![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
asdgas
Dependencies: mbed Eigen FastPWM
function_utilities/function_utilities.cpp@55:b25725257569, 2020-02-26 (annotated)
- Committer:
- Lightvalve
- Date:
- Wed Feb 26 12:51:52 2020 +0000
- Revision:
- 55:b25725257569
- Parent:
- 54:647072f5307a
- Child:
- 56:6f50d9d3bfee
200226
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 11:82d8768d7351 | 1 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 2 | #include "SPI_EEP_ENC.h" |
Lightvalve | 11:82d8768d7351 | 3 | #include "function_utilities.h" |
Lightvalve | 14:8e7590227d22 | 4 | #include "function_CAN.h" |
Lightvalve | 16:903b5a4433b4 | 5 | #include "stm32f4xx_flash.h" |
Lightvalve | 16:903b5a4433b4 | 6 | #include "FlashWriter.h" |
Lightvalve | 16:903b5a4433b4 | 7 | |
Lightvalve | 16:903b5a4433b4 | 8 | int Rom_Sector = 6; |
Lightvalve | 16:903b5a4433b4 | 9 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
Lightvalve | 16:903b5a4433b4 | 10 | |
Lightvalve | 11:82d8768d7351 | 11 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 12 | * VARIABLE |
Lightvalve | 11:82d8768d7351 | 13 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 14 | |
Lightvalve | 34:bb2ca2fc2a8e | 15 | // Board Information |
Lightvalve | 11:82d8768d7351 | 16 | uint8_t BNO = 0; |
Lightvalve | 11:82d8768d7351 | 17 | uint8_t CONTROL_MODE = 0; |
Lightvalve | 54:647072f5307a | 18 | uint8_t OPERATING_MODE = 0; // (00 : Moog & Rot, 01 : Moog & Lin, 10 : KNR & Rot, 11 : KNR & Lin, 101 : SW & Lin) |
Lightvalve | 52:8ea76864368a | 19 | uint8_t SENSING_MODE = 0; // (0 : torque, 1: pressure) |
Lightvalve | 54:647072f5307a | 20 | uint8_t CONTROL_UTILITY_MODE = 0; |
Lightvalve | 52:8ea76864368a | 21 | uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control) |
Lightvalve | 52:8ea76864368a | 22 | uint8_t FLAG_VALVE_DEADZONE = 0; |
Lightvalve | 11:82d8768d7351 | 23 | uint8_t REFERENCE_MODE = 0; |
Lightvalve | 54:647072f5307a | 24 | int16_t CAN_FREQ = 500; |
Lightvalve | 17:1865016ca2e7 | 25 | int16_t DIR_JOINT_ENC = 0; |
Lightvalve | 17:1865016ca2e7 | 26 | int16_t DIR_VALVE = 0; |
Lightvalve | 17:1865016ca2e7 | 27 | int16_t DIR_VALVE_ENC = 0; |
Lightvalve | 11:82d8768d7351 | 28 | |
Lightvalve | 49:e7bcfc244d40 | 29 | float SUPPLY_VOLTAGE = 12.0f; |
Lightvalve | 49:e7bcfc244d40 | 30 | float VALVE_VOLTAGE_LIMIT = 12.0f; //v |
Lightvalve | 11:82d8768d7351 | 31 | |
Lightvalve | 30:8d561f16383b | 32 | float P_GAIN_VALVE_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float I_GAIN_VALVE_POSITION= 0.0f; |
Lightvalve | 30:8d561f16383b | 34 | float D_GAIN_VALVE_POSITION= 0.0f; |
Lightvalve | 30:8d561f16383b | 35 | float P_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 36 | float I_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 37 | float D_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 38 | float P_GAIN_JOINT_TORQUE = 0.0f; |
Lightvalve | 30:8d561f16383b | 39 | float I_GAIN_JOINT_TORQUE = 0.0; |
Lightvalve | 30:8d561f16383b | 40 | float D_GAIN_JOINT_TORQUE = 0.0; |
Lightvalve | 11:82d8768d7351 | 41 | |
Lightvalve | 46:2694daea349b | 42 | int16_t K_SPRING = 0.0; |
Lightvalve | 46:2694daea349b | 43 | int16_t D_DAMPER = 0.0; |
Lightvalve | 54:647072f5307a | 44 | int16_t flag_delay_test = 0; |
Lightvalve | 46:2694daea349b | 45 | |
Lightvalve | 36:a46e63505ed8 | 46 | //float P_GAIN_VALVE_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 47 | //float I_GAIN_VALVE_POSITION_OPP= 0.0f; |
Lightvalve | 36:a46e63505ed8 | 48 | //float D_GAIN_VALVE_POSITION_OPP= 0.0f; |
Lightvalve | 36:a46e63505ed8 | 49 | //float P_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 50 | //float I_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 51 | //float D_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 52 | //float P_GAIN_JOINT_TORQUE_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 53 | //float I_GAIN_JOINT_TORQUE_OPP = 0.0; |
Lightvalve | 36:a46e63505ed8 | 54 | //float D_GAIN_JOINT_TORQUE_OPP = 0.0; |
Lightvalve | 36:a46e63505ed8 | 55 | |
Lightvalve | 33:91b17819ec30 | 56 | float VALVE_DEADZONE_PLUS; |
Lightvalve | 33:91b17819ec30 | 57 | float VALVE_DEADZONE_MINUS; |
Lightvalve | 11:82d8768d7351 | 58 | |
Lightvalve | 11:82d8768d7351 | 59 | int16_t VELOCITY_COMP_GAIN; |
Lightvalve | 11:82d8768d7351 | 60 | int16_t COMPLIANCE_GAIN; |
Lightvalve | 11:82d8768d7351 | 61 | |
Lightvalve | 11:82d8768d7351 | 62 | int16_t VALVE_CENTER; |
Lightvalve | 11:82d8768d7351 | 63 | |
Lightvalve | 11:82d8768d7351 | 64 | int16_t VALVE_FF; |
Lightvalve | 11:82d8768d7351 | 65 | |
Lightvalve | 11:82d8768d7351 | 66 | int16_t BULK_MODULUS; |
Lightvalve | 11:82d8768d7351 | 67 | |
Lightvalve | 11:82d8768d7351 | 68 | int16_t CHAMBER_VOLUME_A; |
Lightvalve | 11:82d8768d7351 | 69 | int16_t CHAMBER_VOLUME_B; |
Lightvalve | 11:82d8768d7351 | 70 | |
Lightvalve | 11:82d8768d7351 | 71 | int16_t PISTON_AREA_A; |
Lightvalve | 11:82d8768d7351 | 72 | int16_t PISTON_AREA_B; |
Lightvalve | 30:8d561f16383b | 73 | float PISTON_AREA_alpha; |
Lightvalve | 11:82d8768d7351 | 74 | |
Lightvalve | 11:82d8768d7351 | 75 | |
Lightvalve | 11:82d8768d7351 | 76 | int16_t PRES_SUPPLY; |
Lightvalve | 11:82d8768d7351 | 77 | int16_t PRES_RETURN; |
Lightvalve | 11:82d8768d7351 | 78 | |
Lightvalve | 11:82d8768d7351 | 79 | int16_t ENC_LIMIT_PLUS; |
Lightvalve | 11:82d8768d7351 | 80 | int16_t ENC_LIMIT_MINUS; |
Lightvalve | 11:82d8768d7351 | 81 | |
Lightvalve | 11:82d8768d7351 | 82 | int16_t STROKE; |
Lightvalve | 11:82d8768d7351 | 83 | |
Lightvalve | 11:82d8768d7351 | 84 | |
Lightvalve | 55:b25725257569 | 85 | //int16_t VALVE_LIMIT_PLUS; |
Lightvalve | 55:b25725257569 | 86 | //int16_t VALVE_LIMIT_MINUS; |
Lightvalve | 11:82d8768d7351 | 87 | |
Lightvalve | 48:889798ff9329 | 88 | float ENC_PULSE_PER_POSITION; |
Lightvalve | 48:889798ff9329 | 89 | float TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 30:8d561f16383b | 90 | float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 91 | float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 11:82d8768d7351 | 92 | |
Lightvalve | 11:82d8768d7351 | 93 | int HOMEPOS_OFFSET; |
Lightvalve | 11:82d8768d7351 | 94 | int HOMEPOS_VALVE_OPENING; |
Lightvalve | 11:82d8768d7351 | 95 | |
Lightvalve | 30:8d561f16383b | 96 | float FRICTION; |
Lightvalve | 30:8d561f16383b | 97 | float REF_PERIOD; |
Lightvalve | 30:8d561f16383b | 98 | float REF_MAG; |
Lightvalve | 11:82d8768d7351 | 99 | int REF_NUM; |
Lightvalve | 11:82d8768d7351 | 100 | |
Lightvalve | 11:82d8768d7351 | 101 | |
Lightvalve | 30:8d561f16383b | 102 | float DAC_REF; |
Lightvalve | 30:8d561f16383b | 103 | float DAC_RESOL; |
Lightvalve | 11:82d8768d7351 | 104 | |
Lightvalve | 11:82d8768d7351 | 105 | int REF_POSITION; |
Lightvalve | 11:82d8768d7351 | 106 | int REF_VELOCITY; |
Lightvalve | 11:82d8768d7351 | 107 | int16_t REF_TORQUE; |
Lightvalve | 11:82d8768d7351 | 108 | int16_t REF_PRES_DIFF; |
Lightvalve | 11:82d8768d7351 | 109 | int16_t REF_PWM; |
Lightvalve | 11:82d8768d7351 | 110 | int16_t REF_VALVE_POSITION; |
Lightvalve | 14:8e7590227d22 | 111 | int16_t REF_CURRENT; |
Lightvalve | 11:82d8768d7351 | 112 | |
Lightvalve | 11:82d8768d7351 | 113 | int REF_MOVE_TIME_5k; |
Lightvalve | 11:82d8768d7351 | 114 | int INIT_REF_PWM; |
Lightvalve | 11:82d8768d7351 | 115 | int INIT_REF_VALVE_POS; |
Lightvalve | 11:82d8768d7351 | 116 | int INIT_REF_POS; |
Lightvalve | 11:82d8768d7351 | 117 | int INIT_REF_VEL; |
Lightvalve | 11:82d8768d7351 | 118 | int INIT_REF_TORQUE; |
Lightvalve | 11:82d8768d7351 | 119 | int INIT_REF_PRES_DIFF; |
Lightvalve | 14:8e7590227d22 | 120 | int INIT_REF_CURRENT; |
Lightvalve | 11:82d8768d7351 | 121 | |
Lightvalve | 11:82d8768d7351 | 122 | int CUR_POSITION; |
Lightvalve | 11:82d8768d7351 | 123 | int CUR_VELOCITY; |
Lightvalve | 30:8d561f16383b | 124 | float CUR_TORQUE; |
Lightvalve | 30:8d561f16383b | 125 | float CUR_PRES_A; |
Lightvalve | 30:8d561f16383b | 126 | float CUR_PRES_B; |
Lightvalve | 11:82d8768d7351 | 127 | int CUR_VALVE_POSITION; |
Lightvalve | 11:82d8768d7351 | 128 | |
Lightvalve | 11:82d8768d7351 | 129 | unsigned int TMR2_COUNT_LED1; |
Lightvalve | 11:82d8768d7351 | 130 | unsigned int TMR2_COUNT_LED2; |
Lightvalve | 54:647072f5307a | 131 | unsigned int TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 132 | unsigned int TMR3_COUNT_TEST = 0; |
Lightvalve | 11:82d8768d7351 | 133 | |
Lightvalve | 11:82d8768d7351 | 134 | int num_err; |
Lightvalve | 11:82d8768d7351 | 135 | int flag_err[8]; |
Lightvalve | 11:82d8768d7351 | 136 | int flag_err_old[8]; |
Lightvalve | 11:82d8768d7351 | 137 | int flag_err_rt; |
Lightvalve | 11:82d8768d7351 | 138 | |
Lightvalve | 11:82d8768d7351 | 139 | int flag_ref_enable; |
Lightvalve | 11:82d8768d7351 | 140 | |
Lightvalve | 11:82d8768d7351 | 141 | int flag_data_request[5]; |
Lightvalve | 11:82d8768d7351 | 142 | |
Lightvalve | 45:35fa6884d0c6 | 143 | int MODE_POS_FT_TRANS = 0; |
Lightvalve | 45:35fa6884d0c6 | 144 | |
Lightvalve | 54:647072f5307a | 145 | float CUR_CURRENT_mA = 0.0f; |
Lightvalve | 54:647072f5307a | 146 | float CUR_PRES_A_BAR = 0.0f; |
Lightvalve | 54:647072f5307a | 147 | float CUR_PRES_B_BAR = 0.0f; |
Lightvalve | 54:647072f5307a | 148 | float CUR_TORQUE_NM = 0.0f; |
Lightvalve | 54:647072f5307a | 149 | float CUR_TORQUE_NM_PRESS = 0.0f; |
Lightvalve | 11:82d8768d7351 | 150 | |
Lightvalve | 54:647072f5307a | 151 | float PRES_A_VREF = 0.0f; |
Lightvalve | 54:647072f5307a | 152 | float PRES_B_VREF = 0.0f; |
Lightvalve | 54:647072f5307a | 153 | float TORQUE_VREF = 0.0f; |
Lightvalve | 11:82d8768d7351 | 154 | |
Lightvalve | 54:647072f5307a | 155 | float VALVE_PWM_RAW_FB = 0.0f; |
Lightvalve | 54:647072f5307a | 156 | float VALVE_PWM_RAW_FF = 0.0f; |
Lightvalve | 54:647072f5307a | 157 | float VALVE_PWM_RAW = 0.0f; |
Lightvalve | 54:647072f5307a | 158 | int VALVE_PWM_VALVE_DZ = 0; |
Lightvalve | 11:82d8768d7351 | 159 | |
Lightvalve | 30:8d561f16383b | 160 | float VALVE_GAIN_LPM_PER_V[10]; |
Lightvalve | 30:8d561f16383b | 161 | float VALVE_POS_VS_PWM[25]; |
Lightvalve | 11:82d8768d7351 | 162 | long JOINT_VEL[100]; |
Lightvalve | 11:82d8768d7351 | 163 | |
Lightvalve | 11:82d8768d7351 | 164 | int VALVE_MAX_POS; |
Lightvalve | 11:82d8768d7351 | 165 | int VALVE_MIN_POS; |
Lightvalve | 11:82d8768d7351 | 166 | int VALVE_POS_NUM; |
Lightvalve | 32:4b8c0fedaf2c | 167 | float VALVE_CENTER_OFFSET; |
Lightvalve | 33:91b17819ec30 | 168 | float VALVE_DZ_MINUS_OFFSET; |
Lightvalve | 33:91b17819ec30 | 169 | float VALVE_DZ_PLUS_OFFSET; |
Lightvalve | 11:82d8768d7351 | 170 | |
Lightvalve | 54:647072f5307a | 171 | int TMR3_COUNT_FINDHOME = 0; |
Lightvalve | 54:647072f5307a | 172 | int TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 54:647072f5307a | 173 | int TMR3_COUNT_DEADZONE = 0; |
Lightvalve | 54:647072f5307a | 174 | int TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 54:647072f5307a | 175 | int TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 54:647072f5307a | 176 | int TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 54:647072f5307a | 177 | int TMR3_COUNT_REFERENCE = 0; |
Lightvalve | 54:647072f5307a | 178 | int TMR3_COUNT_JOINT = 0; |
Lightvalve | 54:647072f5307a | 179 | int TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 11:82d8768d7351 | 180 | |
Lightvalve | 54:647072f5307a | 181 | float TUNING_TIME = 600.0f; // sec |
Lightvalve | 11:82d8768d7351 | 182 | |
Lightvalve | 54:647072f5307a | 183 | float REFERENCE_FREQ = 1.0f; |
Lightvalve | 54:647072f5307a | 184 | float REFERENCE_MAG = 0.0f; |
Lightvalve | 11:82d8768d7351 | 185 | |
Lightvalve | 11:82d8768d7351 | 186 | bool FLAG_FIND_HOME; |
Lightvalve | 11:82d8768d7351 | 187 | |
Lightvalve | 11:82d8768d7351 | 188 | int MODE_JUMP_STATUS; |
Lightvalve | 11:82d8768d7351 | 189 | enum _JUMP_STATUS { |
Lightvalve | 11:82d8768d7351 | 190 | JUMP_NO_ACT = 0, //0 |
Lightvalve | 11:82d8768d7351 | 191 | JUMP_START, //1 |
Lightvalve | 11:82d8768d7351 | 192 | JUMP_TAKEOFF, //2 |
Lightvalve | 11:82d8768d7351 | 193 | JUMP_FLYING, //3 |
Lightvalve | 11:82d8768d7351 | 194 | JUMP_LANDING, //4 |
Lightvalve | 11:82d8768d7351 | 195 | }; |
Lightvalve | 11:82d8768d7351 | 196 | |
Lightvalve | 30:8d561f16383b | 197 | float CUR_PRES_DIFF_BAR = 0.0f; |
Lightvalve | 30:8d561f16383b | 198 | float CUR_PRES_A_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 199 | float CUR_PRES_B_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 200 | float CUR_PRES_A_mean = 0.0f; |
Lightvalve | 30:8d561f16383b | 201 | float CUR_PRES_B_mean = 0.0f; |
Lightvalve | 30:8d561f16383b | 202 | float CUR_TORQUE_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 203 | float CUR_TORQUE_mean = 0.0f; |
Lightvalve | 38:118df027d851 | 204 | float PRES_A_NULL = 2048.0f; |
Lightvalve | 30:8d561f16383b | 205 | float PRES_B_NULL = 1.0f; |
Lightvalve | 30:8d561f16383b | 206 | float TORQUE_NULL = 3900.0f; |
Lightvalve | 11:82d8768d7351 | 207 | |
Lightvalve | 30:8d561f16383b | 208 | float Ref_Valve_Pos_Old = 0.0f; |
Lightvalve | 11:82d8768d7351 | 209 | |
Lightvalve | 13:747daba9cf59 | 210 | int VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 211 | int VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 212 | int VALVE_FR_timer = 0; |
Lightvalve | 35:34ce7b0347b8 | 213 | //int VALVE_HPL_timer = 0; |
Lightvalve | 13:747daba9cf59 | 214 | int VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 215 | int JOINT_VEL_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 216 | int DDV_POS_AVG = 0; |
Lightvalve | 19:23b7c1ad8683 | 217 | int VALVE_POS_AVG[50] = {0}; |
Lightvalve | 13:747daba9cf59 | 218 | int VALVE_POS_AVG_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 219 | int data_num = 0; |
Lightvalve | 13:747daba9cf59 | 220 | int ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 221 | int DZ_index = 1; |
Lightvalve | 19:23b7c1ad8683 | 222 | int ID_index_array[50] = {0}; |
Lightvalve | 13:747daba9cf59 | 223 | int first_check = 0; |
Lightvalve | 30:8d561f16383b | 224 | float init_time = 0.0f; |
Lightvalve | 13:747daba9cf59 | 225 | int VEL_POINT = 0; |
Lightvalve | 13:747daba9cf59 | 226 | int DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 227 | int START_POS = 0; |
Lightvalve | 13:747daba9cf59 | 228 | int FINAL_POS = 0; |
Lightvalve | 13:747daba9cf59 | 229 | int DZ_DIRECTION = 0; |
Lightvalve | 13:747daba9cf59 | 230 | int FIRST_DZ = 0; |
Lightvalve | 13:747daba9cf59 | 231 | int SECOND_DZ = 0; |
Lightvalve | 13:747daba9cf59 | 232 | int DZ_NUM = 0; |
Lightvalve | 13:747daba9cf59 | 233 | int one_period_end = 0; |
Lightvalve | 30:8d561f16383b | 234 | float Ref_Vel_Test = 0.0f; |
Lightvalve | 13:747daba9cf59 | 235 | long TMR2_FOR_SLOW_LOGGING = 0; |
Lightvalve | 19:23b7c1ad8683 | 236 | //int velcount = 0; |
Lightvalve | 13:747daba9cf59 | 237 | char max_check = 0; |
Lightvalve | 34:bb2ca2fc2a8e | 238 | char min_check = 0; |
Lightvalve | 13:747daba9cf59 | 239 | |
Lightvalve | 30:8d561f16383b | 240 | float valve_pos_err = 0.0f, valve_pos_err_old = 0.0f, valve_pos_err_diff = 0.0f, valve_pos_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 241 | float joint_pos_err = 0.0f, joint_pos_err_old = 0.0f, joint_pos_err_diff = 0.0f, joint_pos_err_diff_fil = 0.0f, joint_pos_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 242 | float joint_torq_err = 0.0f, joint_torq_err_old = 0.0f, joint_torq_err_diff = 0.0f, joint_torq_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 243 | float VALVE_PWM_RAW_POS = 0.0f, VALVE_PWM_RAW_TORQ = 0.0f; |
Lightvalve | 13:747daba9cf59 | 244 | |
Lightvalve | 30:8d561f16383b | 245 | float CUR_FLOWRATE = 0.0f; |
Lightvalve | 30:8d561f16383b | 246 | float VALVE_FF_VOLTAGE = 0.0f; |
Lightvalve | 13:747daba9cf59 | 247 | |
Lightvalve | 13:747daba9cf59 | 248 | int pos_plus_end = 0; |
Lightvalve | 13:747daba9cf59 | 249 | int pos_minus_end = 0; |
Lightvalve | 13:747daba9cf59 | 250 | |
Lightvalve | 13:747daba9cf59 | 251 | bool need_enc_init = false; |
Lightvalve | 13:747daba9cf59 | 252 | |
Lightvalve | 13:747daba9cf59 | 253 | int temp_time = 0; |
Lightvalve | 13:747daba9cf59 | 254 | |
Lightvalve | 30:8d561f16383b | 255 | float CUR_VELOCITY_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 256 | float temp_vel_sum = 0.0f; |
Lightvalve | 13:747daba9cf59 | 257 | |
Lightvalve | 13:747daba9cf59 | 258 | int DZ_dir = 0; |
Lightvalve | 13:747daba9cf59 | 259 | int DZ_temp_cnt = 0; |
Lightvalve | 13:747daba9cf59 | 260 | int DZ_temp_cnt2 = 0; |
Lightvalve | 13:747daba9cf59 | 261 | int DZ_end = 2; |
Lightvalve | 13:747daba9cf59 | 262 | int flag_flowrate = 0; |
Lightvalve | 13:747daba9cf59 | 263 | int fl_temp_cnt = 0; |
Lightvalve | 13:747daba9cf59 | 264 | int fl_temp_cnt2 = 0; |
Lightvalve | 13:747daba9cf59 | 265 | int cur_vel_sum = 0; |
Lightvalve | 13:747daba9cf59 | 266 | |
Lightvalve | 54:647072f5307a | 267 | float Cur_Valve_Open_pulse = 0.0f; |
Lightvalve | 54:647072f5307a | 268 | |
Lightvalve | 13:747daba9cf59 | 269 | // find home |
Lightvalve | 13:747daba9cf59 | 270 | int CUR_VELOCITY_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 271 | int cnt_findhome = 0; |
Lightvalve | 13:747daba9cf59 | 272 | int cnt_vel_findhome = 0; |
Lightvalve | 13:747daba9cf59 | 273 | int FINDHOME_VELOCITY = 0; |
Lightvalve | 13:747daba9cf59 | 274 | int FINDHOME_VELOCITY_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 275 | int FINDHOME_POSITION = 0; |
Lightvalve | 13:747daba9cf59 | 276 | int FINDHOME_POSITION_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 277 | |
Lightvalve | 13:747daba9cf59 | 278 | // valve gain |
Lightvalve | 13:747daba9cf59 | 279 | int check_vel_pos_init = 0; |
Lightvalve | 13:747daba9cf59 | 280 | int check_vel_pos_fin = 0; |
Lightvalve | 13:747daba9cf59 | 281 | int check_vel_pos_interv = 0; |
Lightvalve | 13:747daba9cf59 | 282 | int valve_gain_repeat_cnt = 0; |
Lightvalve | 30:8d561f16383b | 283 | float VALVE_VOLTAGE = 0.0f; |
Lightvalve | 13:747daba9cf59 | 284 | |
Lightvalve | 30:8d561f16383b | 285 | float freq_fric_tune = 1.0f; |
Lightvalve | 13:747daba9cf59 | 286 | |
Lightvalve | 14:8e7590227d22 | 287 | uint32_t TMR3_COUNT_CAN_TX = 0; |
Lightvalve | 14:8e7590227d22 | 288 | |
Lightvalve | 54:647072f5307a | 289 | // Current Control Variables |
Lightvalve | 54:647072f5307a | 290 | double I_REF = 0.0f; |
Lightvalve | 54:647072f5307a | 291 | double I_REF_fil = 0.0f; |
Lightvalve | 54:647072f5307a | 292 | double I_ERR = 0.0f; |
Lightvalve | 54:647072f5307a | 293 | double I_ERR_INT = 0.0f; |
Lightvalve | 54:647072f5307a | 294 | double I_REF_fil_old = 0.0f; |
Lightvalve | 54:647072f5307a | 295 | double I_REF_fil_diff = 0.0f; |
Lightvalve | 54:647072f5307a | 296 | |
Lightvalve | 54:647072f5307a | 297 | // system id |
Lightvalve | 54:647072f5307a | 298 | int cnt_sysid = 0; |
Lightvalve | 54:647072f5307a | 299 | double freq_sysid_Iref = 0.0f; |
Lightvalve | 54:647072f5307a | 300 | |
Lightvalve | 14:8e7590227d22 | 301 | int TMR3_COUNT_IREF = 0; |
Lightvalve | 30:8d561f16383b | 302 | float CUR_CURRENT = 0.0f; |
Lightvalve | 30:8d561f16383b | 303 | float u_CUR[3] = {0.0f,0.0f,0.0f}; |
Lightvalve | 29:69f3f5445d6d | 304 | int FINDHOME_STAGE = 0; |
Lightvalve | 29:69f3f5445d6d | 305 | int FINDHOME_INIT = 0; |
Lightvalve | 30:8d561f16383b | 306 | int FINDHOME_GOTOLIMIT = 1; |
Lightvalve | 30:8d561f16383b | 307 | int FINDHOME_ZEROPOSE = 2; |
Lightvalve | 14:8e7590227d22 | 308 | |
Lightvalve | 45:35fa6884d0c6 | 309 | float alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 310 | |
Lightvalve | 54:647072f5307a | 311 | float V_out=0.0f; |
Lightvalve | 54:647072f5307a | 312 | float V_rem=0.0f; // for anti-windup |
Lightvalve | 54:647072f5307a | 313 | float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 54:647072f5307a | 314 | |
Lightvalve | 54:647072f5307a | 315 | float PWM_out=0.0f; |
Lightvalve | 54:647072f5307a | 316 | |
Lightvalve | 54:647072f5307a | 317 | double K_v = 0.0f; // valve flowrate gain |
Lightvalve | 54:647072f5307a | 318 | double mV_PER_mA = 600.0f; // current >> voltage |
Lightvalve | 54:647072f5307a | 319 | double mV_PER_pulse = 0.6f; // pulse >> voltage |
Lightvalve | 54:647072f5307a | 320 | double mA_PER_pulse = 0.001f; // pulse >> current |
Lightvalve | 54:647072f5307a | 321 | |
Lightvalve | 54:647072f5307a | 322 | int timer_while = 0; |
Lightvalve | 54:647072f5307a | 323 | int while_index = 0; |
Lightvalve | 54:647072f5307a | 324 | |
Lightvalve | 23:59218d4a256d | 325 | //int h1, h2, h3, h4, h5, h6; |
Lightvalve | 23:59218d4a256d | 326 | |
Lightvalve | 11:82d8768d7351 | 327 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 328 | * General math functions |
Lightvalve | 11:82d8768d7351 | 329 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 330 | |
Lightvalve | 11:82d8768d7351 | 331 | |
Lightvalve | 34:bb2ca2fc2a8e | 332 | float dabs(float tx) |
Lightvalve | 34:bb2ca2fc2a8e | 333 | { |
Lightvalve | 30:8d561f16383b | 334 | if (tx >= 0.0f) |
Lightvalve | 11:82d8768d7351 | 335 | return tx; |
Lightvalve | 11:82d8768d7351 | 336 | else |
Lightvalve | 11:82d8768d7351 | 337 | return -tx; |
Lightvalve | 11:82d8768d7351 | 338 | } |
Lightvalve | 11:82d8768d7351 | 339 | |
Lightvalve | 34:bb2ca2fc2a8e | 340 | float change_int_to_efloat(int input) |
Lightvalve | 34:bb2ca2fc2a8e | 341 | { |
Lightvalve | 11:82d8768d7351 | 342 | int i = 0; |
Lightvalve | 11:82d8768d7351 | 343 | |
Lightvalve | 30:8d561f16383b | 344 | float output = 0; |
Lightvalve | 48:889798ff9329 | 345 | int vn = (int) ((float) input / 10.0f); |
Lightvalve | 11:82d8768d7351 | 346 | int en = input % 10; |
Lightvalve | 11:82d8768d7351 | 347 | |
Lightvalve | 30:8d561f16383b | 348 | float temp = 1.; |
Lightvalve | 11:82d8768d7351 | 349 | for (i = 0; i < en; i++) |
Lightvalve | 30:8d561f16383b | 350 | temp *= 0.1f; |
Lightvalve | 11:82d8768d7351 | 351 | |
Lightvalve | 30:8d561f16383b | 352 | output = (float) vn*temp; |
Lightvalve | 11:82d8768d7351 | 353 | return output; |
Lightvalve | 11:82d8768d7351 | 354 | } |
Lightvalve | 11:82d8768d7351 | 355 | |
Lightvalve | 34:bb2ca2fc2a8e | 356 | void make_delay(void) |
Lightvalve | 34:bb2ca2fc2a8e | 357 | { |
Lightvalve | 11:82d8768d7351 | 358 | int i = 0; |
Lightvalve | 11:82d8768d7351 | 359 | |
Lightvalve | 11:82d8768d7351 | 360 | for (i = 0; i < 100000; i++) { |
Lightvalve | 11:82d8768d7351 | 361 | ; |
Lightvalve | 11:82d8768d7351 | 362 | } |
Lightvalve | 11:82d8768d7351 | 363 | |
Lightvalve | 11:82d8768d7351 | 364 | } |
Lightvalve | 11:82d8768d7351 | 365 | |
Lightvalve | 11:82d8768d7351 | 366 | |
Lightvalve | 11:82d8768d7351 | 367 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 368 | * ROM functions |
Lightvalve | 11:82d8768d7351 | 369 | ******************************************************************************/ |
Lightvalve | 34:bb2ca2fc2a8e | 370 | void ROM_RESET_DATA(void) |
Lightvalve | 34:bb2ca2fc2a8e | 371 | { |
Lightvalve | 16:903b5a4433b4 | 372 | FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
Lightvalve | 16:903b5a4433b4 | 373 | if (!writer.ready()) writer.open(); |
Lightvalve | 34:bb2ca2fc2a8e | 374 | |
Lightvalve | 16:903b5a4433b4 | 375 | writer.write(RID_BNO,(int) BNO); // write at address, 쓸때도 4byte씩 씀 |
Lightvalve | 16:903b5a4433b4 | 376 | writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE); |
Lightvalve | 52:8ea76864368a | 377 | writer.write(RID_SENSING_MODE, (int) SENSING_MODE); |
Lightvalve | 52:8ea76864368a | 378 | writer.write(RID_CURRENT_CONTROL_MODE, (int) CURRENT_CONTROL_MODE); |
Lightvalve | 52:8ea76864368a | 379 | writer.write(RID_FLAG_VALVE_DEADZONE, (int) FLAG_VALVE_DEADZONE); |
Lightvalve | 16:903b5a4433b4 | 380 | writer.write(RID_CAN_FREQ,(int) CAN_FREQ); |
Lightvalve | 16:903b5a4433b4 | 381 | writer.write(RID_JOINT_ENC_DIR,(int) DIR_JOINT_ENC); |
Lightvalve | 16:903b5a4433b4 | 382 | writer.write(RID_VALVE_DIR,(int) DIR_VALVE); |
Lightvalve | 16:903b5a4433b4 | 383 | writer.write(RID_VALVE_ENC_DIR,(int) DIR_VALVE_ENC); |
Lightvalve | 30:8d561f16383b | 384 | writer.write(RID_VOLATGE_SUPPLY,(int) (SUPPLY_VOLTAGE * 10.0f)); |
Lightvalve | 30:8d561f16383b | 385 | writer.write(RID_VOLTAGE_VALVE,(int) (VALVE_VOLTAGE_LIMIT * 10.0f)); |
Lightvalve | 16:903b5a4433b4 | 386 | writer.write(RID_P_GAIN_VALVE_POSITION,(int) P_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 387 | writer.write(RID_I_GAIN_VALVE_POSITION,(int) I_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 388 | writer.write(RID_D_GAIN_VALVE_POSITION,(int) D_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 389 | writer.write(RID_P_GAIN_JOINT_POSITION,(int) P_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 390 | writer.write(RID_I_GAIN_JOINT_POSITION,(int) I_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 391 | writer.write(RID_D_GAIN_JOINT_POSITION,(int) D_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 392 | writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 393 | writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 394 | writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE); |
Lightvalve | 33:91b17819ec30 | 395 | writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS * 10.0f)); |
Lightvalve | 33:91b17819ec30 | 396 | writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS * 10.0f)); |
Lightvalve | 16:903b5a4433b4 | 397 | writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN); |
Lightvalve | 16:903b5a4433b4 | 398 | writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN); |
Lightvalve | 16:903b5a4433b4 | 399 | writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER); |
Lightvalve | 16:903b5a4433b4 | 400 | writer.write(RID_VALVE_FF,(int) VALVE_FF); |
Lightvalve | 16:903b5a4433b4 | 401 | writer.write(RID_BULK_MODULUS,(int) BNO); |
Lightvalve | 16:903b5a4433b4 | 402 | writer.write(RID_CHAMBER_VOLUME_A,(int) CHAMBER_VOLUME_A); |
Lightvalve | 16:903b5a4433b4 | 403 | writer.write(RID_CHAMBER_VOLUME_B,(int) CHAMBER_VOLUME_B); |
Lightvalve | 16:903b5a4433b4 | 404 | writer.write(RID_PISTON_AREA_A,(int) PISTON_AREA_A); |
Lightvalve | 16:903b5a4433b4 | 405 | writer.write(RID_PISTON_AREA_B,(int) PISTON_AREA_B); |
Lightvalve | 16:903b5a4433b4 | 406 | writer.write(RID_PRES_SUPPLY,(int) PRES_SUPPLY); |
Lightvalve | 16:903b5a4433b4 | 407 | writer.write(RID_PRES_RETURN,(int) PRES_RETURN); |
Lightvalve | 16:903b5a4433b4 | 408 | writer.write(RID_ENC_LIMIT_MINUS,(int) ENC_LIMIT_MINUS); |
Lightvalve | 16:903b5a4433b4 | 409 | writer.write(RID_ENC_LIMIT_PLUS,(int) ENC_LIMIT_PLUS); |
Lightvalve | 16:903b5a4433b4 | 410 | writer.write(RID_STROKE,(int) STROKE); |
Lightvalve | 55:b25725257569 | 411 | //writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS); |
Lightvalve | 55:b25725257569 | 412 | //writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS); |
Lightvalve | 48:889798ff9329 | 413 | writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION*10.0f)); |
Lightvalve | 48:889798ff9329 | 414 | writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f)); |
Lightvalve | 30:8d561f16383b | 415 | writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 30:8d561f16383b | 416 | writer.write(RID_PRES_SENSOR_B_PULSE_PER_BAR,(int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 417 | writer.write(RID_FRICTION,(int) (FRICTION * 10.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 418 | writer.write(RID_HOMEPOS_OFFSET,(int) HOMEPOS_OFFSET); |
Lightvalve | 34:bb2ca2fc2a8e | 419 | writer.write(RID_HOMEPOS_VALVE_OPENING,(int) HOMEPOS_VALVE_OPENING); |
Lightvalve | 34:bb2ca2fc2a8e | 420 | writer.write(RID_TORQUE_SENSOR_VREF,(int) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 30:8d561f16383b | 421 | writer.write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 30:8d561f16383b | 422 | writer.write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 423 | writer.write(RID_VALVE_GAIN_PLUS_1,(int) (VALVE_GAIN_LPM_PER_V[0] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 424 | writer.write(RID_VALVE_GAIN_PLUS_2,(int) (VALVE_GAIN_LPM_PER_V[2] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 425 | writer.write(RID_VALVE_GAIN_PLUS_3,(int) (VALVE_GAIN_LPM_PER_V[4] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 426 | writer.write(RID_VALVE_GAIN_PLUS_4,(int) (VALVE_GAIN_LPM_PER_V[6] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 427 | writer.write(RID_VALVE_GAIN_PLUS_5,(int) (VALVE_GAIN_LPM_PER_V[8] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 428 | writer.write(RID_VALVE_GAIN_MINUS_1,(int) (VALVE_GAIN_LPM_PER_V[1] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 429 | writer.write(RID_VALVE_GAIN_MINUS_2,(int) (VALVE_GAIN_LPM_PER_V[3] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 430 | writer.write(RID_VALVE_GAIN_MINUS_3,(int) (VALVE_GAIN_LPM_PER_V[5] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 431 | writer.write(RID_VALVE_GAIN_MINUS_4,(int) (VALVE_GAIN_LPM_PER_V[7] * 100.0f)); |
Lightvalve | 30:8d561f16383b | 432 | writer.write(RID_VALVE_GAIN_MINUS_5,(int) (VALVE_GAIN_LPM_PER_V[9] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 433 | for(int i=0; i<25; i++) { |
Lightvalve | 18:b8adf1582ea3 | 434 | writer.write(RID_VALVE_POS_VS_PWM_0 + i, (int) VALVE_POS_VS_PWM[i]); |
Lightvalve | 18:b8adf1582ea3 | 435 | } |
Lightvalve | 34:bb2ca2fc2a8e | 436 | for(int i=0; i<100; i++) { |
Lightvalve | 19:23b7c1ad8683 | 437 | writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 19:23b7c1ad8683 | 438 | writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 18:b8adf1582ea3 | 439 | } |
Lightvalve | 18:b8adf1582ea3 | 440 | writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS); |
Lightvalve | 18:b8adf1582ea3 | 441 | writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS); |
Lightvalve | 55:b25725257569 | 442 | //writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f)); |
Lightvalve | 18:b8adf1582ea3 | 443 | writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM); |
Lightvalve | 46:2694daea349b | 444 | |
Lightvalve | 46:2694daea349b | 445 | writer.write(RID_K_SPRING, (int) K_SPRING); |
Lightvalve | 46:2694daea349b | 446 | writer.write(RID_D_DAMPER, (int) D_DAMPER); |
Lightvalve | 11:82d8768d7351 | 447 | |
Lightvalve | 34:bb2ca2fc2a8e | 448 | writer.close(); |
Lightvalve | 34:bb2ca2fc2a8e | 449 | |
Lightvalve | 11:82d8768d7351 | 450 | } |
Lightvalve | 11:82d8768d7351 | 451 | |
Lightvalve | 34:bb2ca2fc2a8e | 452 | void ROM_CALL_DATA(void) |
Lightvalve | 34:bb2ca2fc2a8e | 453 | { |
Lightvalve | 16:903b5a4433b4 | 454 | BNO = flashReadInt(Rom_Sector, RID_BNO); |
Lightvalve | 55:b25725257569 | 455 | BNO = 0; |
Lightvalve | 16:903b5a4433b4 | 456 | OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE); |
Lightvalve | 52:8ea76864368a | 457 | SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE); |
Lightvalve | 52:8ea76864368a | 458 | CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE); |
Lightvalve | 52:8ea76864368a | 459 | FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE); |
Lightvalve | 16:903b5a4433b4 | 460 | CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ); |
Lightvalve | 16:903b5a4433b4 | 461 | DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR); |
Lightvalve | 16:903b5a4433b4 | 462 | DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR); |
Lightvalve | 16:903b5a4433b4 | 463 | DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR); |
Lightvalve | 30:8d561f16383b | 464 | SUPPLY_VOLTAGE = (float) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1f; |
Lightvalve | 30:8d561f16383b | 465 | VALVE_VOLTAGE_LIMIT = (float) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 466 | P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 467 | I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 468 | D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 469 | P_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 470 | I_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 471 | D_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 472 | P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 473 | I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 474 | D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE); |
Lightvalve | 33:91b17819ec30 | 475 | VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f; |
Lightvalve | 33:91b17819ec30 | 476 | VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 477 | VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN); |
Lightvalve | 16:903b5a4433b4 | 478 | COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN); |
Lightvalve | 16:903b5a4433b4 | 479 | VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER); |
Lightvalve | 16:903b5a4433b4 | 480 | VALVE_FF = flashReadInt(Rom_Sector, RID_VALVE_FF); |
Lightvalve | 16:903b5a4433b4 | 481 | BULK_MODULUS = flashReadInt(Rom_Sector, RID_BULK_MODULUS); |
Lightvalve | 16:903b5a4433b4 | 482 | CHAMBER_VOLUME_A = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_A); |
Lightvalve | 16:903b5a4433b4 | 483 | CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B); |
Lightvalve | 16:903b5a4433b4 | 484 | PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A); |
Lightvalve | 16:903b5a4433b4 | 485 | PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B); |
Lightvalve | 30:8d561f16383b | 486 | PISTON_AREA_alpha = (float)PISTON_AREA_B/(float)PISTON_AREA_A; |
Lightvalve | 16:903b5a4433b4 | 487 | PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY); |
Lightvalve | 16:903b5a4433b4 | 488 | PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN); |
Lightvalve | 16:903b5a4433b4 | 489 | ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS); |
Lightvalve | 16:903b5a4433b4 | 490 | ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS); |
Lightvalve | 16:903b5a4433b4 | 491 | STROKE = flashReadInt(Rom_Sector, RID_STROKE); |
Lightvalve | 55:b25725257569 | 492 | //VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS); |
Lightvalve | 55:b25725257569 | 493 | //VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS); |
Lightvalve | 48:889798ff9329 | 494 | ENC_PULSE_PER_POSITION = (float) (flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION)) * 0.1f; |
Lightvalve | 48:889798ff9329 | 495 | // ENC_PULSE_PER_POSITION = (float) 1024.0f; |
Lightvalve | 48:889798ff9329 | 496 | TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.01f; |
Lightvalve | 48:889798ff9329 | 497 | //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle |
Lightvalve | 48:889798ff9329 | 498 | // TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee |
Lightvalve | 30:8d561f16383b | 499 | PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f; |
Lightvalve | 48:889798ff9329 | 500 | // PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 501 | PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f; |
Lightvalve | 48:889798ff9329 | 502 | // PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 503 | FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 504 | HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET); |
Lightvalve | 16:903b5a4433b4 | 505 | HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING); |
Lightvalve | 30:8d561f16383b | 506 | TORQUE_VREF = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_VREF)) *0.001f; |
Lightvalve | 32:4b8c0fedaf2c | 507 | PRES_A_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_A_SENSOR_VREF) * 0.001f; |
Lightvalve | 32:4b8c0fedaf2c | 508 | PRES_B_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_B_SENSOR_VREF) * 0.001f; |
Lightvalve | 30:8d561f16383b | 509 | VALVE_GAIN_LPM_PER_V[0] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_1)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 510 | VALVE_GAIN_LPM_PER_V[2] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_2)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 511 | VALVE_GAIN_LPM_PER_V[4] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_3)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 512 | VALVE_GAIN_LPM_PER_V[6] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_4)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 513 | VALVE_GAIN_LPM_PER_V[8] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_5)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 514 | VALVE_GAIN_LPM_PER_V[1] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_1)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 515 | VALVE_GAIN_LPM_PER_V[3] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_2)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 516 | VALVE_GAIN_LPM_PER_V[5] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 517 | VALVE_GAIN_LPM_PER_V[7] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 518 | VALVE_GAIN_LPM_PER_V[9] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01f; |
Lightvalve | 34:bb2ca2fc2a8e | 519 | for(int i=0; i<25; i++) { |
Lightvalve | 30:8d561f16383b | 520 | VALVE_POS_VS_PWM[i] = (float) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i)); |
Lightvalve | 16:903b5a4433b4 | 521 | } |
Lightvalve | 34:bb2ca2fc2a8e | 522 | for(int i=0; i<100; i++) { |
Lightvalve | 16:903b5a4433b4 | 523 | JOINT_VEL[i] = ( ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ; |
Lightvalve | 16:903b5a4433b4 | 524 | } |
Lightvalve | 16:903b5a4433b4 | 525 | VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS); |
Lightvalve | 16:903b5a4433b4 | 526 | VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS); |
Lightvalve | 55:b25725257569 | 527 | //DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 528 | VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM); |
Lightvalve | 46:2694daea349b | 529 | |
Lightvalve | 46:2694daea349b | 530 | K_SPRING = flashReadInt(Rom_Sector, RID_K_SPRING); |
Lightvalve | 46:2694daea349b | 531 | D_DAMPER = flashReadInt(Rom_Sector, RID_D_DAMPER); |
Lightvalve | 48:889798ff9329 | 532 | |
Lightvalve | 11:82d8768d7351 | 533 | } |
Lightvalve | 11:82d8768d7351 | 534 | |
Lightvalve | 11:82d8768d7351 | 535 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 536 | * ENCODER functions |
Lightvalve | 11:82d8768d7351 | 537 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 538 | // A-KHA |
Lightvalve | 30:8d561f16383b | 539 | #define KF_G1_11 0.083920206005350f |
Lightvalve | 30:8d561f16383b | 540 | #define KF_G1_12 0.000013905329560f |
Lightvalve | 30:8d561f16383b | 541 | #define KF_G1_21 -0.000575742328210f |
Lightvalve | 30:8d561f16383b | 542 | #define KF_G1_22 0.799999939711725f |
Lightvalve | 11:82d8768d7351 | 543 | // K |
Lightvalve | 30:8d561f16383b | 544 | #define KF_G2_11 0.916079793994650f |
Lightvalve | 30:8d561f16383b | 545 | #define KF_G2_12 0.000002878711641f |
Lightvalve | 30:8d561f16383b | 546 | #define KF_G2_21 0.000575742328210f |
Lightvalve | 30:8d561f16383b | 547 | #define KF_G2_22 0.199999945139809f |
Lightvalve | 11:82d8768d7351 | 548 | |
Lightvalve | 30:8d561f16383b | 549 | float KF_Y_11 = 0.0f; |
Lightvalve | 30:8d561f16383b | 550 | float KF_Y_21 = 0.0f; |
Lightvalve | 30:8d561f16383b | 551 | float KF_X_11 = 0.0f; |
Lightvalve | 30:8d561f16383b | 552 | float KF_X_21 = 0.0f; |
Lightvalve | 11:82d8768d7351 | 553 | |
Lightvalve | 11:82d8768d7351 | 554 | long ENC_pos_old = 0, ENC_pos_cur = 0, ENC_pos_diff = 0; |
Lightvalve | 11:82d8768d7351 | 555 | long ENC_RAW = 0, ENC_VEL_RAW = 0, ENC_VEL_KF = 0; |
Lightvalve | 11:82d8768d7351 | 556 | long enc_offset = 0; |
Lightvalve | 11:82d8768d7351 | 557 | |
Lightvalve | 34:bb2ca2fc2a8e | 558 | void ENC_UPDATE(void) |
Lightvalve | 34:bb2ca2fc2a8e | 559 | { |
Lightvalve | 11:82d8768d7351 | 560 | |
Lightvalve | 11:82d8768d7351 | 561 | ENC_pos_cur = spi_enc_read(); |
Lightvalve | 11:82d8768d7351 | 562 | ENC_pos_diff = ENC_pos_cur - ENC_pos_old; |
Lightvalve | 11:82d8768d7351 | 563 | |
Lightvalve | 54:647072f5307a | 564 | //Kalman Filter |
Lightvalve | 54:647072f5307a | 565 | // ENC_VEL_RAW = (int32_t) (ENC_pos_diff * TMR_FREQ_5k); |
Lightvalve | 54:647072f5307a | 566 | // KF_Y_11 = ENC_pos_cur; |
Lightvalve | 54:647072f5307a | 567 | // KF_Y_21 = ENC_VEL_RAW; |
Lightvalve | 54:647072f5307a | 568 | // KF_X_11 = KF_G1_11 * KF_X_11 + KF_G1_12 * KF_X_21 + KF_G2_11 * KF_Y_11 + KF_G2_12*KF_Y_21; |
Lightvalve | 54:647072f5307a | 569 | // KF_X_21 = KF_G1_21 * KF_X_11 + KF_G1_22 * KF_X_21 + KF_G2_21 * KF_Y_11 + KF_G2_22*KF_Y_21; |
Lightvalve | 54:647072f5307a | 570 | // ENC_VEL_KF = (int32_t) KF_X_21; |
Lightvalve | 54:647072f5307a | 571 | // |
Lightvalve | 54:647072f5307a | 572 | // pos.sen = (DIR_JOINT_ENC) * ENC_pos_cur + enc_offset; |
Lightvalve | 54:647072f5307a | 573 | // vel.sen = (DIR_JOINT_ENC) * ENC_VEL_KF; |
Lightvalve | 54:647072f5307a | 574 | |
Lightvalve | 54:647072f5307a | 575 | //Low Pass Filter |
Lightvalve | 54:647072f5307a | 576 | |
Lightvalve | 54:647072f5307a | 577 | double NEW_POSITION = (double) ((DIR_JOINT_ENC) * ENC_pos_cur + enc_offset); |
Lightvalve | 54:647072f5307a | 578 | double NEW_VELOCITY = (double) ((DIR_JOINT_ENC) * ENC_pos_diff * (int) FREQ_10k); |
Lightvalve | 54:647072f5307a | 579 | |
Lightvalve | 54:647072f5307a | 580 | double alpha_update_pos = 1.0f/(1.0f + FREQ_10k/(2.0f*3.14f*100.0f)); |
Lightvalve | 54:647072f5307a | 581 | pos.sen = NEW_POSITION; |
Lightvalve | 54:647072f5307a | 582 | vel.sen = (1.0f - alpha_update_pos) * vel.sen + alpha_update_pos * NEW_VELOCITY; // pulse/s |
Lightvalve | 11:82d8768d7351 | 583 | |
Lightvalve | 11:82d8768d7351 | 584 | ENC_pos_old = ENC_pos_cur; |
Lightvalve | 11:82d8768d7351 | 585 | } |
Lightvalve | 11:82d8768d7351 | 586 | |
Lightvalve | 34:bb2ca2fc2a8e | 587 | void ENC_SET_ZERO(void) |
Lightvalve | 34:bb2ca2fc2a8e | 588 | { |
Lightvalve | 11:82d8768d7351 | 589 | |
Lightvalve | 11:82d8768d7351 | 590 | spi_enc_set_clear(); |
Lightvalve | 11:82d8768d7351 | 591 | CUR_POSITION = 0; |
Lightvalve | 11:82d8768d7351 | 592 | ENC_pos_old = ENC_pos_cur = 0; |
Lightvalve | 11:82d8768d7351 | 593 | |
Lightvalve | 11:82d8768d7351 | 594 | } |
Lightvalve | 11:82d8768d7351 | 595 | |
Lightvalve | 34:bb2ca2fc2a8e | 596 | void ENC_SET(int32_t value_e) |
Lightvalve | 34:bb2ca2fc2a8e | 597 | { |
Lightvalve | 11:82d8768d7351 | 598 | spi_enc_set_clear(); |
Lightvalve | 13:747daba9cf59 | 599 | enc_offset = value_e; |
Lightvalve | 13:747daba9cf59 | 600 | CUR_POSITION = value_e; |
Lightvalve | 13:747daba9cf59 | 601 | ENC_pos_old = ENC_pos_cur = value_e; |
Lightvalve | 11:82d8768d7351 | 602 | |
Lightvalve | 11:82d8768d7351 | 603 | } |
Lightvalve | 18:b8adf1582ea3 | 604 | |
Lightvalve | 19:23b7c1ad8683 | 605 | |
Lightvalve | 30:8d561f16383b | 606 | |
Lightvalve | 55:b25725257569 | 607 |