HydraulicControlBoard - asdgas

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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard
asdgas
Diff: setting.h

Revision:: 30:8d561f16383b
Parent:: 29:69f3f5445d6d
Child:: 32:4b8c0fedaf2c
--- a/setting.h	Wed Oct 02 04:41:59 2019 +0000
+++ b/setting.h	Fri Oct 04 11:58:18 2019 +0000
@@ -11,18 +11,18 @@
 #define TMR3_COUNT  0x4650      // loop 5k
 #define TMR2_COUNT  0x2710      // loop 500hz with prescale 18
 
-#define FREQ_500    500.0
-#define FREQ_1k     1000.0
-#define FREQ_5k     5000.0
-#define FREQ_10k    10000.0
-#define FREQ_20k    20000.0
-#define FREQ_40k    40000.0
-#define DT_500      0.002
-#define DT_1k       0.0005
-#define DT_5k       0.0002
-#define DT_10k      0.0001
-#define DT_20k      0.00005
-#define DT_40k      0.000025
+#define FREQ_500    500.0f
+#define FREQ_1k     1000.0f
+#define FREQ_5k     5000.0f
+#define FREQ_10k    10000.0f
+#define FREQ_20k    20000.0f
+#define FREQ_40k    40000.0f
+#define DT_500      0.002f
+#define DT_1k       0.0005f
+#define DT_5k       0.0002f
+#define DT_10k      0.0001f
+#define DT_20k      0.00005f
+#define DT_40k      0.000025f
 
 //extern int CID_RX_CMD;
 //extern int CID_RX_REF_POSITION;
@@ -46,8 +46,8 @@
 extern AnalogOut dac_1;
 extern AnalogOut dac_2;
 
-extern double dtc_v;
-extern double dtc_w;
+extern float dtc_v;
+extern float dtc_w;
 
 // I2C
 extern I2C i2c; // SDA, SCL (for K22F)
@@ -86,13 +86,13 @@
 /*******************************************************************************
  * COMMON CONSTANTS
  ******************************************************************************/
-#define             RAD_30              0.523598775598299
-#define             RAD_60              1.047197551196598
-#define             RAD_120             2.094395102393195
-#define             RAD_180             3.141592653589793
-#define             RAD_240             4.188790204786391
-#define             RAD_300             5.235987755982989
-#define             RAD_360             6.283185307179586
+#define             RAD_30              0.523598775598299f
+#define             RAD_60              1.047197551196598f
+#define             RAD_120             2.094395102393195f
+#define             RAD_180             3.141592653589793f
+#define             RAD_240             4.188790204786391f
+#define             RAD_300             5.235987755982989f
+#define             RAD_360             6.283185307179586f
 
 #define             SYSFREQ             200000000
 #define             PBCLK               100000000
@@ -109,9 +109,9 @@
 #define             DIGITAL             0
 #define             ANALOG              1
 
-#define             PI                  3.141592653589793
-#define             D2R                 0.017453292519943
-#define             R2D                 57.295779513082323
+#define             PI                  3.141592653589793f
+#define             D2R                 0.017453292519943f
+#define             R2D                 57.295779513082323f
 
 
 /*******************************************************************************
@@ -134,18 +134,18 @@
 extern int16_t DIR_VALVE;
 extern int16_t DIR_VALVE_ENC;
 
-extern double SUPPLY_VOLTAGE;
-extern double VALVE_VOLTAGE_LIMIT;
+extern float SUPPLY_VOLTAGE;
+extern float VALVE_VOLTAGE_LIMIT;
 
-extern double P_GAIN_VALVE_POSITION;
-extern double I_GAIN_VALVE_POSITION;
-extern double D_GAIN_VALVE_POSITION;
-extern double P_GAIN_JOINT_POSITION;
-extern double I_GAIN_JOINT_POSITION;
-extern double D_GAIN_JOINT_POSITION;
-extern double P_GAIN_JOINT_TORQUE;
-extern double I_GAIN_JOINT_TORQUE;
-extern double D_GAIN_JOINT_TORQUE;
+extern float P_GAIN_VALVE_POSITION;
+extern float I_GAIN_VALVE_POSITION;
+extern float D_GAIN_VALVE_POSITION;
+extern float P_GAIN_JOINT_POSITION;
+extern float I_GAIN_JOINT_POSITION;
+extern float D_GAIN_JOINT_POSITION;
+extern float P_GAIN_JOINT_TORQUE;
+extern float I_GAIN_JOINT_TORQUE;
+extern float D_GAIN_JOINT_TORQUE;
 
 extern int16_t VALVE_DEADZONE_PLUS;
 extern int16_t VALVE_DEADZONE_MINUS;
@@ -164,7 +164,7 @@
 
 extern int16_t PISTON_AREA_A;
 extern int16_t PISTON_AREA_B;
-extern double PISTON_AREA_alpha;
+extern float PISTON_AREA_alpha;
 
 
 extern int16_t PRES_SUPPLY;
@@ -181,20 +181,20 @@
 
 extern int16_t ENC_PULSE_PER_POSITION;
 extern int16_t TORQUE_SENSOR_PULSE_PER_TORQUE;
-extern double PRES_SENSOR_A_PULSE_PER_BAR;
-extern double PRES_SENSOR_B_PULSE_PER_BAR;
+extern float PRES_SENSOR_A_PULSE_PER_BAR;
+extern float PRES_SENSOR_B_PULSE_PER_BAR;
 
 extern int HOMEPOS_OFFSET;
 extern int HOMEPOS_VALVE_OPENING;
 
-extern double FRICTION;
-extern double REF_PERIOD;
-extern double REF_MAG;
+extern float FRICTION;
+extern float REF_PERIOD;
+extern float REF_MAG;
 extern int REF_NUM;
 
 
-extern double DAC_REF;
-extern double DAC_RESOL;
+extern float DAC_REF;
+extern float DAC_RESOL;
 
 extern int REF_POSITION;
 extern int REF_VELOCITY;
@@ -215,9 +215,9 @@
 
 extern int CUR_POSITION;
 extern int CUR_VELOCITY;
-extern double CUR_TORQUE;
-extern double CUR_PRES_A;
-extern double CUR_PRES_B;
+extern float CUR_TORQUE;
+extern float CUR_PRES_A;
+extern float CUR_PRES_B;
 extern int CUR_PWM;
 extern int CUR_VALVE_POSITION;
 
@@ -238,24 +238,24 @@
 ////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
 ////////////////////////////////////////////////////////////////////////////////
 
-extern double CUR_PRES_A_BAR;
-extern double CUR_PRES_B_BAR;
-extern double CUR_TORQUE_NM;
-extern double CUR_TORQUE_NM_PRESS;
+extern float CUR_PRES_A_BAR;
+extern float CUR_PRES_B_BAR;
+extern float CUR_TORQUE_NM;
+extern float CUR_TORQUE_NM_PRESS;
 
-extern double PRES_A_VREF;
-extern double PRES_A_VREF_TEST;
-extern double PRES_B_VREF;
-extern double PRES_B_VREF_TEST;
-extern double TORQUE_VREF;
+extern float PRES_A_VREF;
+extern float PRES_A_VREF_TEST;
+extern float PRES_B_VREF;
+extern float PRES_B_VREF_TEST;
+extern float TORQUE_VREF;
 
-extern double VALVE_PWM_RAW_FB;
-extern double VALVE_PWM_RAW_FF;
+extern float VALVE_PWM_RAW_FB;
+extern float VALVE_PWM_RAW_FF;
 extern int VALVE_PWM_VALVE_DZ;
 extern int VALVE_INPUT_PWM;
 
-extern double VALVE_GAIN_LPM_PER_V[10];
-extern double VALVE_POS_VS_PWM[25];
+extern float VALVE_GAIN_LPM_PER_V[10];
+extern float VALVE_POS_VS_PWM[25];
 extern long JOINT_VEL[100];
 
 extern int VALVE_MAX_POS;
@@ -280,27 +280,27 @@
 extern bool FLAG_REFERENCE_PRES_DIFF;
 extern bool FLAG_REFERENCE_CURRENT;
 
-extern double TUNING_TIME;
+extern float TUNING_TIME;
 
-extern double REFERENCE_FREQ;
-extern double REFERENCE_MAG;
+extern float REFERENCE_FREQ;
+extern float REFERENCE_MAG;
 
 extern bool FLAG_FIND_HOME;
 
 extern int MODE_JUMP_STATUS;
 
-extern double CUR_PRES_DIFF_BAR;
-extern double CUR_PRES_A_sum;
-extern double CUR_PRES_B_sum;
-extern double CUR_PRES_A_mean;
-extern double CUR_PRES_B_mean;
-extern double CUR_TORQUE_sum;
-extern double CUR_TORQUE_mean;
-extern double PRES_A_NULL;
-extern double PRES_B_NULL;
-extern double TORQUE_NULL;
+extern float CUR_PRES_DIFF_BAR;
+extern float CUR_PRES_A_sum;
+extern float CUR_PRES_B_sum;
+extern float CUR_PRES_A_mean;
+extern float CUR_PRES_B_mean;
+extern float CUR_TORQUE_sum;
+extern float CUR_TORQUE_mean;
+extern float PRES_A_NULL;
+extern float PRES_B_NULL;
+extern float TORQUE_NULL;
 
-extern double Ref_Valve_Pos_Old;
+extern float Ref_Valve_Pos_Old;
 
 extern int VALVE_ID_timer;
 extern int VALVE_DZ_timer;
@@ -315,7 +315,7 @@
 extern int DZ_index;
 extern int ID_index_array[50];
 extern int first_check;
-extern double init_time;
+extern float init_time;
 extern int VEL_POINT;
 extern int DZ_case;
 extern int START_POS;
@@ -325,19 +325,19 @@
 extern int SECOND_DZ;
 extern int DZ_NUM;
 extern int one_period_end;
-extern double Ref_Vel_Test;
+extern float Ref_Vel_Test;
 extern long TMR2_FOR_SLOW_LOGGING;
 //extern int velcount;
 extern char max_check;
 extern char min_check; 
 
-extern double valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
-extern double joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
-extern double joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
-extern double VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
+extern float valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
+extern float joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
+extern float joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
+extern float VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
 
-extern double CUR_FLOWRATE;
-extern double VALVE_FF_VOLTAGE;
+extern float CUR_FLOWRATE;
+extern float VALVE_FF_VOLTAGE;
 
 extern int pos_plus_end;
 extern int pos_minus_end;
@@ -346,8 +346,8 @@
 
 extern int temp_time;
 
-extern double CUR_VELOCITY_sum;
-extern double temp_vel_sum;
+extern float CUR_VELOCITY_sum;
+extern float temp_vel_sum;
 
 extern int DZ_dir;
 extern int DZ_temp_cnt;
@@ -372,18 +372,18 @@
 extern int check_vel_pos_fin;
 extern int check_vel_pos_interv;
 extern int valve_gain_repeat_cnt;
-extern double VALVE_VOLTAGE;
+extern float VALVE_VOLTAGE;
 
-extern double freq_fric_tune;
+extern float freq_fric_tune;
 
 extern bool FLAG_VALVE_OUTPUT_CALIB;
 
 extern uint32_t TMR3_COUNT_CAN_TX;
 
-extern double I_REF;
+extern float I_REF;
 extern int TMR3_COUNT_IREF;
-extern double CUR_CURRENT;
-extern double u_CUR[3];
+extern float CUR_CURRENT;
+extern float u_CUR[3];
 
 extern int FINDHOME_STAGE;
 extern int FINDHOME_INIT;
@@ -395,3 +395,5 @@
 
 
 
+
+
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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	23 Aug 2019
Imports:	18
Forks:	0
Commits:	66
Dependents:	0
Dependencies:	3
Followers:	0
Diff: setting.h

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