Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard

asdgas

Dependencies:   mbed Eigen FastPWM

main.cpp@65:549e0426cd91, 2020-05-18 (annotated)

Committer:
Lightvalve
Date:
Mon May 18 00:39:31 2020 +0000
Revision:
65:549e0426cd91
Parent:
64:368bcd2a230a 
200518

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 65:549e0426cd91 1 //200518
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 11 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 12
Lightvalve 31:66738bfecec5 13 ///191008////
Lightvalve 31:66738bfecec5 14
jobuuu 7:e9086c72bb22 15 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 16 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 17 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 18 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 19 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 20 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 21 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 22 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 23
Lightvalve 24:ef6e1092e9e6 24
jobuuu 7:e9086c72bb22 25 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 26 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 27 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 28
jobuuu 7:e9086c72bb22 29 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 30 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 31 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 32 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 33
jobuuu 7:e9086c72bb22 34 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 35 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 36 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 37 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 38 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 39 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 40 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 41
jobuuu 7:e9086c72bb22 42 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 43 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 47 CANMessage msg;
Lightvalve 11:82d8768d7351 48 void onMsgReceived()
Lightvalve 11:82d8768d7351 49 {
Lightvalve 11:82d8768d7351 50 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 51 }
jobuuu 2:a1c0a37df760 52
jobuuu 7:e9086c72bb22 53 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 54 State pos;
jobuuu 7:e9086c72bb22 55 State vel;
jobuuu 7:e9086c72bb22 56 State Vout;
jobuuu 7:e9086c72bb22 57 State torq;
jobuuu 7:e9086c72bb22 58 State pres_A;
jobuuu 7:e9086c72bb22 59 State pres_B;
jobuuu 7:e9086c72bb22 60 State cur;
Lightvalve 14:8e7590227d22 61 State valve_pos;
Lightvalve 14:8e7590227d22 62
Lightvalve 14:8e7590227d22 63 State INIT_Vout;
Lightvalve 14:8e7590227d22 64 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 65 State INIT_Pos;
Lightvalve 14:8e7590227d22 66 State INIT_torq;
jobuuu 5:a4319f79457b 67
Lightvalve 19:23b7c1ad8683 68 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 69 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 70 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 71 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 72
Lightvalve 19:23b7c1ad8683 73 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 74 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 75 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 79
jobuuu 7:e9086c72bb22 80 // =============================================================================
jobuuu 7:e9086c72bb22 81 // =============================================================================
jobuuu 7:e9086c72bb22 82 // =============================================================================
jobuuu 7:e9086c72bb22 83
Lightvalve 12:6f2531038ea4 84 /*******************************************************************************
Lightvalve 12:6f2531038ea4 85 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 86 ******************************************************************************/
Lightvalve 13:747daba9cf59 87 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 88 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 89 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 90 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 91 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 92 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 93 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 94 };
Lightvalve 12:6f2531038ea4 95
Lightvalve 12:6f2531038ea4 96 /*******************************************************************************
Lightvalve 12:6f2531038ea4 97 * CONTROL MODE
Lightvalve 12:6f2531038ea4 98 ******************************************************************************/
Lightvalve 13:747daba9cf59 99 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 100 //control mode
Lightvalve 12:6f2531038ea4 101 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 102 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 103 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 104
Lightvalve 47:fdcb8bd86fd6 105 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 106 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 107 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 108
Lightvalve 12:6f2531038ea4 109 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 110 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 111 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 112
Lightvalve 12:6f2531038ea4 113 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 114 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 115
Lightvalve 14:8e7590227d22 116 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 117 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 118 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 119
Lightvalve 12:6f2531038ea4 120 //utility
Lightvalve 12:6f2531038ea4 121 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 122 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 123 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 124 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 125 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 126 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 127 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 128
Lightvalve 12:6f2531038ea4 129 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 130 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 131 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 132 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 133 };
Lightvalve 12:6f2531038ea4 134
Lightvalve 62:456f87e3124e 135 void SystemClock_Config(void);
Lightvalve 61:8d36b4042096 136
GiJeongKim 0:51c43836c1d7 137 int main()
GiJeongKim 0:51c43836c1d7 138 {
jobuuu 6:df07d3491e3a 139 /*********************************
jobuuu 1:e04e563be5ce 140 *** Initialization
jobuuu 6:df07d3491e3a 141 *********************************/
Lightvalve 62:456f87e3124e 142 HAL_Init();
Lightvalve 63:376a20d2fbfd 143 // SystemClock_Config();
Lightvalve 62:456f87e3124e 144
Lightvalve 62:456f87e3124e 145
Lightvalve 63:376a20d2fbfd 146 // LED = 1;
Lightvalve 63:376a20d2fbfd 147 // pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 148
GiJeongKim 0:51c43836c1d7 149 // i2c init
Lightvalve 8:5d2eebdad025 150 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 151 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 152 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 153 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 154 make_delay();
jobuuu 2:a1c0a37df760 155
GiJeongKim 0:51c43836c1d7 156 // // spi init
Lightvalve 16:903b5a4433b4 157 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 158 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 159 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 160 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 161 make_delay();
Lightvalve 21:e5f1a43ea6f9 162
Lightvalve 16:903b5a4433b4 163 //rom
Lightvalve 19:23b7c1ad8683 164 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 165 make_delay();
Lightvalve 13:747daba9cf59 166
GiJeongKim 0:51c43836c1d7 167 // ADC init
jobuuu 5:a4319f79457b 168 Init_ADC();
Lightvalve 11:82d8768d7351 169 make_delay();
jobuuu 2:a1c0a37df760 170
GiJeongKim 0:51c43836c1d7 171 // Pwm init
GiJeongKim 0:51c43836c1d7 172 Init_PWM();
GiJeongKim 0:51c43836c1d7 173 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 174 make_delay();
Lightvalve 13:747daba9cf59 175
Lightvalve 11:82d8768d7351 176 // TMR3 init
Lightvalve 11:82d8768d7351 177 Init_TMR3();
Lightvalve 11:82d8768d7351 178 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 179 make_delay();
Lightvalve 21:e5f1a43ea6f9 180
Lightvalve 50:3c630b5eba9f 181 // TMR2 init
Lightvalve 56:6f50d9d3bfee 182 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 183 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 184 // make_delay();
Lightvalve 21:e5f1a43ea6f9 185
GiJeongKim 0:51c43836c1d7 186 // CAN
jobuuu 2:a1c0a37df760 187 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 188 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 189 make_delay();
Lightvalve 34:bb2ca2fc2a8e 190
Lightvalve 23:59218d4a256d 191 //Timer priority
Lightvalve 23:59218d4a256d 192 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 193 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 194 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 195
Lightvalve 23:59218d4a256d 196 //can.reset();
Lightvalve 19:23b7c1ad8683 197 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 198
GiJeongKim 0:51c43836c1d7 199 // spi _ enc
GiJeongKim 0:51c43836c1d7 200 spi_enc_set_init();
Lightvalve 11:82d8768d7351 201 make_delay();
Lightvalve 13:747daba9cf59 202
Lightvalve 11:82d8768d7351 203 //DAC init
Lightvalve 58:2eade98630e2 204 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 205 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 206 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 207 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 208 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 209 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 210 }
Lightvalve 11:82d8768d7351 211 make_delay();
Lightvalve 13:747daba9cf59 212
Lightvalve 19:23b7c1ad8683 213 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 214 if(i%2==0)
Lightvalve 38:118df027d851 215 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 216 else
Lightvalve 38:118df027d851 217 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 218 }
Lightvalve 58:2eade98630e2 219
jobuuu 6:df07d3491e3a 220 /************************************
jobuuu 1:e04e563be5ce 221 *** Program is operating!
jobuuu 6:df07d3491e3a 222 *************************************/
GiJeongKim 0:51c43836c1d7 223 while(1) {
Lightvalve 57:f4819de54e7a 224 if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 63:376a20d2fbfd 225 // if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 226 //i2c
Lightvalve 17:1865016ca2e7 227 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 228 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 57:f4819de54e7a 229 // if(LED==1) {
Lightvalve 57:f4819de54e7a 230 // LED=0;
Lightvalve 57:f4819de54e7a 231 // } else
Lightvalve 57:f4819de54e7a 232 // LED = 1;
Lightvalve 17:1865016ca2e7 233 timer_while = 0;
Lightvalve 17:1865016ca2e7 234 }
Lightvalve 17:1865016ca2e7 235 timer_while ++;
Lightvalve 61:8d36b4042096 236 //pc.printf("%d\n", value);
GiJeongKim 0:51c43836c1d7 237 }
jobuuu 1:e04e563be5ce 238 }
jobuuu 1:e04e563be5ce 239
Lightvalve 33:91b17819ec30 240 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 241 {
Lightvalve 14:8e7590227d22 242
Lightvalve 13:747daba9cf59 243 int i = 0;
Lightvalve 48:889798ff9329 244 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 245 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 246 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 247 if(i==0) {
Lightvalve 50:3c630b5eba9f 248 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 249 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 250 } else {
Lightvalve 57:f4819de54e7a 251 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 252 }
Lightvalve 14:8e7590227d22 253 } else {
Lightvalve 50:3c630b5eba9f 254 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 255 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 256 } else {
Lightvalve 57:f4819de54e7a 257 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 258 }
Lightvalve 13:747daba9cf59 259 }
Lightvalve 13:747daba9cf59 260 break;
Lightvalve 13:747daba9cf59 261 }
Lightvalve 13:747daba9cf59 262 }
Lightvalve 14:8e7590227d22 263 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 264 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 265 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 266 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 267 }
Lightvalve 36:a46e63505ed8 268
Lightvalve 57:f4819de54e7a 269 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 270 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 271
Lightvalve 13:747daba9cf59 272 }
jobuuu 6:df07d3491e3a 273
jobuuu 6:df07d3491e3a 274
Lightvalve 30:8d561f16383b 275 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 276 {
Lightvalve 13:747daba9cf59 277 int i = 0;
Lightvalve 13:747daba9cf59 278
Lightvalve 38:118df027d851 279 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 280 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 281 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 282 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 283 }
Lightvalve 38:118df027d851 284
Lightvalve 13:747daba9cf59 285 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 286 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 287 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 288 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 289 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 290 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 291
Lightvalve 13:747daba9cf59 292 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 293
Lightvalve 18:b8adf1582ea3 294 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 295 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 296 if(i==0) {
Lightvalve 48:889798ff9329 297 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 298 } else {
Lightvalve 48:889798ff9329 299 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 300 }
Lightvalve 13:747daba9cf59 301 break;
Lightvalve 13:747daba9cf59 302 }
Lightvalve 13:747daba9cf59 303 }
Lightvalve 59:f308b1656d9c 304 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 305 }
Lightvalve 13:747daba9cf59 306
Lightvalve 14:8e7590227d22 307 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 308 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 309 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 310 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 311 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 312 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 313 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 314 }; // duty
Lightvalve 62:456f87e3124e 315 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 316 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 62:456f87e3124e 317 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 62:456f87e3124e 318 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 62:456f87e3124e 319 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 62:456f87e3124e 320 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 321 }; // mV
Lightvalve 13:747daba9cf59 322
Lightvalve 30:8d561f16383b 323 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 324 {
Lightvalve 30:8d561f16383b 325 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 326 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 327 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 328 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 329 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 330 } else {
Lightvalve 13:747daba9cf59 331 int idx = 0;
Lightvalve 13:747daba9cf59 332 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 333 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 334 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 335 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 336 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 337 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 338 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 339 break;
Lightvalve 13:747daba9cf59 340 }
Lightvalve 13:747daba9cf59 341 }
Lightvalve 13:747daba9cf59 342 }
Lightvalve 14:8e7590227d22 343
Lightvalve 13:747daba9cf59 344 return PWM_duty;
Lightvalve 13:747daba9cf59 345 }
jobuuu 6:df07d3491e3a 346
Lightvalve 57:f4819de54e7a 347
Lightvalve 57:f4819de54e7a 348
Lightvalve 57:f4819de54e7a 349
Lightvalve 57:f4819de54e7a 350
jobuuu 2:a1c0a37df760 351 /*******************************************************************************
jobuuu 2:a1c0a37df760 352 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 353 *******************************************************************************/
jobuuu 2:a1c0a37df760 354
Lightvalve 51:b46bed7fec80 355 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 356 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 357 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 358 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 359 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 360 {
Lightvalve 19:23b7c1ad8683 361 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 362
Lightvalve 21:e5f1a43ea6f9 363 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 364 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 365 ********************************************************/
Lightvalve 13:747daba9cf59 366
Lightvalve 57:f4819de54e7a 367 //Encoder
Lightvalve 57:f4819de54e7a 368 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 369 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 370 }
Lightvalve 61:8d36b4042096 371
Lightvalve 61:8d36b4042096 372 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 373 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 374 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 375 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 376 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 377 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 62:456f87e3124e 378 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 62:456f87e3124e 379
Lightvalve 62:456f87e3124e 380
Lightvalve 62:456f87e3124e 381 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 62:456f87e3124e 382 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 62:456f87e3124e 383 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 62:456f87e3124e 384 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 62:456f87e3124e 385 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 62:456f87e3124e 386
Lightvalve 17:1865016ca2e7 387
Lightvalve 58:2eade98630e2 388 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 389 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 390 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 391 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 392 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 393 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 394 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 395 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 396 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 397
Lightvalve 58:2eade98630e2 398 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 399 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 400 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 401 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 402 }
Lightvalve 58:2eade98630e2 403 }
Lightvalve 61:8d36b4042096 404
Lightvalve 58:2eade98630e2 405 // //Pressure sensor A
Lightvalve 58:2eade98630e2 406 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 407 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 408 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 409 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 410 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 411 // 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 412 //
Lightvalve 58:2eade98630e2 413 //
Lightvalve 58:2eade98630e2 414 // //Pressure sensor B
Lightvalve 58:2eade98630e2 415 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 416 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 417 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 418 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 419
Lightvalve 17:1865016ca2e7 420
Lightvalve 21:e5f1a43ea6f9 421 //Current
Lightvalve 21:e5f1a43ea6f9 422 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 423 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 424 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 425 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 426 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 427 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 428 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 429
Lightvalve 57:f4819de54e7a 430 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 431 }
Lightvalve 11:82d8768d7351 432 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 433 }
Lightvalve 19:23b7c1ad8683 434
Lightvalve 19:23b7c1ad8683 435
Lightvalve 18:b8adf1582ea3 436 int j =0;
Lightvalve 54:647072f5307a 437 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 438 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 439 int cnt_trans = 0;
Lightvalve 48:889798ff9329 440 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 441 int can_rest =0;
Lightvalve 48:889798ff9329 442
Lightvalve 11:82d8768d7351 443 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 444 {
Lightvalve 19:23b7c1ad8683 445 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 446
Lightvalve 57:f4819de54e7a 447 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 448 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 449 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 450 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 451 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 452 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 453 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 454 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 455 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 456 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 457 }
Lightvalve 50:3c630b5eba9f 458
Lightvalve 50:3c630b5eba9f 459 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 460 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 461 cnt_trans++;
Lightvalve 46:2694daea349b 462 torq.err_sum = 0;
Lightvalve 48:889798ff9329 463 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 464 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 465 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 466 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 467 cnt_trans++;
Lightvalve 46:2694daea349b 468 torq.err_sum = 0;
Lightvalve 48:889798ff9329 469 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 470 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 471 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 472 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 473 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 474 } else {
Lightvalve 58:2eade98630e2 475 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 476 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 477 }
Lightvalve 45:35fa6884d0c6 478
Lightvalve 50:3c630b5eba9f 479
Lightvalve 57:f4819de54e7a 480 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 481 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 482
Lightvalve 57:f4819de54e7a 483 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 484 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 485 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 486 } else {
Lightvalve 57:f4819de54e7a 487 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 488 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 489 }
Lightvalve 56:6f50d9d3bfee 490
Lightvalve 56:6f50d9d3bfee 491
Lightvalve 56:6f50d9d3bfee 492
Lightvalve 57:f4819de54e7a 493 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 494
Lightvalve 57:f4819de54e7a 495 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 496 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 497 break;
Lightvalve 13:747daba9cf59 498 }
Lightvalve 14:8e7590227d22 499
Lightvalve 14:8e7590227d22 500 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 501 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 502 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 503 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 504
Lightvalve 14:8e7590227d22 505 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 506 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 507 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 508
Lightvalve 59:f308b1656d9c 509 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 510
Lightvalve 30:8d561f16383b 511 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 512 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 513
Lightvalve 16:903b5a4433b4 514 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 515 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 516 }
Lightvalve 13:747daba9cf59 517 } else {
Lightvalve 58:2eade98630e2 518 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 519 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 520 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 521 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 522
Lightvalve 16:903b5a4433b4 523 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 524
Lightvalve 30:8d561f16383b 525 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 526
Lightvalve 13:747daba9cf59 527 }
Lightvalve 14:8e7590227d22 528 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 529 break;
Lightvalve 19:23b7c1ad8683 530 }
Lightvalve 14:8e7590227d22 531
Lightvalve 50:3c630b5eba9f 532 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 533 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 534 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 535 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 536 // }
Lightvalve 50:3c630b5eba9f 537 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 538 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 539 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 540 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 541 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 542 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 543 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 544 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 545 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 546 // }
Lightvalve 50:3c630b5eba9f 547 //
Lightvalve 50:3c630b5eba9f 548 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 549 // 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 550 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 551 //
Lightvalve 50:3c630b5eba9f 552 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 553 // V_out = 0;
Lightvalve 50:3c630b5eba9f 554 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 555 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 556 // 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 if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 559 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 560 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 561 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 562 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 563 //
Lightvalve 50:3c630b5eba9f 564 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 565 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 566 // // | / | / |/
Lightvalve 50:3c630b5eba9f 567 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 568 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 569 // // /| / | / |
Lightvalve 50:3c630b5eba9f 570 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 571 //
Lightvalve 50:3c630b5eba9f 572 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 573 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 574 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 575 // } else {
Lightvalve 50:3c630b5eba9f 576 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 577 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 578 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 579 // }
Lightvalve 50:3c630b5eba9f 580 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 581 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 582 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 583 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 584 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 585 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 586 // }
Lightvalve 50:3c630b5eba9f 587 // } else {
Lightvalve 50:3c630b5eba9f 588 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 589 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 590 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 591 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 592 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 593 // }
Lightvalve 50:3c630b5eba9f 594 // V_out = 0;
Lightvalve 50:3c630b5eba9f 595 //
Lightvalve 50:3c630b5eba9f 596 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 597 //
Lightvalve 50:3c630b5eba9f 598 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 599 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 600 //
Lightvalve 50:3c630b5eba9f 601 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 602 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 603 // }
Lightvalve 50:3c630b5eba9f 604 // }
Lightvalve 50:3c630b5eba9f 605 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 606 // break;
Lightvalve 50:3c630b5eba9f 607 // }
Lightvalve 14:8e7590227d22 608
Lightvalve 14:8e7590227d22 609 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 610 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 611 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 612 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 613 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 614 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 615 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 616 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 617 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 63:376a20d2fbfd 618 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 619 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 620 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 621 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 622 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 623 }
Lightvalve 29:69f3f5445d6d 624 cnt_findhome++;
Lightvalve 14:8e7590227d22 625
Lightvalve 29:69f3f5445d6d 626 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 627 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 628 } else {
Lightvalve 29:69f3f5445d6d 629 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 630 }
Lightvalve 19:23b7c1ad8683 631
Lightvalve 57:f4819de54e7a 632 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 633 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 63:376a20d2fbfd 634 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 63:376a20d2fbfd 635 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:8d36b4042096 636
Lightvalve 59:f308b1656d9c 637 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 638 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 639 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 640 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 641 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 642
Lightvalve 59:f308b1656d9c 643 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 644 alpha_trans = 0.0f;
Lightvalve 61:8d36b4042096 645
Lightvalve 34:bb2ca2fc2a8e 646
Lightvalve 29:69f3f5445d6d 647 } else {
Lightvalve 29:69f3f5445d6d 648 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 63:376a20d2fbfd 649 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 650 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 651 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 652 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 653 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 654 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 655 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 656 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 657 cnt_vel_findhome = 0;
Lightvalve 64:368bcd2a230a 658 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 63:376a20d2fbfd 659
Lightvalve 63:376a20d2fbfd 660
Lightvalve 63:376a20d2fbfd 661 cnt_findhome = 0;
Lightvalve 63:376a20d2fbfd 662 pos.ref = 0.0f;
Lightvalve 63:376a20d2fbfd 663 vel.ref = 0.0f;
Lightvalve 63:376a20d2fbfd 664 pos.ref_home_pos = 0.0f;
Lightvalve 63:376a20d2fbfd 665 vel.ref_home_pos = 0.0f;
Lightvalve 64:368bcd2a230a 666 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 64:368bcd2a230a 667 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 63:376a20d2fbfd 668
Lightvalve 63:376a20d2fbfd 669
Lightvalve 29:69f3f5445d6d 670 }
Lightvalve 29:69f3f5445d6d 671 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 672 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 673 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 63:376a20d2fbfd 674 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 675 vel.ref = 0.0f;
Lightvalve 63:376a20d2fbfd 676
Lightvalve 29:69f3f5445d6d 677 // input for position control
Lightvalve 63:376a20d2fbfd 678
Lightvalve 63:376a20d2fbfd 679 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 63:376a20d2fbfd 680 alpha_trans = 0.0f;
Lightvalve 61:8d36b4042096 681
Lightvalve 63:376a20d2fbfd 682 double torq_ref = 0.0f;
Lightvalve 63:376a20d2fbfd 683 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 63:376a20d2fbfd 684 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 63:376a20d2fbfd 685 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 63:376a20d2fbfd 686
Lightvalve 63:376a20d2fbfd 687 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 63:376a20d2fbfd 688
Lightvalve 63:376a20d2fbfd 689 double I_REF_POS = 0.0f;
Lightvalve 63:376a20d2fbfd 690 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 63:376a20d2fbfd 691 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 63:376a20d2fbfd 692
Lightvalve 63:376a20d2fbfd 693 double temp_vel_pos = 0.0f;
Lightvalve 63:376a20d2fbfd 694 double temp_vel_torq = 0.0f;
Lightvalve 63:376a20d2fbfd 695 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 63:376a20d2fbfd 696
Lightvalve 65:549e0426cd91 697 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 63:376a20d2fbfd 698 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 63:376a20d2fbfd 699 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 65:549e0426cd91 700 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 63:376a20d2fbfd 701 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 63:376a20d2fbfd 702 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 63:376a20d2fbfd 703 }
Lightvalve 63:376a20d2fbfd 704 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 63:376a20d2fbfd 705 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 63:376a20d2fbfd 706
Lightvalve 63:376a20d2fbfd 707 I_REF = I_REF_POS;
Lightvalve 64:368bcd2a230a 708
Lightvalve 64:368bcd2a230a 709
Lightvalve 63:376a20d2fbfd 710
Lightvalve 63:376a20d2fbfd 711 } else {
Lightvalve 63:376a20d2fbfd 712 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 63:376a20d2fbfd 713 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 63:376a20d2fbfd 714
Lightvalve 63:376a20d2fbfd 715 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 63:376a20d2fbfd 716 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 63:376a20d2fbfd 717 } else {
Lightvalve 63:376a20d2fbfd 718 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 63:376a20d2fbfd 719 }
Lightvalve 63:376a20d2fbfd 720
Lightvalve 63:376a20d2fbfd 721 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 63:376a20d2fbfd 722
Lightvalve 63:376a20d2fbfd 723 V_out = (float) Vout.ref;
Lightvalve 63:376a20d2fbfd 724
Lightvalve 63:376a20d2fbfd 725 }
Lightvalve 63:376a20d2fbfd 726
Lightvalve 63:376a20d2fbfd 727
Lightvalve 63:376a20d2fbfd 728
Lightvalve 63:376a20d2fbfd 729
Lightvalve 59:f308b1656d9c 730 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 731 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 732 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 733 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 734 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 735
Lightvalve 29:69f3f5445d6d 736 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 737 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 738 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 739 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 740 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 741 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 742 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 743 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 744 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 745 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 746 }
Lightvalve 13:747daba9cf59 747 }
Lightvalve 19:23b7c1ad8683 748
Lightvalve 13:747daba9cf59 749 break;
Lightvalve 13:747daba9cf59 750 }
Lightvalve 14:8e7590227d22 751
Lightvalve 50:3c630b5eba9f 752 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 753 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 754 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 755 // else {
Lightvalve 50:3c630b5eba9f 756 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 757 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 758 // }
Lightvalve 50:3c630b5eba9f 759 // }
Lightvalve 50:3c630b5eba9f 760 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 761 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 762 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 763 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 764 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 765 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 766 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 767 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 768 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 769 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 770 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 771 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 772 // }
Lightvalve 50:3c630b5eba9f 773 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 774 // }
Lightvalve 50:3c630b5eba9f 775 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 776 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 777 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 778 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 779 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 780 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 781 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 782 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 783 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 784 // // 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 785 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 786 // }
Lightvalve 50:3c630b5eba9f 787 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 788 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 789 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 790 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 791 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 792 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 793 // 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 794 // // 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 795 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 796 // }
Lightvalve 50:3c630b5eba9f 797 // }
Lightvalve 50:3c630b5eba9f 798 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 799 //
Lightvalve 50:3c630b5eba9f 800 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 801 //
Lightvalve 50:3c630b5eba9f 802 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 803 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 804 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 805 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 806 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 807 // }
Lightvalve 50:3c630b5eba9f 808 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 809 // V_out = 0;
Lightvalve 50:3c630b5eba9f 810 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 811 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 812 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 813 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 814 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 815 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 816 // }
Lightvalve 50:3c630b5eba9f 817 //
Lightvalve 50:3c630b5eba9f 818 // }
Lightvalve 50:3c630b5eba9f 819 // break;
Lightvalve 50:3c630b5eba9f 820 // }
Lightvalve 50:3c630b5eba9f 821 //
Lightvalve 50:3c630b5eba9f 822 // }
Lightvalve 14:8e7590227d22 823 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 824 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 825 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 826 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 827 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 828
Lightvalve 14:8e7590227d22 829 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 830 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 831 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 832 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 833 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 834
Lightvalve 38:118df027d851 835 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 836 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 837 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 838
Lightvalve 30:8d561f16383b 839 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 840 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 841 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 842 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 843
Lightvalve 30:8d561f16383b 844 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 845 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 846 }
Lightvalve 13:747daba9cf59 847 } else {
Lightvalve 57:f4819de54e7a 848 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 849 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 850 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 851 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 852 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 853 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 854
Lightvalve 16:903b5a4433b4 855 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 856
Lightvalve 30:8d561f16383b 857 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 858 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 859 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 860 }
Lightvalve 14:8e7590227d22 861 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 862 break;
Lightvalve 13:747daba9cf59 863 }
Lightvalve 14:8e7590227d22 864
Lightvalve 50:3c630b5eba9f 865 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 866 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 867 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 868 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 869 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 870 // }
Lightvalve 50:3c630b5eba9f 871 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 872 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 873 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 874 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 875 // }
Lightvalve 50:3c630b5eba9f 876 // } else {
Lightvalve 50:3c630b5eba9f 877 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 878 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 879 // V_out = 0;
Lightvalve 50:3c630b5eba9f 880 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 881 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 882 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 883 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 884 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 885 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 886 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 887 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 888 //
Lightvalve 50:3c630b5eba9f 889 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 890 //
Lightvalve 50:3c630b5eba9f 891 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 892 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 893 // }
Lightvalve 50:3c630b5eba9f 894 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 895 // break;
Lightvalve 50:3c630b5eba9f 896 // }
Lightvalve 19:23b7c1ad8683 897
Lightvalve 50:3c630b5eba9f 898 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 899 // 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 900 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 901 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 902 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 903 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 904 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 905 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 906 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 907 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 908 // }
Lightvalve 50:3c630b5eba9f 909 // break;
Lightvalve 50:3c630b5eba9f 910 // }
Lightvalve 14:8e7590227d22 911
Lightvalve 14:8e7590227d22 912 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 913 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 914 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 915
Lightvalve 14:8e7590227d22 916 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 917 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 918 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 919 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 920 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 921 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 922 data_num = 0;
Lightvalve 14:8e7590227d22 923 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 924 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 925 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 926 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 927 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 928 } else {
Lightvalve 13:747daba9cf59 929 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 930 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 931 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 932 }
Lightvalve 14:8e7590227d22 933
Lightvalve 17:1865016ca2e7 934 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 935 int i;
Lightvalve 13:747daba9cf59 936 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 937 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 938 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 939 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 940 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 941 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 942 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 943 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 944 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 945 }
Lightvalve 13:747daba9cf59 946 }
Lightvalve 59:f308b1656d9c 947 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 948 ID_index = 0;
Lightvalve 57:f4819de54e7a 949 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 950 }
Lightvalve 14:8e7590227d22 951
Lightvalve 14:8e7590227d22 952
Lightvalve 13:747daba9cf59 953 break;
Lightvalve 13:747daba9cf59 954 }
Lightvalve 14:8e7590227d22 955
Lightvalve 14:8e7590227d22 956 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 957 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 958 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 959 if(first_check == 0) {
Lightvalve 30:8d561f16383b 960 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 961 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 962 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 963 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 964 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 965 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 966 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 967 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 968 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 969 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 970 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 971 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 972 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 973 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 974 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 975 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 976 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 977 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 978 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 979 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 980 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 981 data_num = 0;
Lightvalve 14:8e7590227d22 982
Lightvalve 30:8d561f16383b 983 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 984 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 985 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 986
Lightvalve 30:8d561f16383b 987 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 988 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 989 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 990
Lightvalve 30:8d561f16383b 991 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 992 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 993 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 994 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 995
Lightvalve 60:64181f1d3e60 996 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 997 DZ_case = 1;
Lightvalve 60:64181f1d3e60 998 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 999 DZ_case = -1;
Lightvalve 14:8e7590227d22 1000 } else {
Lightvalve 13:747daba9cf59 1001 DZ_case = 0;
Lightvalve 13:747daba9cf59 1002 }
Lightvalve 61:8d36b4042096 1003
Lightvalve 60:64181f1d3e60 1004 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1005
Lightvalve 13:747daba9cf59 1006 first_check = 1;
Lightvalve 13:747daba9cf59 1007 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1008 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1009 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1010 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1011 DZ_index = 1;
Lightvalve 14:8e7590227d22 1012
Lightvalve 13:747daba9cf59 1013 }
Lightvalve 19:23b7c1ad8683 1014 } else {
Lightvalve 14:8e7590227d22 1015 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1016 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1017 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 1018 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1019 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1020 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1021 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1022 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1023 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1024 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1025 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1026 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1027 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1028 }
Lightvalve 14:8e7590227d22 1029 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1030
Lightvalve 30:8d561f16383b 1031 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1032 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1033 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1034
Lightvalve 14:8e7590227d22 1035 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1036 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1037 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1038 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1039 } else {
Lightvalve 13:747daba9cf59 1040 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1041 }
Lightvalve 14:8e7590227d22 1042
Lightvalve 13:747daba9cf59 1043 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1044 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1045 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1046 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1047 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1048 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1049 DZ_index = 1;
Lightvalve 13:747daba9cf59 1050 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1051 }
Lightvalve 13:747daba9cf59 1052 }
Lightvalve 14:8e7590227d22 1053 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1054 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1055 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 1056 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1057 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1058 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1059 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1060 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1061 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1062 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1063 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1064 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1065 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1066 }
Lightvalve 14:8e7590227d22 1067 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 1068
Lightvalve 30:8d561f16383b 1069 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1070 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1071 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1072 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1073 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1074
Lightvalve 14:8e7590227d22 1075 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1076 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1077 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1078 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1079 } else {
Lightvalve 60:64181f1d3e60 1080 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1081 }
Lightvalve 14:8e7590227d22 1082
Lightvalve 13:747daba9cf59 1083 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1084 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1085 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1086 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1087 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1088 first_check = 0;
Lightvalve 33:91b17819ec30 1089 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1090 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1091
Lightvalve 16:903b5a4433b4 1092 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1093
Lightvalve 60:64181f1d3e60 1094 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1095 DZ_index = 1;
Lightvalve 13:747daba9cf59 1096 }
Lightvalve 13:747daba9cf59 1097 }
Lightvalve 14:8e7590227d22 1098 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1099 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1100 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 1101 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1102 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1103 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1104 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1105 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1106 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1107 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1108 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1109 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1110 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1111 }
Lightvalve 14:8e7590227d22 1112 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 1113
Lightvalve 30:8d561f16383b 1114 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1115 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1116 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1117
Lightvalve 14:8e7590227d22 1118 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1119 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1120 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1121 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1122 } else {
Lightvalve 13:747daba9cf59 1123 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1124 }
Lightvalve 13:747daba9cf59 1125 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1126 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1127 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1128 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1129 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1130 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1131 DZ_index = 1;
Lightvalve 13:747daba9cf59 1132 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1133 }
Lightvalve 13:747daba9cf59 1134 }
Lightvalve 14:8e7590227d22 1135 } else {
Lightvalve 30:8d561f16383b 1136 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1137 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 1138 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1139 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1140 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1141 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1142 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1143 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1144 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1145 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1146 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1147 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1148 }
Lightvalve 14:8e7590227d22 1149 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1150
Lightvalve 30:8d561f16383b 1151 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1152 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1153 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1154 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1155 FINAL_POS = pos.sen;
Lightvalve 61:8d36b4042096 1156
Lightvalve 60:64181f1d3e60 1157 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1158 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1159 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1160 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1161 } else {
Lightvalve 13:747daba9cf59 1162 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1163 }
Lightvalve 14:8e7590227d22 1164
Lightvalve 13:747daba9cf59 1165 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1166 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1167 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1168 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1169 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1170 first_check = 0;
Lightvalve 33:91b17819ec30 1171 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1172 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:8d36b4042096 1173
Lightvalve 59:f308b1656d9c 1174 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1175
Lightvalve 57:f4819de54e7a 1176 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1177 DZ_index = 1;
Lightvalve 13:747daba9cf59 1178 }
Lightvalve 13:747daba9cf59 1179 }
Lightvalve 13:747daba9cf59 1180 }
Lightvalve 14:8e7590227d22 1181 }
Lightvalve 13:747daba9cf59 1182 break;
Lightvalve 13:747daba9cf59 1183 }
Lightvalve 14:8e7590227d22 1184
Lightvalve 14:8e7590227d22 1185 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1186 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1187 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1188 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1189 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1190 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1191 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1192 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1193 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1194 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1195 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1196 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1197 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1198 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1199 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1200 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1201 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1202 first_check = 1;
Lightvalve 13:747daba9cf59 1203 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1204 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1205 ID_index = 0;
Lightvalve 13:747daba9cf59 1206 max_check = 0;
Lightvalve 13:747daba9cf59 1207 min_check = 0;
Lightvalve 13:747daba9cf59 1208 }
Lightvalve 14:8e7590227d22 1209 } else {
Lightvalve 30:8d561f16383b 1210 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1211 //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 1212 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1213 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1214 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1215 data_num = 0;
Lightvalve 57:f4819de54e7a 1216 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1217
Lightvalve 14:8e7590227d22 1218 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1219 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1220 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1221 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1222 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1223 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1224 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1225 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1226 one_period_end = 1;
Lightvalve 13:747daba9cf59 1227 }
Lightvalve 30:8d561f16383b 1228 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1229 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1230 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1231 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1232 }
Lightvalve 14:8e7590227d22 1233
Lightvalve 14:8e7590227d22 1234 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1235 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1236 max_check = 1;
Lightvalve 14:8e7590227d22 1237 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1238 min_check = 1;
Lightvalve 13:747daba9cf59 1239 }
Lightvalve 13:747daba9cf59 1240 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1241
Lightvalve 13:747daba9cf59 1242 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1243 one_period_end = 0;
Lightvalve 13:747daba9cf59 1244 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1245 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1246 }
Lightvalve 14:8e7590227d22 1247
Lightvalve 14:8e7590227d22 1248 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1249
Lightvalve 13:747daba9cf59 1250 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1251 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1252 ID_index = 0;
Lightvalve 13:747daba9cf59 1253 first_check = 0;
Lightvalve 13:747daba9cf59 1254 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1255 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1256 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1257 }
Lightvalve 13:747daba9cf59 1258 }
Lightvalve 13:747daba9cf59 1259 break;
Lightvalve 13:747daba9cf59 1260 }
Lightvalve 58:2eade98630e2 1261
Lightvalve 57:f4819de54e7a 1262 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1263 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1264 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1265 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1266 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1267 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1268 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1269 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1270 }
Lightvalve 57:f4819de54e7a 1271 break;
Lightvalve 57:f4819de54e7a 1272 }
Lightvalve 58:2eade98630e2 1273
Lightvalve 58:2eade98630e2 1274
Lightvalve 57:f4819de54e7a 1275
Lightvalve 57:f4819de54e7a 1276 default:
Lightvalve 57:f4819de54e7a 1277 break;
Lightvalve 57:f4819de54e7a 1278 }
Lightvalve 57:f4819de54e7a 1279
Lightvalve 57:f4819de54e7a 1280 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1281
Lightvalve 57:f4819de54e7a 1282 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1283 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1284 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1285 break;
Lightvalve 57:f4819de54e7a 1286 }
Lightvalve 57:f4819de54e7a 1287
Lightvalve 57:f4819de54e7a 1288 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 62:456f87e3124e 1289 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1290 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1291 V_out = Vout.ref;
Lightvalve 62:456f87e3124e 1292 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 62:456f87e3124e 1293 V_out = valve_pos.ref;
Lightvalve 62:456f87e3124e 1294 } else {
Lightvalve 62:456f87e3124e 1295 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1296 }
Lightvalve 58:2eade98630e2 1297
Lightvalve 57:f4819de54e7a 1298 break;
Lightvalve 57:f4819de54e7a 1299 }
Lightvalve 57:f4819de54e7a 1300
Lightvalve 57:f4819de54e7a 1301 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1302 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1303 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 62:456f87e3124e 1304 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1305 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 63:376a20d2fbfd 1306
Lightvalve 63:376a20d2fbfd 1307 //K & D Low Pass Filter
Lightvalve 63:376a20d2fbfd 1308 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 63:376a20d2fbfd 1309 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 63:376a20d2fbfd 1310 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 63:376a20d2fbfd 1311
Lightvalve 63:376a20d2fbfd 1312 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1313
Lightvalve 57:f4819de54e7a 1314 // torque feedback
Lightvalve 65:549e0426cd91 1315 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1316 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1317
Lightvalve 57:f4819de54e7a 1318 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1319
Lightvalve 57:f4819de54e7a 1320 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1321 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1322 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1323
Lightvalve 57:f4819de54e7a 1324 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1325 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1326 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1327
Lightvalve 65:549e0426cd91 1328 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1329 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 1330 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 65:549e0426cd91 1331 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1332 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 1333 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1334 }
Lightvalve 57:f4819de54e7a 1335 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 1336 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1337
Lightvalve 57:f4819de54e7a 1338 // velocity compensation for torque control
Lightvalve 65:549e0426cd91 1339 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1340 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1341 // 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 1342 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1343 // L feedforward velocity
Lightvalve 65:549e0426cd91 1344 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1345 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 1346 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1347 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1348 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1349 }
Lightvalve 57:f4819de54e7a 1350 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 1351 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1352 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1353 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1354 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1355
Lightvalve 57:f4819de54e7a 1356 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 63:376a20d2fbfd 1357
Lightvalve 63:376a20d2fbfd 1358 // Anti-windup for FT
Lightvalve 63:376a20d2fbfd 1359 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 63:376a20d2fbfd 1360 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 63:376a20d2fbfd 1361 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 63:376a20d2fbfd 1362 if (I_REF > I_MAX) {
Lightvalve 63:376a20d2fbfd 1363 double I_rem = I_REF - I_MAX;
Lightvalve 63:376a20d2fbfd 1364 I_rem = Ka*I_rem;
Lightvalve 63:376a20d2fbfd 1365 I_REF = I_MAX;
Lightvalve 63:376a20d2fbfd 1366 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 63:376a20d2fbfd 1367 } else if (I_REF < -I_MAX) {
Lightvalve 63:376a20d2fbfd 1368 double I_rem = I_REF - (-I_MAX);
Lightvalve 63:376a20d2fbfd 1369 I_rem = Ka*I_rem;
Lightvalve 63:376a20d2fbfd 1370 I_REF = -I_MAX;
Lightvalve 63:376a20d2fbfd 1371 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 63:376a20d2fbfd 1372 }
Lightvalve 63:376a20d2fbfd 1373 }
Lightvalve 57:f4819de54e7a 1374
Lightvalve 57:f4819de54e7a 1375 } else {
Lightvalve 57:f4819de54e7a 1376 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 57:f4819de54e7a 1377
Lightvalve 57:f4819de54e7a 1378 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 1379 + 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 1380
Lightvalve 57:f4819de54e7a 1381 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 57:f4819de54e7a 1382 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1383 } else {
Lightvalve 57:f4819de54e7a 1384 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1385 }
Lightvalve 57:f4819de54e7a 1386
Lightvalve 57:f4819de54e7a 1387 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1388 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1389 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1390 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1391 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1392 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1393 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1394 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1395 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1396 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1397 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1398 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1399 }
Lightvalve 57:f4819de54e7a 1400 }
Lightvalve 61:8d36b4042096 1401
Lightvalve 57:f4819de54e7a 1402 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 1403
Lightvalve 62:456f87e3124e 1404 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1405 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1406
Lightvalve 57:f4819de54e7a 1407 }
Lightvalve 58:2eade98630e2 1408
Lightvalve 57:f4819de54e7a 1409 break;
Lightvalve 57:f4819de54e7a 1410 }
Lightvalve 58:2eade98630e2 1411
Lightvalve 57:f4819de54e7a 1412 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1413 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1414 break;
Lightvalve 57:f4819de54e7a 1415 }
Lightvalve 14:8e7590227d22 1416
Lightvalve 12:6f2531038ea4 1417 default:
Lightvalve 12:6f2531038ea4 1418 break;
Lightvalve 12:6f2531038ea4 1419 }
Lightvalve 14:8e7590227d22 1420
Lightvalve 57:f4819de54e7a 1421
Lightvalve 57:f4819de54e7a 1422 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1423
Lightvalve 57:f4819de54e7a 1424 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1425 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1426 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1427 if (CURRENT_CONTROL_MODE) {
Lightvalve 62:456f87e3124e 1428 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1429 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1430
Lightvalve 57:f4819de54e7a 1431 I_ERR = I_REF_fil - cur.sen;
Lightvalve 62:456f87e3124e 1432 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1433
Lightvalve 57:f4819de54e7a 1434
Lightvalve 57:f4819de54e7a 1435 // Moog Valve Current Control Gain
Lightvalve 62:456f87e3124e 1436 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1437 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1438 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1439 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1440 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1441
Lightvalve 57:f4819de54e7a 1442 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1443 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1444 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1445 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1446 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1447 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1448 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1449 }
Lightvalve 57:f4819de54e7a 1450
Lightvalve 57:f4819de54e7a 1451 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1452
Lightvalve 62:456f87e3124e 1453 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1454 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1455 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1456 I_REF_fil_old = I_REF_fil;
Lightvalve 62:456f87e3124e 1457 // 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 1458 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 62:456f87e3124e 1459 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1460
Lightvalve 57:f4819de54e7a 1461 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1462 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1463 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1464 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1465 VALVE_PWM_RAW = V_MAX;
Lightvalve 62:456f87e3124e 1466 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1467 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1468 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1469 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1470 VALVE_PWM_RAW = -V_MAX;
Lightvalve 62:456f87e3124e 1471 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1472 }
Lightvalve 57:f4819de54e7a 1473 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1474 } else {
Lightvalve 57:f4819de54e7a 1475 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1476 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1477 }
Lightvalve 57:f4819de54e7a 1478
Lightvalve 57:f4819de54e7a 1479 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1480 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1481 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1482 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1483 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1484 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1485 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1486
Lightvalve 57:f4819de54e7a 1487 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1488
Lightvalve 57:f4819de54e7a 1489 } else {
Lightvalve 57:f4819de54e7a 1490 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1491 }
Lightvalve 57:f4819de54e7a 1492
Lightvalve 57:f4819de54e7a 1493 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1494 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 62:456f87e3124e 1495 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1496
Lightvalve 57:f4819de54e7a 1497 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 62:456f87e3124e 1498 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 62:456f87e3124e 1499 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 62:456f87e3124e 1500 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1501 }
Lightvalve 62:456f87e3124e 1502
Lightvalve 62:456f87e3124e 1503 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 62:456f87e3124e 1504 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 62:456f87e3124e 1505 // else V_out = V_out;
Lightvalve 62:456f87e3124e 1506
jobuuu 7:e9086c72bb22 1507 /*******************************************************
jobuuu 7:e9086c72bb22 1508 *** PWM
jobuuu 7:e9086c72bb22 1509 ********************************************************/
Lightvalve 62:456f87e3124e 1510 if(DIR_VALVE<0){
Lightvalve 62:456f87e3124e 1511 V_out = -V_out;
Lightvalve 62:456f87e3124e 1512 }
Lightvalve 62:456f87e3124e 1513
Lightvalve 49:e7bcfc244d40 1514 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1515 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1516 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1517 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1518 }
Lightvalve 49:e7bcfc244d40 1519 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1520
Lightvalve 19:23b7c1ad8683 1521 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1522 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1523 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1524
Lightvalve 30:8d561f16383b 1525 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1526 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1527 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1528 } else {
jobuuu 2:a1c0a37df760 1529 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1530 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1531 }
Lightvalve 13:747daba9cf59 1532
jobuuu 1:e04e563be5ce 1533 //pwm
Lightvalve 30:8d561f16383b 1534 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1535 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1536
Lightvalve 20:806196fda269 1537
Lightvalve 57:f4819de54e7a 1538 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1539
Lightvalve 54:647072f5307a 1540 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1541 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1542 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1543 if (SENSING_MODE == 0) {
Lightvalve 62:456f87e3124e 1544 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1545 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1546 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 1547 }
Lightvalve 57:f4819de54e7a 1548 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1549 if (SENSING_MODE == 0) {
Lightvalve 65:549e0426cd91 1550 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 1551 } else if (SENSING_MODE == 1) {
Lightvalve 62:456f87e3124e 1552 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 1553 }
Lightvalve 52:8ea76864368a 1554 }
Lightvalve 52:8ea76864368a 1555 }
Lightvalve 56:6f50d9d3bfee 1556 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1557 //valve position
Lightvalve 54:647072f5307a 1558 double t_value = 0;
Lightvalve 64:368bcd2a230a 1559 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 64:368bcd2a230a 1560 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 64:368bcd2a230a 1561 } else {
Lightvalve 64:368bcd2a230a 1562 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 64:368bcd2a230a 1563 }
Lightvalve 64:368bcd2a230a 1564 // if(OPERATING_MODE==5) {
Lightvalve 64:368bcd2a230a 1565 // t_value = (double) value;
Lightvalve 64:368bcd2a230a 1566 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 64:368bcd2a230a 1567 // t_value = cur.sen;
Lightvalve 63:376a20d2fbfd 1568 // } else {
Lightvalve 64:368bcd2a230a 1569 // t_value = V_out;
Lightvalve 63:376a20d2fbfd 1570 // }
Lightvalve 63:376a20d2fbfd 1571 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 63:376a20d2fbfd 1572 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 63:376a20d2fbfd 1573 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1574 }
Lightvalve 58:2eade98630e2 1575
Lightvalve 58:2eade98630e2 1576
Lightvalve 56:6f50d9d3bfee 1577 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1578 //pressure A and B
Lightvalve 57:f4819de54e7a 1579 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1580 }
Lightvalve 58:2eade98630e2 1581
Lightvalve 57:f4819de54e7a 1582 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1583 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1584 ;
Lightvalve 57:f4819de54e7a 1585 }
Lightvalve 58:2eade98630e2 1586
Lightvalve 56:6f50d9d3bfee 1587 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1588 //PWM
Lightvalve 63:376a20d2fbfd 1589 CAN_TX_PWM((int16_t) value); //1500
Lightvalve 54:647072f5307a 1590 }
Lightvalve 57:f4819de54e7a 1591 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1592 // ;
Lightvalve 57:f4819de54e7a 1593 // }
Lightvalve 56:6f50d9d3bfee 1594 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1595 //valve position
Lightvalve 57:f4819de54e7a 1596 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1597 }
Lightvalve 20:806196fda269 1598
Lightvalve 54:647072f5307a 1599 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1600 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1601 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1602 // }
Lightvalve 54:647072f5307a 1603 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1604 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1605 //}
Lightvalve 52:8ea76864368a 1606
Lightvalve 54:647072f5307a 1607 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1608 }
Lightvalve 54:647072f5307a 1609 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1610
Lightvalve 20:806196fda269 1611 }
Lightvalve 52:8ea76864368a 1612 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1613
Lightvalve 62:456f87e3124e 1614 }
Lightvalve 62:456f87e3124e 1615
Lightvalve 62:456f87e3124e 1616 void SystemClock_Config(void)
Lightvalve 62:456f87e3124e 1617 {
Lightvalve 62:456f87e3124e 1618 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 62:456f87e3124e 1619 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 62:456f87e3124e 1620
Lightvalve 62:456f87e3124e 1621 /** Configure the main internal regulator output voltage
Lightvalve 62:456f87e3124e 1622 */
Lightvalve 62:456f87e3124e 1623 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 62:456f87e3124e 1624 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 62:456f87e3124e 1625 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 62:456f87e3124e 1626 */
Lightvalve 62:456f87e3124e 1627 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 62:456f87e3124e 1628 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 62:456f87e3124e 1629 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 62:456f87e3124e 1630 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 62:456f87e3124e 1631 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 62:456f87e3124e 1632 RCC_OscInitStruct.PLL.PLLM = 8; //8
Lightvalve 62:456f87e3124e 1633 RCC_OscInitStruct.PLL.PLLN = 180;//180
Lightvalve 62:456f87e3124e 1634 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 62:456f87e3124e 1635 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 62:456f87e3124e 1636 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 62:456f87e3124e 1637 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 62:456f87e3124e 1638 //Error_Handler();
Lightvalve 62:456f87e3124e 1639 }
Lightvalve 62:456f87e3124e 1640 /** Activate the Over-Drive mode
Lightvalve 62:456f87e3124e 1641 */
Lightvalve 62:456f87e3124e 1642 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 62:456f87e3124e 1643 //Error_Handler();
Lightvalve 62:456f87e3124e 1644 }
Lightvalve 62:456f87e3124e 1645 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 62:456f87e3124e 1646 */
Lightvalve 62:456f87e3124e 1647 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 62:456f87e3124e 1648 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 62:456f87e3124e 1649 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 62:456f87e3124e 1650 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 62:456f87e3124e 1651 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 62:456f87e3124e 1652 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 62:456f87e3124e 1653
Lightvalve 62:456f87e3124e 1654 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 62:456f87e3124e 1655 //Error_Handler();
Lightvalve 62:456f87e3124e 1656 }
Lightvalve 62:456f87e3124e 1657 HAL_RCC_MCOConfig(RCC_MCO1, RCC_MCO1SOURCE_HSI, RCC_MCODIV_1);
Lightvalve 62:456f87e3124e 1658 HAL_RCC_MCOConfig(RCC_MCO2, RCC_MCO2SOURCE_SYSCLK, RCC_MCODIV_2);
Lightvalve 58:2eade98630e2 1659 }