1101
Lightvalve	13:747daba9cf59	1102	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1103	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1104	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1105	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1106	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1107	first_check = 0;
Lightvalve	33:91b17819ec30	1108	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1109	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	61:8d36b4042096	1110
Lightvalve	59:f308b1656d9c	1111	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1112
Lightvalve	57:f4819de54e7a	1113	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1114	DZ_index = 1;
Lightvalve	13:747daba9cf59	1115	}
Lightvalve	13:747daba9cf59	1116	}
Lightvalve	13:747daba9cf59	1117	}
Lightvalve	14:8e7590227d22	1118	}
Lightvalve	13:747daba9cf59	1119	break;
Lightvalve	13:747daba9cf59	1120	}
Lightvalve	14:8e7590227d22	1121
Lightvalve	14:8e7590227d22	1122	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	59:f308b1656d9c	1123	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1124	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1125	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1126	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1127	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1128	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1129	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1130	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1131	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1132	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1133	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1134	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1135	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1136	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	59:f308b1656d9c	1137	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1138	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1139	first_check = 1;
Lightvalve	13:747daba9cf59	1140	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1141	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1142	ID_index = 0;
Lightvalve	13:747daba9cf59	1143	max_check = 0;
Lightvalve	13:747daba9cf59	1144	min_check = 0;
Lightvalve	13:747daba9cf59	1145	}
Lightvalve	14:8e7590227d22	1146	} else {
Lightvalve	30:8d561f16383b	1147	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1148	//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	1149	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	59:f308b1656d9c	1150	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1151	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1152	data_num = 0;
Lightvalve	57:f4819de54e7a	1153	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1154
Lightvalve	14:8e7590227d22	1155	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1156	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1157	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1158	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1159	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1160	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1161	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1162	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1163	one_period_end = 1;
Lightvalve	13:747daba9cf59	1164	}
Lightvalve	30:8d561f16383b	1165	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1166	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1167	one_period_end = 1;
Lightvalve	59:f308b1656d9c	1168	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1169	}
Lightvalve	14:8e7590227d22	1170
Lightvalve	14:8e7590227d22	1171	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1172	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1173	max_check = 1;
Lightvalve	14:8e7590227d22	1174	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1175	min_check = 1;
Lightvalve	13:747daba9cf59	1176	}
Lightvalve	13:747daba9cf59	1177	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1178
Lightvalve	13:747daba9cf59	1179	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1180	one_period_end = 0;
Lightvalve	13:747daba9cf59	1181	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1182	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1183	}
Lightvalve	14:8e7590227d22	1184
Lightvalve	14:8e7590227d22	1185	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1186
Lightvalve	13:747daba9cf59	1187	VALVE_POS_NUM = ID_index;
Lightvalve	59:f308b1656d9c	1188	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1189	ID_index = 0;
Lightvalve	13:747daba9cf59	1190	first_check = 0;
Lightvalve	13:747daba9cf59	1191	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1192	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1193	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1194	}
Lightvalve	13:747daba9cf59	1195	}
Lightvalve	13:747daba9cf59	1196	break;
Lightvalve	13:747daba9cf59	1197	}
Lightvalve	58:2eade98630e2	1198
Lightvalve	57:f4819de54e7a	1199	case MODE_SYSTEM_ID: {
Lightvalve	57:f4819de54e7a	1200	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	57:f4819de54e7a	1201	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1202	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1203	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1204	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1205	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1206	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1207	}
Lightvalve	57:f4819de54e7a	1208	break;
Lightvalve	57:f4819de54e7a	1209	}
Lightvalve	58:2eade98630e2	1210
Lightvalve	58:2eade98630e2	1211
Lightvalve	57:f4819de54e7a	1212
Lightvalve	57:f4819de54e7a	1213	default:
Lightvalve	57:f4819de54e7a	1214	break;
Lightvalve	57:f4819de54e7a	1215	}
Lightvalve	57:f4819de54e7a	1216
Lightvalve	57:f4819de54e7a	1217	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1218
Lightvalve	57:f4819de54e7a	1219	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1220	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1221	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1222	break;
Lightvalve	57:f4819de54e7a	1223	}
Lightvalve	57:f4819de54e7a	1224
Lightvalve	57:f4819de54e7a	1225	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	62:456f87e3124e	1226	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	57:f4819de54e7a	1227	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:f308b1656d9c	1228	V_out = Vout.ref;
Lightvalve	62:456f87e3124e	1229	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	62:456f87e3124e	1230	V_out = valve_pos.ref;
Lightvalve	62:456f87e3124e	1231	} else {
Lightvalve	62:456f87e3124e	1232	I_REF = valve_pos.ref * 0.001f;
Lightvalve	57:f4819de54e7a	1233	}
Lightvalve	58:2eade98630e2	1234
Lightvalve	57:f4819de54e7a	1235	break;
Lightvalve	57:f4819de54e7a	1236	}
Lightvalve	57:f4819de54e7a	1237
Lightvalve	57:f4819de54e7a	1238	case MODE_JOINT_CONTROL: {
Lightvalve	57:f4819de54e7a	1239	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1240	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	62:456f87e3124e	1241	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1242	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	62:456f87e3124e	1243	torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f - D_DAMPER * vel.sen * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1244
Lightvalve	57:f4819de54e7a	1245	// torque feedback
Lightvalve	58:2eade98630e2	1246	torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1247	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1248
Lightvalve	57:f4819de54e7a	1249	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1250
Lightvalve	57:f4819de54e7a	1251	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1252	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1253	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1254
Lightvalve	57:f4819de54e7a	1255	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1256	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1257	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1258
Lightvalve	57:f4819de54e7a	1259	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1260	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	1261	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1262	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1263	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	1264	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1265	}
Lightvalve	57:f4819de54e7a	1266	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	1267	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1268
Lightvalve	57:f4819de54e7a	1269	// velocity compensation for torque control
Lightvalve	57:f4819de54e7a	1270	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1271	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1272	// 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	1273	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1274	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1275	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1276	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	1277	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1278	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1279	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1280	}
Lightvalve	57:f4819de54e7a	1281	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	1282	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1283	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1284	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1285	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1286
Lightvalve	57:f4819de54e7a	1287	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	57:f4819de54e7a	1288
Lightvalve	57:f4819de54e7a	1289	} else {
Lightvalve	57:f4819de54e7a	1290	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	57:f4819de54e7a	1291
Lightvalve	57:f4819de54e7a	1292	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	1293	+ 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	1294
Lightvalve	57:f4819de54e7a	1295	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	57:f4819de54e7a	1296	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1297	} else {
Lightvalve	57:f4819de54e7a	1298	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1299	}
Lightvalve	57:f4819de54e7a	1300
Lightvalve	57:f4819de54e7a	1301	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	57:f4819de54e7a	1302	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1303	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1304	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1305	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1306	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1307	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1308	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1309	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1310	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1311	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1312	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1313	}
Lightvalve	57:f4819de54e7a	1314	}
Lightvalve	61:8d36b4042096	1315
Lightvalve	57:f4819de54e7a	1316	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:8d36b4042096	1317
Lightvalve	62:456f87e3124e	1318	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	60:64181f1d3e60	1319	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1320
Lightvalve	57:f4819de54e7a	1321	}
Lightvalve	58:2eade98630e2	1322
Lightvalve	57:f4819de54e7a	1323	break;
Lightvalve	57:f4819de54e7a	1324	}
Lightvalve	58:2eade98630e2	1325
Lightvalve	57:f4819de54e7a	1326	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1327	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1328	break;
Lightvalve	57:f4819de54e7a	1329	}
Lightvalve	14:8e7590227d22	1330
Lightvalve	12:6f2531038ea4	1331	default:
Lightvalve	12:6f2531038ea4	1332	break;
Lightvalve	12:6f2531038ea4	1333	}
Lightvalve	14:8e7590227d22	1334
Lightvalve	57:f4819de54e7a	1335
Lightvalve	57:f4819de54e7a	1336	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1337
Lightvalve	57:f4819de54e7a	1338	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1339	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1340	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1341	if (CURRENT_CONTROL_MODE) {
Lightvalve	62:456f87e3124e	1342	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1343	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1344
Lightvalve	57:f4819de54e7a	1345	I_ERR = I_REF_fil - cur.sen;
Lightvalve	62:456f87e3124e	1346	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	57:f4819de54e7a	1347
Lightvalve	57:f4819de54e7a	1348
Lightvalve	57:f4819de54e7a	1349	// Moog Valve Current Control Gain
Lightvalve	62:456f87e3124e	1350	double R_model = 500.0f; // ohm
Lightvalve	57:f4819de54e7a	1351	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1352	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1353	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1354	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1355
Lightvalve	57:f4819de54e7a	1356	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1357	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1358	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1359	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1360	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1361	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1362	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1363	}
Lightvalve	57:f4819de54e7a	1364
Lightvalve	57:f4819de54e7a	1365	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1366
Lightvalve	62:456f87e3124e	1367	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	57:f4819de54e7a	1368	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	57:f4819de54e7a	1369	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1370	I_REF_fil_old = I_REF_fil;
Lightvalve	62:456f87e3124e	1371	// 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	1372	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	62:456f87e3124e	1373	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1374
Lightvalve	57:f4819de54e7a	1375	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1376	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1377	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1378	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1379	VALVE_PWM_RAW = V_MAX;
Lightvalve	62:456f87e3124e	1380	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1381	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1382	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1383	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1384	VALVE_PWM_RAW = -V_MAX;
Lightvalve	62:456f87e3124e	1385	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1386	}
Lightvalve	57:f4819de54e7a	1387	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1388	} else {
Lightvalve	57:f4819de54e7a	1389	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1390	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1391	}
Lightvalve	57:f4819de54e7a	1392
Lightvalve	57:f4819de54e7a	1393	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1394	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1395	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1396	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1397	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1398	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1399	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1400
Lightvalve	57:f4819de54e7a	1401	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1402
Lightvalve	57:f4819de54e7a	1403	} else {
Lightvalve	57:f4819de54e7a	1404	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1405	}
Lightvalve	57:f4819de54e7a	1406
Lightvalve	57:f4819de54e7a	1407	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1408	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	62:456f87e3124e	1409	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	57:f4819de54e7a	1410
Lightvalve	57:f4819de54e7a	1411	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	62:456f87e3124e	1412	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	62:456f87e3124e	1413	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	62:456f87e3124e	1414	else V_out = (float) (CUR_PWM_lin);
Lightvalve	57:f4819de54e7a	1415	}
Lightvalve	62:456f87e3124e	1416
Lightvalve	62:456f87e3124e	1417	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	62:456f87e3124e	1418	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	62:456f87e3124e	1419	// else V_out = V_out;
Lightvalve	62:456f87e3124e	1420
jobuuu	7:e9086c72bb22	1421	/*******************************************************
jobuuu	7:e9086c72bb22	1422	*** PWM
jobuuu	7:e9086c72bb22	1423	********************************************************/
Lightvalve	62:456f87e3124e	1424	if(DIR_VALVE<0){
Lightvalve	62:456f87e3124e	1425	V_out = -V_out;
Lightvalve	62:456f87e3124e	1426	}
Lightvalve	62:456f87e3124e	1427
Lightvalve	49:e7bcfc244d40	1428	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1429	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1430	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1431	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1432	}
Lightvalve	49:e7bcfc244d40	1433	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1434
Lightvalve	19:23b7c1ad8683	1435	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1436	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1437	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1438
Lightvalve	30:8d561f16383b	1439	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1440	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1441	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1442	} else {
jobuuu	2:a1c0a37df760	1443	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1444	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1445	}
Lightvalve	13:747daba9cf59	1446
jobuuu	1:e04e563be5ce	1447	//pwm
Lightvalve	30:8d561f16383b	1448	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1449	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1450
Lightvalve	20:806196fda269	1451
Lightvalve	57:f4819de54e7a	1452	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1453
Lightvalve	54:647072f5307a	1454	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1455	if (flag_data_request[0] == HIGH) {
Lightvalve	57:f4819de54e7a	1456	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1457	if (SENSING_MODE == 0) {
Lightvalve	62:456f87e3124e	1458	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1459	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	1460	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	1461	}
Lightvalve	57:f4819de54e7a	1462	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1463	if (SENSING_MODE == 0) {
Lightvalve	62:456f87e3124e	1464	CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen));
Lightvalve	54:647072f5307a	1465	} else if (SENSING_MODE == 1) {
Lightvalve	62:456f87e3124e	1466	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	1467	}
Lightvalve	52:8ea76864368a	1468	}
Lightvalve	52:8ea76864368a	1469	}
Lightvalve	56:6f50d9d3bfee	1470	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1471	//valve position
Lightvalve	54:647072f5307a	1472	double t_value = 0;
Lightvalve	62:456f87e3124e	1473	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	62:456f87e3124e	1474	t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	62:456f87e3124e	1475	} else {
Lightvalve	62:456f87e3124e	1476	t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	62:456f87e3124e	1477	}
Lightvalve	58:2eade98630e2	1478	if(OPERATING_MODE==5) {
Lightvalve	57:f4819de54e7a	1479	t_value = (double) value;
Lightvalve	58:2eade98630e2	1480	} else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	57:f4819de54e7a	1481	t_value = cur.sen;
Lightvalve	58:2eade98630e2	1482	} else {
Lightvalve	57:f4819de54e7a	1483	t_value = V_out;
Lightvalve	54:647072f5307a	1484	}
Lightvalve	62:456f87e3124e	1485	//CAN_TX_TORQUE((int16_t) (value), (int16_t) (V_out)); //1300
Lightvalve	62:456f87e3124e	1486	CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve	54:647072f5307a	1487	}
Lightvalve	58:2eade98630e2	1488
Lightvalve	58:2eade98630e2	1489
Lightvalve	56:6f50d9d3bfee	1490	if (flag_data_request[2] == HIGH) {
Lightvalve	56:6f50d9d3bfee	1491	//pressure A and B
Lightvalve	57:f4819de54e7a	1492	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve	55:b25725257569	1493	}
Lightvalve	58:2eade98630e2	1494
Lightvalve	57:f4819de54e7a	1495	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1496	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1497	;
Lightvalve	57:f4819de54e7a	1498	}
Lightvalve	58:2eade98630e2	1499
Lightvalve	56:6f50d9d3bfee	1500	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1501	//PWM
Lightvalve	57:f4819de54e7a	1502	CAN_TX_PWM((int16_t) cur.sen); //1500
Lightvalve	54:647072f5307a	1503	}
Lightvalve	57:f4819de54e7a	1504	//for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1505	// ;
Lightvalve	57:f4819de54e7a	1506	// }
Lightvalve	56:6f50d9d3bfee	1507	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1508	//valve position
Lightvalve	57:f4819de54e7a	1509	CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve	54:647072f5307a	1510	}
Lightvalve	20:806196fda269	1511
Lightvalve	54:647072f5307a	1512	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1513	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1514	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1515	// }
Lightvalve	54:647072f5307a	1516	//if (flag_delay_test == 1){
Lightvalve	58:2eade98630e2	1517	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1518	//}
Lightvalve	52:8ea76864368a	1519
Lightvalve	54:647072f5307a	1520	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1521	}
Lightvalve	54:647072f5307a	1522	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1523
Lightvalve	20:806196fda269	1524	}
Lightvalve	52:8ea76864368a	1525	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1526
Lightvalve	62:456f87e3124e	1527	}
Lightvalve	62:456f87e3124e	1528
Lightvalve	62:456f87e3124e	1529	void SystemClock_Config(void)
Lightvalve	62:456f87e3124e	1530	{
Lightvalve	62:456f87e3124e	1531	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	62:456f87e3124e	1532	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	62:456f87e3124e	1533
Lightvalve	62:456f87e3124e	1534	/** Configure the main internal regulator output voltage
Lightvalve	62:456f87e3124e	1535	*/
Lightvalve	62:456f87e3124e	1536	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	62:456f87e3124e	1537	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	62:456f87e3124e	1538	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	62:456f87e3124e	1539	*/
Lightvalve	62:456f87e3124e	1540	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	62:456f87e3124e	1541	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	62:456f87e3124e	1542	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	62:456f87e3124e	1543	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	62:456f87e3124e	1544	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	62:456f87e3124e	1545	RCC_OscInitStruct.PLL.PLLM = 8; //8
Lightvalve	62:456f87e3124e	1546	RCC_OscInitStruct.PLL.PLLN = 180;//180
Lightvalve	62:456f87e3124e	1547	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	62:456f87e3124e	1548	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	62:456f87e3124e	1549	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	62:456f87e3124e	1550	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve	62:456f87e3124e	1551	//Error_Handler();
Lightvalve	62:456f87e3124e	1552	}
Lightvalve	62:456f87e3124e	1553	/** Activate the Over-Drive mode
Lightvalve	62:456f87e3124e	1554	*/
Lightvalve	62:456f87e3124e	1555	if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve	62:456f87e3124e	1556	//Error_Handler();
Lightvalve	62:456f87e3124e	1557	}
Lightvalve	62:456f87e3124e	1558	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	62:456f87e3124e	1559	*/
Lightvalve	62:456f87e3124e	1560	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	62:456f87e3124e	1561	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	62:456f87e3124e	1562	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	62:456f87e3124e	1563	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	62:456f87e3124e	1564	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	62:456f87e3124e	1565	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	62:456f87e3124e	1566
Lightvalve	62:456f87e3124e	1567	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve	62:456f87e3124e	1568	//Error_Handler();
Lightvalve	62:456f87e3124e	1569	}
Lightvalve	62:456f87e3124e	1570	HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
Lightvalve	62:456f87e3124e	1571	HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_SYSCLK, RCC_MCODIV_2);
Lightvalve	58:2eade98630e2	1572	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 Aug 2019
Imports:	18
Forks:	0
Commits:	66
Dependents:	0
Dependencies:	3
Followers:	0

main.cpp@62:456f87e3124e, 2020-04-28 (annotated)

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