Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard

asdgas

Dependencies:   mbed Eigen FastPWM

main.cpp@17:1865016ca2e7, 2019-09-03 (annotated)

Committer:
Lightvalve
Date:
Tue Sep 03 11:59:55 2019 +0000
Revision:
17:1865016ca2e7
Parent:
16:903b5a4433b4
Child:
18:b8adf1582ea3
190903

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 11
jobuuu 7:e9086c72bb22 12 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 13 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 14 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 15 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 16 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 17 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 18 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 19 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 20
jobuuu 7:e9086c72bb22 21 // PWM ///////////////////////////////////////////
jobuuu 2:a1c0a37df760 22 double dtc_v=0.0;
jobuuu 2:a1c0a37df760 23 double dtc_w=0.0;
GiJeongKim 0:51c43836c1d7 24
jobuuu 7:e9086c72bb22 25 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 26 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 27 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 28 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 29
jobuuu 7:e9086c72bb22 30 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 31 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 32 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 33 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 34 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 35 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 36 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 37
jobuuu 7:e9086c72bb22 38 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 39 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 43 CANMessage msg;
Lightvalve 11:82d8768d7351 44 void onMsgReceived()
Lightvalve 11:82d8768d7351 45 {
Lightvalve 11:82d8768d7351 46 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 47 }
jobuuu 2:a1c0a37df760 48
jobuuu 7:e9086c72bb22 49 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 50 State pos;
jobuuu 7:e9086c72bb22 51 State vel;
jobuuu 7:e9086c72bb22 52 State Vout;
jobuuu 7:e9086c72bb22 53 State torq;
jobuuu 7:e9086c72bb22 54 State pres_A;
jobuuu 7:e9086c72bb22 55 State pres_B;
jobuuu 7:e9086c72bb22 56 State cur;
Lightvalve 14:8e7590227d22 57 State valve_pos;
Lightvalve 14:8e7590227d22 58
Lightvalve 14:8e7590227d22 59 State INIT_Vout;
Lightvalve 14:8e7590227d22 60 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 61 State INIT_Pos;
Lightvalve 14:8e7590227d22 62 State INIT_torq;
jobuuu 5:a4319f79457b 63
jobuuu 5:a4319f79457b 64 double V_out=0.0;
jobuuu 5:a4319f79457b 65 double V_rem=0.0; // for anti-windup
jobuuu 5:a4319f79457b 66 double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 67
jobuuu 5:a4319f79457b 68 double PWM_out=0.0;
Lightvalve 12:6f2531038ea4 69
Lightvalve 17:1865016ca2e7 70 int timer_while = 0;
Lightvalve 17:1865016ca2e7 71 int while_index = 0;
Lightvalve 17:1865016ca2e7 72
Lightvalve 13:747daba9cf59 73
jobuuu 7:e9086c72bb22 74 // =============================================================================
jobuuu 7:e9086c72bb22 75 // =============================================================================
jobuuu 7:e9086c72bb22 76 // =============================================================================
jobuuu 7:e9086c72bb22 77
Lightvalve 12:6f2531038ea4 78 /*******************************************************************************
Lightvalve 12:6f2531038ea4 79 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 80 ******************************************************************************/
Lightvalve 13:747daba9cf59 81 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 82 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 83 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 84 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 85 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 86 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 87 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 88 };
Lightvalve 12:6f2531038ea4 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * CONTROL MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 94 //control mode
Lightvalve 12:6f2531038ea4 95 MODE_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 96 MODE_VALVE_OPEN_LOOP, //1
Lightvalve 12:6f2531038ea4 97 MODE_VALVE_POSITION_CONTROL, //2
Lightvalve 13:747daba9cf59 98
Lightvalve 12:6f2531038ea4 99 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve 12:6f2531038ea4 100 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 101 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 102
Lightvalve 12:6f2531038ea4 103 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 104 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 105 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 106
Lightvalve 12:6f2531038ea4 107 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 108 MODE_TEST_PWM_CONTROL, //10
Lightvalve 14:8e7590227d22 109
Lightvalve 14:8e7590227d22 110 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 111 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 112 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 113
Lightvalve 12:6f2531038ea4 114 //utility
Lightvalve 12:6f2531038ea4 115 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 116 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 117 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 118 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 119 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 120 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 121 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 122
Lightvalve 12:6f2531038ea4 123 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 124 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 125 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 126 };
Lightvalve 12:6f2531038ea4 127
GiJeongKim 0:51c43836c1d7 128 int main()
GiJeongKim 0:51c43836c1d7 129 {
jobuuu 6:df07d3491e3a 130 /*********************************
jobuuu 1:e04e563be5ce 131 *** Initialization
jobuuu 6:df07d3491e3a 132 *********************************/
Lightvalve 11:82d8768d7351 133 LED = 1;
jobuuu 1:e04e563be5ce 134 pc.baud(9600);
Lightvalve 14:8e7590227d22 135
GiJeongKim 0:51c43836c1d7 136 // i2c init
Lightvalve 8:5d2eebdad025 137 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 138 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 139 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 140 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 141 make_delay();
jobuuu 2:a1c0a37df760 142
GiJeongKim 0:51c43836c1d7 143 // // spi init
Lightvalve 16:903b5a4433b4 144 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 145 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 146 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 147 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 148 make_delay();
Lightvalve 16:903b5a4433b4 149
Lightvalve 16:903b5a4433b4 150 //rom
Lightvalve 16:903b5a4433b4 151
Lightvalve 16:903b5a4433b4 152 ROM_INIT_DATA();
Lightvalve 16:903b5a4433b4 153 make_delay();
Lightvalve 13:747daba9cf59 154
GiJeongKim 0:51c43836c1d7 155 // ADC init
jobuuu 5:a4319f79457b 156 Init_ADC();
Lightvalve 11:82d8768d7351 157 make_delay();
jobuuu 2:a1c0a37df760 158
GiJeongKim 0:51c43836c1d7 159 // Pwm init
GiJeongKim 0:51c43836c1d7 160 Init_PWM();
GiJeongKim 0:51c43836c1d7 161 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 162 make_delay();
Lightvalve 13:747daba9cf59 163
Lightvalve 11:82d8768d7351 164 // TMR3 init
Lightvalve 11:82d8768d7351 165 Init_TMR3();
Lightvalve 11:82d8768d7351 166 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 167 make_delay();
Lightvalve 14:8e7590227d22 168
GiJeongKim 0:51c43836c1d7 169 // CAN
jobuuu 2:a1c0a37df760 170 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 171 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 172 make_delay();
Lightvalve 13:747daba9cf59 173
GiJeongKim 0:51c43836c1d7 174 // spi _ enc
GiJeongKim 0:51c43836c1d7 175 spi_enc_set_init();
Lightvalve 11:82d8768d7351 176 make_delay();
Lightvalve 13:747daba9cf59 177
Lightvalve 11:82d8768d7351 178 //DAC init
Lightvalve 16:903b5a4433b4 179 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 180 //dac_1 = 0.0;
Lightvalve 16:903b5a4433b4 181 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 16:903b5a4433b4 182 //dac_2 = 0.0;
Lightvalve 11:82d8768d7351 183 make_delay();
Lightvalve 13:747daba9cf59 184
Lightvalve 13:747daba9cf59 185 for (int i=0; i<100; i++) {
Lightvalve 11:82d8768d7351 186 if(i%2==0)
Lightvalve 11:82d8768d7351 187 ID_index_array[i] = - i * 0.5;
Lightvalve 11:82d8768d7351 188 else
Lightvalve 11:82d8768d7351 189 ID_index_array[i] = (i+1) * 0.5;
Lightvalve 11:82d8768d7351 190 }
Lightvalve 13:747daba9cf59 191
jobuuu 6:df07d3491e3a 192 /************************************
jobuuu 1:e04e563be5ce 193 *** Program is operating!
jobuuu 6:df07d3491e3a 194 *************************************/
GiJeongKim 0:51c43836c1d7 195 while(1) {
Lightvalve 17:1865016ca2e7 196 if(timer_while==1){
Lightvalve 17:1865016ca2e7 197 //i2c
Lightvalve 17:1865016ca2e7 198 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 199 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 17:1865016ca2e7 200
Lightvalve 17:1865016ca2e7 201 if(LED==1) {
Lightvalve 17:1865016ca2e7 202 LED=0;
Lightvalve 17:1865016ca2e7 203 } else
Lightvalve 17:1865016ca2e7 204 LED = 1;
Lightvalve 17:1865016ca2e7 205 timer_while = 0;
Lightvalve 17:1865016ca2e7 206
Lightvalve 17:1865016ca2e7 207 }
Lightvalve 17:1865016ca2e7 208 timer_while ++;
GiJeongKim 0:51c43836c1d7 209 }
jobuuu 1:e04e563be5ce 210 }
jobuuu 1:e04e563be5ce 211
Lightvalve 14:8e7590227d22 212 int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 213 {
Lightvalve 14:8e7590227d22 214
Lightvalve 13:747daba9cf59 215 int i = 0;
Lightvalve 13:747daba9cf59 216 int Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 217 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 218 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 219 if(i==0) {
Lightvalve 13:747daba9cf59 220 Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 14:8e7590227d22 221 } else {
Lightvalve 13:747daba9cf59 222 Ref_Valve_Pos_FF = ((int) 50.0*(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])) + DDV_CENTER + 50*ID_index_array[i-1];
Lightvalve 13:747daba9cf59 223 }
Lightvalve 13:747daba9cf59 224 break;
Lightvalve 13:747daba9cf59 225 }
Lightvalve 13:747daba9cf59 226 }
Lightvalve 14:8e7590227d22 227 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 228 Ref_Valve_Pos_FF = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 229 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 230 Ref_Valve_Pos_FF = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 231 }
Lightvalve 13:747daba9cf59 232 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 233 }
jobuuu 6:df07d3491e3a 234
jobuuu 6:df07d3491e3a 235
Lightvalve 14:8e7590227d22 236 void VALVE_POS_CONTROL(double REF_VALVE_POS)
Lightvalve 14:8e7590227d22 237 {
Lightvalve 13:747daba9cf59 238 int i = 0;
Lightvalve 13:747daba9cf59 239
Lightvalve 13:747daba9cf59 240 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 241 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 242 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 243 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 244 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 245 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 246
Lightvalve 13:747daba9cf59 247 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 248
Lightvalve 14:8e7590227d22 249 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 250 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 251 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 252 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 253 }
Lightvalve 14:8e7590227d22 254
Lightvalve 14:8e7590227d22 255 for(i=0; i<16; i++) {
Lightvalve 14:8e7590227d22 256 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 257 if(i==0) {
Lightvalve 13:747daba9cf59 258 VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 259 } else {
Lightvalve 13:747daba9cf59 260 VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1];
Lightvalve 13:747daba9cf59 261 }
Lightvalve 13:747daba9cf59 262 break;
Lightvalve 13:747daba9cf59 263 }
Lightvalve 13:747daba9cf59 264 }
Lightvalve 14:8e7590227d22 265 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 266 }
Lightvalve 13:747daba9cf59 267
Lightvalve 14:8e7590227d22 268 #define LT_MAX_IDX 57
Lightvalve 14:8e7590227d22 269 double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0,
Lightvalve 14:8e7590227d22 270 -19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
Lightvalve 14:8e7590227d22 271 -9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
Lightvalve 14:8e7590227d22 272 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
Lightvalve 14:8e7590227d22 273 11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
Lightvalve 14:8e7590227d22 274 25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
Lightvalve 14:8e7590227d22 275 }; // duty
Lightvalve 14:8e7590227d22 276 double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8,
Lightvalve 14:8e7590227d22 277 -196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
Lightvalve 14:8e7590227d22 278 -156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
Lightvalve 14:8e7590227d22 279 12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
Lightvalve 14:8e7590227d22 280 173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
Lightvalve 14:8e7590227d22 281 214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
Lightvalve 14:8e7590227d22 282 }; // mV
Lightvalve 13:747daba9cf59 283
Lightvalve 14:8e7590227d22 284 double PWM_duty_byLT(double Ref_V)
Lightvalve 14:8e7590227d22 285 {
Lightvalve 13:747daba9cf59 286 double PWM_duty = 0.0;
Lightvalve 13:747daba9cf59 287 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 13:747daba9cf59 288 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 289 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 13:747daba9cf59 290 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 291 } else {
Lightvalve 13:747daba9cf59 292 int idx = 0;
Lightvalve 13:747daba9cf59 293 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 13:747daba9cf59 294 double ini_x = LT_Voltage_Output[idx];
Lightvalve 13:747daba9cf59 295 double fin_x = LT_Voltage_Output[idx+1];
Lightvalve 13:747daba9cf59 296 double ini_y = LT_PWM_duty[idx];
Lightvalve 13:747daba9cf59 297 double fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 298 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 299 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 300 break;
Lightvalve 13:747daba9cf59 301 }
Lightvalve 13:747daba9cf59 302 }
Lightvalve 13:747daba9cf59 303 }
Lightvalve 14:8e7590227d22 304
Lightvalve 13:747daba9cf59 305 return PWM_duty;
Lightvalve 13:747daba9cf59 306 }
jobuuu 6:df07d3491e3a 307
jobuuu 2:a1c0a37df760 308 /*******************************************************************************
jobuuu 2:a1c0a37df760 309 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 310 *******************************************************************************/
jobuuu 2:a1c0a37df760 311
jobuuu 2:a1c0a37df760 312 unsigned long CNT_TMR4 = 0;
Lightvalve 17:1865016ca2e7 313 double FREQ_TMR4 = (double)FREQ_10k;
Lightvalve 17:1865016ca2e7 314 double DT_TMR4 = (double)DT_10k;
jobuuu 1:e04e563be5ce 315 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 316 {
jobuuu 2:a1c0a37df760 317 if ( TIM4->SR & TIM_SR_UIF ) {
jobuuu 1:e04e563be5ce 318 /*******************************************************
Lightvalve 13:747daba9cf59 319 *** Sensor Read & Data Handling
jobuuu 1:e04e563be5ce 320 ********************************************************/
Lightvalve 13:747daba9cf59 321
Lightvalve 17:1865016ca2e7 322
Lightvalve 17:1865016ca2e7 323 //Using LoadCell
Lightvalve 15:bd0d12728506 324 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 325 // //while((ADC1->SR & 0b10));
Lightvalve 15:bd0d12728506 326 // double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 15:bd0d12728506 327 // double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
Lightvalve 15:bd0d12728506 328 // torq.sen = torq.sen*(1.0-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 329
Lightvalve 17:1865016ca2e7 330 //Pressure sensor A
Lightvalve 17:1865016ca2e7 331 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 17:1865016ca2e7 332 //while((ADC1->SR & 0b10));
Lightvalve 17:1865016ca2e7 333 double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 17:1865016ca2e7 334 double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 17:1865016ca2e7 335 pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 17:1865016ca2e7 336
Lightvalve 17:1865016ca2e7 337 //Pressure sensor 1B
Lightvalve 17:1865016ca2e7 338 //ADC2->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 17:1865016ca2e7 339 //while((ADC2->SR & 0b10));
Lightvalve 17:1865016ca2e7 340 double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 17:1865016ca2e7 341 double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 17:1865016ca2e7 342 pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 17:1865016ca2e7 343 torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 344
Lightvalve 17:1865016ca2e7 345
Lightvalve 17:1865016ca2e7 346
Lightvalve 17:1865016ca2e7 347 //Current
Lightvalve 17:1865016ca2e7 348 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 349 // a1=ADC2->DR;
Lightvalve 17:1865016ca2e7 350 int raw_cur = ADC3->DR;
Lightvalve 17:1865016ca2e7 351 //while((ADC3->SR & 0b10));
Lightvalve 17:1865016ca2e7 352 double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
Lightvalve 17:1865016ca2e7 353 double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
Lightvalve 17:1865016ca2e7 354 cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 17:1865016ca2e7 355 cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 356
Lightvalve 17:1865016ca2e7 357
jobuuu 1:e04e563be5ce 358
Lightvalve 11:82d8768d7351 359 /*******************************************************
Lightvalve 11:82d8768d7351 360 *** Timer Counting & etc.
Lightvalve 11:82d8768d7351 361 ********************************************************/
Lightvalve 13:747daba9cf59 362 CNT_TMR4++;
Lightvalve 11:82d8768d7351 363 }
Lightvalve 11:82d8768d7351 364 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 365 }
Lightvalve 11:82d8768d7351 366
Lightvalve 11:82d8768d7351 367 unsigned long CNT_TMR3 = 0;
Lightvalve 11:82d8768d7351 368 double FREQ_TMR3 = (double)FREQ_5k;
Lightvalve 11:82d8768d7351 369 double DT_TMR3 = (double)DT_5k;
Lightvalve 11:82d8768d7351 370 extern "C" void TIM3_IRQHandler(void)
Lightvalve 11:82d8768d7351 371 {
Lightvalve 11:82d8768d7351 372 if ( TIM3->SR & TIM_SR_UIF ) {
Lightvalve 14:8e7590227d22 373
Lightvalve 12:6f2531038ea4 374 ENC_UPDATE();
Lightvalve 13:747daba9cf59 375
Lightvalve 14:8e7590227d22 376 /*
Lightvalve 13:747daba9cf59 377 // Reference Loop
Lightvalve 12:6f2531038ea4 378 switch (REFERENCE_MODE) {
Lightvalve 13:747daba9cf59 379 case MODE_REF_NO_ACT: {
Lightvalve 12:6f2531038ea4 380 break;
Lightvalve 12:6f2531038ea4 381 }
Lightvalve 13:747daba9cf59 382 case MODE_REF_DIRECT: {
Lightvalve 12:6f2531038ea4 383 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 384 Vout.ref = (double) Vout.ref;
Lightvalve 12:6f2531038ea4 385 }
Lightvalve 12:6f2531038ea4 386 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 387 valve_pos.ref = (double) valve_pos.ref;
Lightvalve 12:6f2531038ea4 388 }
Lightvalve 12:6f2531038ea4 389 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 390 pos.ref = (double) pos.ref;
Lightvalve 14:8e7590227d22 391 vel.ref = (double) vel.ref;
Lightvalve 12:6f2531038ea4 392 }
Lightvalve 12:6f2531038ea4 393 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 394 torq.ref = (double) torq.ref;
Lightvalve 14:8e7590227d22 395 }
Lightvalve 14:8e7590227d22 396 if (FLAG_REFERENCE_CURRENT) {
Lightvalve 14:8e7590227d22 397 cur.ref = ((double)cur.ref);
Lightvalve 12:6f2531038ea4 398 }
Lightvalve 12:6f2531038ea4 399 break;
Lightvalve 12:6f2531038ea4 400 }
Lightvalve 14:8e7590227d22 401
Lightvalve 13:747daba9cf59 402 case MODE_REF_COS_INC: {
Lightvalve 12:6f2531038ea4 403 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 404 Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Vout.ref;
Lightvalve 12:6f2531038ea4 405 }
Lightvalve 12:6f2531038ea4 406 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 407 valve_pos.ref = ((double) valve_pos.ref - (double) INIT_Valve_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Valve_Pos.ref;
Lightvalve 12:6f2531038ea4 408 }
Lightvalve 12:6f2531038ea4 409 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 410 pos.ref = ((double) pos.ref - (double) INIT_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Pos.ref;
Lightvalve 14:8e7590227d22 411 vel.ref = 0.0;
Lightvalve 12:6f2531038ea4 412 }
Lightvalve 12:6f2531038ea4 413 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 414 torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_torq.ref;
Lightvalve 12:6f2531038ea4 415 }
Lightvalve 14:8e7590227d22 416 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 417 if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
Lightvalve 14:8e7590227d22 418 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 419 TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
Lightvalve 14:8e7590227d22 420 //TMR3_COUNT_REFERENCE = 0;
Lightvalve 12:6f2531038ea4 421 }
Lightvalve 12:6f2531038ea4 422 break;
Lightvalve 12:6f2531038ea4 423 }
Lightvalve 13:747daba9cf59 424
Lightvalve 13:747daba9cf59 425
Lightvalve 13:747daba9cf59 426 case MODE_REF_LINE_INC: {
Lightvalve 12:6f2531038ea4 427 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 428 Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_Vout.ref;
Lightvalve 12:6f2531038ea4 429 }
Lightvalve 12:6f2531038ea4 430 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 431 valve_pos.ref = ((double) valve_pos.ref - (double) INIT_valve_pos.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_valve_pos.ref;
Lightvalve 12:6f2531038ea4 432 }
Lightvalve 12:6f2531038ea4 433 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 434 pos.ref = ((double) pos.ref - (double) INIT_REF_POS)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_POS;
Lightvalve 14:8e7590227d22 435 vel.ref = ((double) pos.ref - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k; // pulse/sec
Lightvalve 12:6f2531038ea4 436 }
Lightvalve 12:6f2531038ea4 437 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 438 torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_torq.ref;
Lightvalve 12:6f2531038ea4 439 }
Lightvalve 14:8e7590227d22 440 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 441 if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
Lightvalve 12:6f2531038ea4 442 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 443 TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
Lightvalve 14:8e7590227d22 444 //TMR3_COUNT_REFERENCE = 0;
Lightvalve 12:6f2531038ea4 445 }
Lightvalve 12:6f2531038ea4 446 break;
Lightvalve 12:6f2531038ea4 447 }
Lightvalve 13:747daba9cf59 448
Lightvalve 13:747daba9cf59 449 case MODE_REF_SIN_WAVE: {
Lightvalve 12:6f2531038ea4 450 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 451 Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
Lightvalve 12:6f2531038ea4 452 }
Lightvalve 12:6f2531038ea4 453 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 454 valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
Lightvalve 12:6f2531038ea4 455 }
Lightvalve 12:6f2531038ea4 456 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 457 Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
Lightvalve 12:6f2531038ea4 458 }
Lightvalve 12:6f2531038ea4 459 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 460 Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
Lightvalve 12:6f2531038ea4 461 }
Lightvalve 14:8e7590227d22 462 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 463 if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
Lightvalve 12:6f2531038ea4 464 REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 465 TMR3_COUNT_REFERENCE = 0;
Lightvalve 12:6f2531038ea4 466 }
Lightvalve 12:6f2531038ea4 467 break;
Lightvalve 12:6f2531038ea4 468 }
Lightvalve 13:747daba9cf59 469
Lightvalve 13:747daba9cf59 470 case MODE_REF_SQUARE_WAVE: {
Lightvalve 12:6f2531038ea4 471 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 472 Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
Lightvalve 14:8e7590227d22 473 if (Vout.ref >= Vout.ref) Vout.ref = REF_MAG + Vout.ref;
Lightvalve 14:8e7590227d22 474 else Vout.ref = -REF_MAG + Vout.ref;
Lightvalve 12:6f2531038ea4 475 }
Lightvalve 12:6f2531038ea4 476 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 477 valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
Lightvalve 14:8e7590227d22 478 if (valve_pos.ref >= valve_pos.ref) valve_pos.ref = REF_MAG + valve_pos.ref;
Lightvalve 14:8e7590227d22 479 else valve_pos.ref = -REF_MAG + valve_pos.ref;
Lightvalve 12:6f2531038ea4 480 }
Lightvalve 12:6f2531038ea4 481 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 482 Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
Lightvalve 14:8e7590227d22 483 if (Ref_Joint_Pos >= pos.ref) valve_pos.ref = REF_MAG + pos.ref;
Lightvalve 14:8e7590227d22 484 else Ref_Joint_Pos = -REF_MAG + pos.ref;
Lightvalve 12:6f2531038ea4 485 }
Lightvalve 12:6f2531038ea4 486 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 487 Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
Lightvalve 14:8e7590227d22 488 if (Ref_Joint_Torq >= torq.ref) valve_pos.ref = REF_MAG + torq.ref;
Lightvalve 14:8e7590227d22 489 else Ref_Joint_Torq = -REF_MAG + torq.ref;
Lightvalve 12:6f2531038ea4 490 }
Lightvalve 14:8e7590227d22 491 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 492 if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
Lightvalve 14:8e7590227d22 493 REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 494 TMR3_COUNT_REFERENCE = 0;
Lightvalve 14:8e7590227d22 495 }
Lightvalve 13:747daba9cf59 496 break;
Lightvalve 13:747daba9cf59 497 }
Lightvalve 13:747daba9cf59 498
Lightvalve 14:8e7590227d22 499 default:
Lightvalve 14:8e7590227d22 500 break;
Lightvalve 14:8e7590227d22 501 }
Lightvalve 14:8e7590227d22 502
Lightvalve 14:8e7590227d22 503 */
Lightvalve 14:8e7590227d22 504
Lightvalve 14:8e7590227d22 505 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 17:1865016ca2e7 506
Lightvalve 14:8e7590227d22 507 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 508 case MODE_NO_ACT: {
Lightvalve 14:8e7590227d22 509 V_out = 0;
Lightvalve 13:747daba9cf59 510 break;
Lightvalve 13:747daba9cf59 511 }
Lightvalve 14:8e7590227d22 512
Lightvalve 14:8e7590227d22 513 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 14:8e7590227d22 514 V_out = Vout.ref;
Lightvalve 14:8e7590227d22 515 break;
Lightvalve 14:8e7590227d22 516 }
Lightvalve 14:8e7590227d22 517
Lightvalve 14:8e7590227d22 518 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 519 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 520 break;
Lightvalve 14:8e7590227d22 521 }
Lightvalve 14:8e7590227d22 522
Lightvalve 14:8e7590227d22 523 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 13:747daba9cf59 524 double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
Lightvalve 13:747daba9cf59 525 double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
Lightvalve 13:747daba9cf59 526 double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 527
Lightvalve 13:747daba9cf59 528 // feedback input for position control
Lightvalve 14:8e7590227d22 529 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 530 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 531 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 532 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 533 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 534 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 535 // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 14:8e7590227d22 536 PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 13:747daba9cf59 537 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 538
Lightvalve 13:747daba9cf59 539 // feedforward input for position control
Lightvalve 14:8e7590227d22 540 double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 13:747daba9cf59 541 double K_ff = 0.9;
Lightvalve 14:8e7590227d22 542 if(Ref_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 543 if(Ref_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 544 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 545
Lightvalve 13:747daba9cf59 546 // torque feedback
Lightvalve 15:bd0d12728506 547 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 548 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 549 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 550 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 551 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 552 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 553 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 554 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 15:bd0d12728506 555
Lightvalve 13:747daba9cf59 556 PWM_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 557
Lightvalve 14:8e7590227d22 558 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 559
Lightvalve 13:747daba9cf59 560 break;
Lightvalve 13:747daba9cf59 561 }
Lightvalve 14:8e7590227d22 562
Lightvalve 14:8e7590227d22 563 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 13:747daba9cf59 564 double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
Lightvalve 13:747daba9cf59 565 double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
Lightvalve 13:747daba9cf59 566 double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
Lightvalve 13:747daba9cf59 567 int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 568 // feedback input for position control
Lightvalve 14:8e7590227d22 569 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 570 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 571 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 572 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 573 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 574 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 575 VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 13:747daba9cf59 576 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 577
Lightvalve 14:8e7590227d22 578
Lightvalve 13:747daba9cf59 579 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 580 // feedforward input for position control
Lightvalve 14:8e7590227d22 581 // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 582 // double K_ff = 0.9;
Lightvalve 14:8e7590227d22 583 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 584 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 585 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 586
Lightvalve 13:747daba9cf59 587 // torque feedback
Lightvalve 15:bd0d12728506 588 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 589 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 590 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 591 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 592 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 593 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 594 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 595 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 13:747daba9cf59 596 VALVE_POS_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 597
Lightvalve 14:8e7590227d22 598 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 599 //valve_pos.ref = DDV_JOINT_POS_FF(Ref_Joint_Vel);
Lightvalve 14:8e7590227d22 600
Lightvalve 14:8e7590227d22 601 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 602 break;
Lightvalve 13:747daba9cf59 603 }
Lightvalve 14:8e7590227d22 604
Lightvalve 14:8e7590227d22 605 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 606
Lightvalve 13:747daba9cf59 607 break;
Lightvalve 13:747daba9cf59 608 }
Lightvalve 14:8e7590227d22 609
Lightvalve 14:8e7590227d22 610 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 14:8e7590227d22 611 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 612 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 613 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 614 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 615 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 616 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 617 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 618
Lightvalve 14:8e7590227d22 619 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 620 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 621 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 622 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 623 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 624 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 625 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 626
Lightvalve 13:747daba9cf59 627 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 14:8e7590227d22 628
Lightvalve 14:8e7590227d22 629 V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 630
Lightvalve 13:747daba9cf59 631 CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
Lightvalve 13:747daba9cf59 632 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 633 if (DIR_VALVE > 0) {
Lightvalve 13:747daba9cf59 634 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 635 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 636 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 637 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 638 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 639 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 640 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
Lightvalve 13:747daba9cf59 641 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
Lightvalve 13:747daba9cf59 642 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
Lightvalve 13:747daba9cf59 643 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
Lightvalve 13:747daba9cf59 644 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
Lightvalve 13:747daba9cf59 645 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 646 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 647 } else {
Lightvalve 13:747daba9cf59 648 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 649 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 650 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 651 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 652 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 653 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 654 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
Lightvalve 13:747daba9cf59 655 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
Lightvalve 13:747daba9cf59 656 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
Lightvalve 13:747daba9cf59 657 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
Lightvalve 13:747daba9cf59 658 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
Lightvalve 13:747daba9cf59 659 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 660 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 661 }
Lightvalve 13:747daba9cf59 662 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
Lightvalve 14:8e7590227d22 663
Lightvalve 13:747daba9cf59 664 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
Lightvalve 13:747daba9cf59 665 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
Lightvalve 14:8e7590227d22 666
Lightvalve 14:8e7590227d22 667 V_out = V_out + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
Lightvalve 14:8e7590227d22 668 break;
Lightvalve 14:8e7590227d22 669 }
Lightvalve 14:8e7590227d22 670
Lightvalve 14:8e7590227d22 671 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 14:8e7590227d22 672 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 673 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 674 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 675 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 676 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 677 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 678 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 679
Lightvalve 15:bd0d12728506 680 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 681 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 682 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 683 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 684 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 685 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 686 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 687
Lightvalve 14:8e7590227d22 688 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 689 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 690
Lightvalve 14:8e7590227d22 691 break;
Lightvalve 14:8e7590227d22 692 }
Lightvalve 14:8e7590227d22 693
Lightvalve 14:8e7590227d22 694 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 695
Lightvalve 14:8e7590227d22 696 break;
Lightvalve 14:8e7590227d22 697 }
Lightvalve 14:8e7590227d22 698
Lightvalve 14:8e7590227d22 699
Lightvalve 14:8e7590227d22 700 case MODE_TEST_CURRENT_CONTROL:
Lightvalve 14:8e7590227d22 701 {
Lightvalve 14:8e7590227d22 702 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 703 TMR3_COUNT_IREF = 0;
Lightvalve 14:8e7590227d22 704 } TMR3_COUNT_IREF++;
Lightvalve 14:8e7590227d22 705
Lightvalve 14:8e7590227d22 706 // Set Current Reference
Lightvalve 14:8e7590227d22 707 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 14:8e7590227d22 708 double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 709 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 710 I_REF = I_REF_MID + 1.0;
Lightvalve 14:8e7590227d22 711 } else {
Lightvalve 14:8e7590227d22 712 I_REF = I_REF_MID - 1.0;
Lightvalve 14:8e7590227d22 713 }
Lightvalve 14:8e7590227d22 714 // double T = 1.0; // wave period
Lightvalve 14:8e7590227d22 715 // I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
Lightvalve 14:8e7590227d22 716 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 14:8e7590227d22 717
Lightvalve 14:8e7590227d22 718 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 14:8e7590227d22 719 CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 720 }
Lightvalve 14:8e7590227d22 721 break;
Lightvalve 14:8e7590227d22 722 }
Lightvalve 14:8e7590227d22 723
Lightvalve 14:8e7590227d22 724 case MODE_TEST_PWM_CONTROL:
Lightvalve 14:8e7590227d22 725 {
Lightvalve 14:8e7590227d22 726 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 727 TMR3_COUNT_IREF = 0;
Lightvalve 14:8e7590227d22 728 } TMR3_COUNT_IREF++;
Lightvalve 14:8e7590227d22 729
Lightvalve 14:8e7590227d22 730 // Set PWM reference
Lightvalve 14:8e7590227d22 731 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 14:8e7590227d22 732 double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 733 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 734 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 735 } else {
Lightvalve 14:8e7590227d22 736 CUR_PWM = -1000;
Lightvalve 14:8e7590227d22 737 }
Lightvalve 14:8e7590227d22 738
Lightvalve 14:8e7590227d22 739 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 14:8e7590227d22 740 CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 741 }
Lightvalve 13:747daba9cf59 742 break;
Lightvalve 13:747daba9cf59 743 }
Lightvalve 13:747daba9cf59 744
Lightvalve 14:8e7590227d22 745
Lightvalve 14:8e7590227d22 746 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 747
Lightvalve 14:8e7590227d22 748 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 749 CurrentControl();
Lightvalve 14:8e7590227d22 750 break;
Lightvalve 14:8e7590227d22 751 }
Lightvalve 14:8e7590227d22 752
Lightvalve 14:8e7590227d22 753 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 14:8e7590227d22 754 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 755 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 756 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 757 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 14:8e7590227d22 758
Lightvalve 14:8e7590227d22 759 // feedback input for position control
Lightvalve 14:8e7590227d22 760 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 761 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 762 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 763 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 764 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 765 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 14:8e7590227d22 766
Lightvalve 14:8e7590227d22 767 // feedforward input for position control
Lightvalve 14:8e7590227d22 768 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 769 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 770 double K_v = 0.0;
Lightvalve 14:8e7590227d22 771 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 772 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 773 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 13:747daba9cf59 774
Lightvalve 14:8e7590227d22 775 // feedback input for position control
Lightvalve 14:8e7590227d22 776 I_REF_FORCE_FB = 0.0;
Lightvalve 13:747daba9cf59 777
Lightvalve 14:8e7590227d22 778 // feedforward input for position control
Lightvalve 14:8e7590227d22 779 I_REF_FORCE_FF = 0.0;
Lightvalve 14:8e7590227d22 780
Lightvalve 14:8e7590227d22 781 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 13:747daba9cf59 782
Lightvalve 14:8e7590227d22 783 CurrentControl();
Lightvalve 13:747daba9cf59 784
Lightvalve 13:747daba9cf59 785 break;
Lightvalve 13:747daba9cf59 786 }
Lightvalve 13:747daba9cf59 787
Lightvalve 14:8e7590227d22 788 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 14:8e7590227d22 789 double T_REF = 0.0; // Torque Reference
Lightvalve 14:8e7590227d22 790 double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 791 double I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 14:8e7590227d22 792
Lightvalve 14:8e7590227d22 793 // feedback input for position control
Lightvalve 14:8e7590227d22 794 double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 795 double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 796 double K_spring = 0.7;
Lightvalve 14:8e7590227d22 797 double D_damper = 0.02;
Lightvalve 14:8e7590227d22 798 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 14:8e7590227d22 799
Lightvalve 14:8e7590227d22 800 // torque feedback
Lightvalve 15:bd0d12728506 801 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 802 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 803 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 804 torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 805 I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 14:8e7590227d22 806
Lightvalve 14:8e7590227d22 807 // velocity compensation for torque control
Lightvalve 14:8e7590227d22 808 double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 809 double K_vc = 1.5; // Velocity comp. gain
Lightvalve 14:8e7590227d22 810 double K_v = 0.0; // Valve gain
Lightvalve 14:8e7590227d22 811 if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
Lightvalve 14:8e7590227d22 812 if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
Lightvalve 14:8e7590227d22 813 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 13:747daba9cf59 814
Lightvalve 14:8e7590227d22 815 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 14:8e7590227d22 816 // cur.ref = I_REF_FORCE_FB;
Lightvalve 14:8e7590227d22 817
Lightvalve 14:8e7590227d22 818 double I_MAX = 10.00; // Maximum Current : 10mV
Lightvalve 14:8e7590227d22 819 double Ka = 1.0/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 820 if(cur.ref > I_MAX) {
Lightvalve 14:8e7590227d22 821 double I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 822 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 823 cur.ref = I_MAX;
Lightvalve 14:8e7590227d22 824 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 825 } else if(cur.ref < -I_MAX) {
Lightvalve 14:8e7590227d22 826 double I_rem = cur.ref-(-I_MAX);
Lightvalve 14:8e7590227d22 827 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 828 cur.ref = -I_MAX;
Lightvalve 14:8e7590227d22 829 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 830 }
Lightvalve 14:8e7590227d22 831
Lightvalve 14:8e7590227d22 832 CurrentControl();
Lightvalve 14:8e7590227d22 833
Lightvalve 14:8e7590227d22 834
Lightvalve 14:8e7590227d22 835 /*
Lightvalve 14:8e7590227d22 836 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 837 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 838 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 839 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 14:8e7590227d22 840
Lightvalve 14:8e7590227d22 841 // feedback input for position control
Lightvalve 14:8e7590227d22 842 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 843 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 844 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 845 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 846 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 847 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 14:8e7590227d22 848
Lightvalve 14:8e7590227d22 849 // feedforward input for position control
Lightvalve 14:8e7590227d22 850 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 851 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 852 double K_v = 0.0;
Lightvalve 14:8e7590227d22 853 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 854 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 855 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 14:8e7590227d22 856
Lightvalve 14:8e7590227d22 857 // feedback input for position control
Lightvalve 14:8e7590227d22 858 I_REF_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 859
Lightvalve 14:8e7590227d22 860 // feedforward input for position control
Lightvalve 14:8e7590227d22 861 I_REF_FORCE_FF = 0.0;
Lightvalve 14:8e7590227d22 862
Lightvalve 14:8e7590227d22 863 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 14:8e7590227d22 864
Lightvalve 14:8e7590227d22 865 CurrentControl();
Lightvalve 14:8e7590227d22 866 */
Lightvalve 14:8e7590227d22 867
Lightvalve 13:747daba9cf59 868 break;
Lightvalve 13:747daba9cf59 869 }
Lightvalve 14:8e7590227d22 870
Lightvalve 14:8e7590227d22 871 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 872 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 873 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 874 CUR_TORQUE_sum += torq.sen;
Lightvalve 15:bd0d12728506 875
Lightvalve 14:8e7590227d22 876 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 877 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
Lightvalve 13:747daba9cf59 878 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 879
Lightvalve 13:747daba9cf59 880 TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve 15:bd0d12728506 881
Lightvalve 13:747daba9cf59 882 if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
Lightvalve 13:747daba9cf59 883 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 16:903b5a4433b4 884
Lightvalve 16:903b5a4433b4 885 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 886
Lightvalve 16:903b5a4433b4 887 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 16:903b5a4433b4 888 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 13:747daba9cf59 889 }
Lightvalve 13:747daba9cf59 890 } else {
Lightvalve 13:747daba9cf59 891 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 892 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 893 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 894 CUR_TORQUE_mean = 0;
Lightvalve 16:903b5a4433b4 895
Lightvalve 16:903b5a4433b4 896 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 897
Lightvalve 16:903b5a4433b4 898 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 15:bd0d12728506 899
Lightvalve 17:1865016ca2e7 900 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 16:903b5a4433b4 901 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 14:8e7590227d22 902
Lightvalve 13:747daba9cf59 903 }
Lightvalve 14:8e7590227d22 904 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 905 break;
Lightvalve 14:8e7590227d22 906 }
Lightvalve 14:8e7590227d22 907
Lightvalve 14:8e7590227d22 908 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 909 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 910 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 911 else temp_time = 0;
Lightvalve 13:747daba9cf59 912 }
Lightvalve 13:747daba9cf59 913 if (need_enc_init) {
Lightvalve 14:8e7590227d22 914 if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 915 VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 916 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 917 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 918 VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 919 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 920 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 921 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 922 }
Lightvalve 14:8e7590227d22 923
Lightvalve 14:8e7590227d22 924 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 925 VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 926 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 927
Lightvalve 14:8e7590227d22 928 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
Lightvalve 13:747daba9cf59 929 VALVE_PWM_RAW = 0;
Lightvalve 13:747daba9cf59 930 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 931 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 932 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 933 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 934 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 935 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 936 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 937 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 938 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 939
Lightvalve 13:747daba9cf59 940 // Position of Dead Zone
Lightvalve 13:747daba9cf59 941 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 942 // | / | / |/
Lightvalve 13:747daba9cf59 943 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 944 // |/ / | / |
Lightvalve 13:747daba9cf59 945 // /| / | / |
Lightvalve 13:747daba9cf59 946 // 0V 0V 0V
Lightvalve 14:8e7590227d22 947
Lightvalve 13:747daba9cf59 948 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 949 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 950 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 951 } else {
Lightvalve 13:747daba9cf59 952 VALVE_PWM_RAW -= DZ_dir;
Lightvalve 13:747daba9cf59 953 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 954 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 955 }
Lightvalve 13:747daba9cf59 956 if (DZ_temp_cnt == 5) {
Lightvalve 13:747daba9cf59 957 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW;
Lightvalve 13:747daba9cf59 958 else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW;
Lightvalve 13:747daba9cf59 959 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 960 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 961 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 962 }
Lightvalve 13:747daba9cf59 963 } else {
Lightvalve 14:8e7590227d22 964 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 965 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 966 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 967 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 968 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 969 }
Lightvalve 13:747daba9cf59 970 VALVE_PWM_RAW = 0;
Lightvalve 16:903b5a4433b4 971
Lightvalve 16:903b5a4433b4 972 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 973
Lightvalve 16:903b5a4433b4 974 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 975 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 976
Lightvalve 13:747daba9cf59 977 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 978 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 979 }
Lightvalve 13:747daba9cf59 980 }
Lightvalve 14:8e7590227d22 981 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 982 break;
Lightvalve 13:747daba9cf59 983 }
Lightvalve 14:8e7590227d22 984
Lightvalve 14:8e7590227d22 985 case MODE_FIND_HOME: {
Lightvalve 14:8e7590227d22 986
Lightvalve 14:8e7590227d22 987
Lightvalve 14:8e7590227d22 988 ////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
Lightvalve 14:8e7590227d22 989 if (FLAG_FIND_HOME == true) {
Lightvalve 14:8e7590227d22 990 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 991 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 992 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 993 pos.ref = pos.sen;
Lightvalve 14:8e7590227d22 994 FLAG_FIND_HOME = false;
Lightvalve 14:8e7590227d22 995 }
Lightvalve 14:8e7590227d22 996
Lightvalve 14:8e7590227d22 997 int check_enc = (TMR_FREQ_5k/10);
Lightvalve 14:8e7590227d22 998 if(cnt_findhome%check_enc == 0) {
Lightvalve 14:8e7590227d22 999 FINDHOME_POSITION = pos.sen;
Lightvalve 14:8e7590227d22 1000 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 14:8e7590227d22 1001 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 14:8e7590227d22 1002 }
Lightvalve 14:8e7590227d22 1003 cnt_findhome++;
Lightvalve 14:8e7590227d22 1004 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1005
Lightvalve 14:8e7590227d22 1006 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 14:8e7590227d22 1007 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 14:8e7590227d22 1008 } else {
Lightvalve 14:8e7590227d22 1009 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1010 }
Lightvalve 14:8e7590227d22 1011
Lightvalve 14:8e7590227d22 1012 if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1013 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 14:8e7590227d22 1014 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
Lightvalve 14:8e7590227d22 1015 else pos.ref = pos.ref - 1.0;
Lightvalve 14:8e7590227d22 1016 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 1017 V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
Lightvalve 14:8e7590227d22 1018 // if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
Lightvalve 14:8e7590227d22 1019 // else VALVE_PWM_RAW = -100;
Lightvalve 14:8e7590227d22 1020 } else {
Lightvalve 14:8e7590227d22 1021 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 14:8e7590227d22 1022 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 14:8e7590227d22 1023 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 14:8e7590227d22 1024 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1025 TMR3_COUNT_REFERENCE = 0;
Lightvalve 14:8e7590227d22 1026 vel.ref = 0.0;
Lightvalve 14:8e7590227d22 1027 //REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 1028 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
Lightvalve 14:8e7590227d22 1029
Lightvalve 14:8e7590227d22 1030 FINDHOME_POSITION = 0;
Lightvalve 14:8e7590227d22 1031 FINDHOME_POSITION_OLD = 0;
Lightvalve 14:8e7590227d22 1032 FINDHOME_VELOCITY = 0;
Lightvalve 14:8e7590227d22 1033 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1034 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1035 }
Lightvalve 14:8e7590227d22 1036
Lightvalve 14:8e7590227d22 1037 /*
Lightvalve 14:8e7590227d22 1038 ////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
Lightvalve 13:747daba9cf59 1039 if (FLAG_FIND_HOME == true) {
Lightvalve 13:747daba9cf59 1040 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1041 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1042 REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 1043 Ref_Joint_Pos = pos.sen;
Lightvalve 13:747daba9cf59 1044 FLAG_FIND_HOME = false;
Lightvalve 13:747daba9cf59 1045 }
Lightvalve 13:747daba9cf59 1046
Lightvalve 14:8e7590227d22 1047 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 14:8e7590227d22 1048 if(cnt_findhome%cnt_check_enc == 0){
Lightvalve 14:8e7590227d22 1049 FINDHOME_POSITION = pos.sen;
Lightvalve 13:747daba9cf59 1050 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 1051 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 1052 } cnt_findhome++;
Lightvalve 13:747daba9cf59 1053 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1054
Lightvalve 13:747daba9cf59 1055 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 13:747daba9cf59 1056 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 13:747daba9cf59 1057 } else {
Lightvalve 13:747daba9cf59 1058 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1059 }
Lightvalve 13:747daba9cf59 1060
Lightvalve 14:8e7590227d22 1061 if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 13:747daba9cf59 1062 REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 13:747daba9cf59 1063 if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
Lightvalve 13:747daba9cf59 1064 else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
Lightvalve 14:8e7590227d22 1065 pos.err = Ref_Joint_Pos - pos.sen;
Lightvalve 14:8e7590227d22 1066 I_REF = 0.001*((double)pos.err);
Lightvalve 14:8e7590227d22 1067 if(I_REF>5.0) I_REF = 5.0;
Lightvalve 14:8e7590227d22 1068 if(I_REF<-5.0) I_REF = -5.0;
Lightvalve 14:8e7590227d22 1069 cur.ref = I_REF;
Lightvalve 14:8e7590227d22 1070 CurrentControl();
Lightvalve 13:747daba9cf59 1071 } else {
Lightvalve 13:747daba9cf59 1072 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 13:747daba9cf59 1073 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 13:747daba9cf59 1074 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 13:747daba9cf59 1075 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1076 TMR3_COUNT_REFERENCE = 0;
Lightvalve 13:747daba9cf59 1077 Ref_Joint_Vel = 0.0;
Lightvalve 13:747daba9cf59 1078 REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 1079 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 13:747daba9cf59 1080
Lightvalve 13:747daba9cf59 1081 FINDHOME_POSITION = 0;
Lightvalve 13:747daba9cf59 1082 FINDHOME_POSITION_OLD = 0;
Lightvalve 13:747daba9cf59 1083 FINDHOME_VELOCITY = 0;
Lightvalve 13:747daba9cf59 1084 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1085 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1086 }
Lightvalve 14:8e7590227d22 1087 */
Lightvalve 14:8e7590227d22 1088
Lightvalve 13:747daba9cf59 1089 break;
Lightvalve 13:747daba9cf59 1090 }
Lightvalve 14:8e7590227d22 1091
Lightvalve 14:8e7590227d22 1092 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1093 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1094 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1095 else {
Lightvalve 13:747daba9cf59 1096 VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 13:747daba9cf59 1097 temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1098 }
Lightvalve 13:747daba9cf59 1099 }
Lightvalve 13:747daba9cf59 1100 if (need_enc_init) {
Lightvalve 14:8e7590227d22 1101 if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1102 VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1103 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1104 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1105 VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1106 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1107 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1108 need_enc_init = false;
Lightvalve 13:747daba9cf59 1109 check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1110 check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1111 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1112 }
Lightvalve 13:747daba9cf59 1113 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1114 }
Lightvalve 14:8e7590227d22 1115 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1116 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1117 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 13:747daba9cf59 1118 VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1);
Lightvalve 13:747daba9cf59 1119 VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1120 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1121 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1122 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1123 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 13:747daba9cf59 1124 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 13:747daba9cf59 1125 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1126 }
Lightvalve 13:747daba9cf59 1127 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 13:747daba9cf59 1128 VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
Lightvalve 13:747daba9cf59 1129 VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1130 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1131 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1132 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1133 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 13:747daba9cf59 1134 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 13:747daba9cf59 1135 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1136 }
Lightvalve 13:747daba9cf59 1137 }
Lightvalve 13:747daba9cf59 1138 if (fl_temp_cnt2 == 100) {
Lightvalve 16:903b5a4433b4 1139
Lightvalve 16:903b5a4433b4 1140 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1141
Lightvalve 16:903b5a4433b4 1142 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
Lightvalve 13:747daba9cf59 1143 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1144 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1145 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1146 flag_flowrate++;
Lightvalve 13:747daba9cf59 1147 }
Lightvalve 13:747daba9cf59 1148 if (flag_flowrate == 10) {
Lightvalve 13:747daba9cf59 1149 VALVE_PWM_RAW = 0;
Lightvalve 13:747daba9cf59 1150 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1151 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1152 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1153 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1154 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1155 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1156 }
Lightvalve 14:8e7590227d22 1157
Lightvalve 13:747daba9cf59 1158 }
Lightvalve 13:747daba9cf59 1159 break;
Lightvalve 13:747daba9cf59 1160 }
Lightvalve 14:8e7590227d22 1161
Lightvalve 13:747daba9cf59 1162 }
Lightvalve 14:8e7590227d22 1163
Lightvalve 14:8e7590227d22 1164 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1165 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1166 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1167 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1168 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1169
Lightvalve 14:8e7590227d22 1170 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 1171 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
Lightvalve 13:747daba9cf59 1172 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
Lightvalve 13:747daba9cf59 1173 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1174 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1175
Lightvalve 16:903b5a4433b4 1176 double VREF_NullingGain = 0.003;
Lightvalve 13:747daba9cf59 1177 PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 13:747daba9cf59 1178 PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1179
Lightvalve 13:747daba9cf59 1180 if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
Lightvalve 13:747daba9cf59 1181 if (PRES_A_VREF < 0) PRES_A_VREF = 0;
Lightvalve 13:747daba9cf59 1182 if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
Lightvalve 13:747daba9cf59 1183 if (PRES_B_VREF < 0) PRES_B_VREF = 0;
Lightvalve 16:903b5a4433b4 1184
Lightvalve 16:903b5a4433b4 1185 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 1186 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 13:747daba9cf59 1187 }
Lightvalve 13:747daba9cf59 1188 } else {
Lightvalve 13:747daba9cf59 1189 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1190 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1191 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1192 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1193 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1194 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1195
Lightvalve 16:903b5a4433b4 1196 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1197
Lightvalve 15:bd0d12728506 1198 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 15:bd0d12728506 1199 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 17:1865016ca2e7 1200 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1201 }
Lightvalve 14:8e7590227d22 1202 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1203 break;
Lightvalve 13:747daba9cf59 1204 }
Lightvalve 14:8e7590227d22 1205
Lightvalve 14:8e7590227d22 1206 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1207 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1208 VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
Lightvalve 14:8e7590227d22 1209 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1210 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1211 }
Lightvalve 14:8e7590227d22 1212 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1213 VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
Lightvalve 14:8e7590227d22 1214 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1215 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1216 }
Lightvalve 13:747daba9cf59 1217 } else {
Lightvalve 13:747daba9cf59 1218 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1219 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 13:747daba9cf59 1220 VALVE_PWM_RAW = 0;
Lightvalve 13:747daba9cf59 1221 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL;
Lightvalve 13:747daba9cf59 1222 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
Lightvalve 13:747daba9cf59 1223 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL;
Lightvalve 13:747daba9cf59 1224 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
Lightvalve 13:747daba9cf59 1225 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1226 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1227 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1228 CUR_PRES_B_mean = 0;
Lightvalve 16:903b5a4433b4 1229
Lightvalve 16:903b5a4433b4 1230 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1231
Lightvalve 16:903b5a4433b4 1232 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
Lightvalve 16:903b5a4433b4 1233 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
Lightvalve 13:747daba9cf59 1234 }
Lightvalve 14:8e7590227d22 1235 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1236 break;
Lightvalve 13:747daba9cf59 1237 }
Lightvalve 14:8e7590227d22 1238
Lightvalve 14:8e7590227d22 1239 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 14:8e7590227d22 1240 if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
Lightvalve 17:1865016ca2e7 1241 V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
Lightvalve 17:1865016ca2e7 1242 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL;
Lightvalve 17:1865016ca2e7 1243 else V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1244 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1245 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1246 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 17:1865016ca2e7 1247 V_out = 0;
Lightvalve 13:747daba9cf59 1248 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1249 }
Lightvalve 13:747daba9cf59 1250 break;
Lightvalve 13:747daba9cf59 1251 }
Lightvalve 14:8e7590227d22 1252
Lightvalve 14:8e7590227d22 1253 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1254 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1255
Lightvalve 14:8e7590227d22 1256 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 17:1865016ca2e7 1257 V_out = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100);
Lightvalve 14:8e7590227d22 1258 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 17:1865016ca2e7 1259 V_out = 1000*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1260 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1261 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1262 data_num = 0;
Lightvalve 14:8e7590227d22 1263 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1264 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1265 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1266 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1267 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1268 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1269 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1270 }
Lightvalve 14:8e7590227d22 1271
Lightvalve 17:1865016ca2e7 1272 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1273 int i;
Lightvalve 13:747daba9cf59 1274 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1275 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1276 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 16:903b5a4433b4 1277
Lightvalve 17:1865016ca2e7 1278 //ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1279
Lightvalve 16:903b5a4433b4 1280 //spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
Lightvalve 14:8e7590227d22 1281 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1282 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1283 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1284 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1285 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1286 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1287 }
Lightvalve 13:747daba9cf59 1288 }
Lightvalve 16:903b5a4433b4 1289
Lightvalve 16:903b5a4433b4 1290 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1291
Lightvalve 16:903b5a4433b4 1292 //spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
Lightvalve 16:903b5a4433b4 1293 //spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
Lightvalve 13:747daba9cf59 1294 CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 13:747daba9cf59 1295 ID_index = 0;
Lightvalve 13:747daba9cf59 1296 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1297 }
Lightvalve 14:8e7590227d22 1298
Lightvalve 14:8e7590227d22 1299
Lightvalve 13:747daba9cf59 1300 break;
Lightvalve 13:747daba9cf59 1301 }
Lightvalve 14:8e7590227d22 1302
Lightvalve 14:8e7590227d22 1303 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1304
Lightvalve 13:747daba9cf59 1305 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1306 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1307 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1308 V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1309 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1310 V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1311 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1312 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1313 V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1314 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1315 V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1316 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1317 } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1318 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1319 } else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1320 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1321 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1322 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1323 } else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1324 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1325 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1326 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1327 CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1328 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1329 data_num = 0;
Lightvalve 14:8e7590227d22 1330
Lightvalve 14:8e7590227d22 1331 } else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1332 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1333 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1334 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1335
Lightvalve 14:8e7590227d22 1336 } else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1337 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1338 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1339 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1340 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1341 else
Lightvalve 13:747daba9cf59 1342 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1343 } else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1344 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1345 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1346 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1347 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1348 // {
Lightvalve 14:8e7590227d22 1349 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1350 // }
Lightvalve 14:8e7590227d22 1351 // else
Lightvalve 14:8e7590227d22 1352 // {
Lightvalve 14:8e7590227d22 1353 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1354 // }
Lightvalve 14:8e7590227d22 1355 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1356 // {
Lightvalve 14:8e7590227d22 1357 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1358 // }
Lightvalve 14:8e7590227d22 1359
Lightvalve 14:8e7590227d22 1360 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1361 DZ_case = 1;
Lightvalve 14:8e7590227d22 1362 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1363 DZ_case = -1;
Lightvalve 14:8e7590227d22 1364 } else {
Lightvalve 13:747daba9cf59 1365 DZ_case = 0;
Lightvalve 13:747daba9cf59 1366 }
Lightvalve 14:8e7590227d22 1367
Lightvalve 14:8e7590227d22 1368 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1369 first_check = 1;
Lightvalve 13:747daba9cf59 1370 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1371 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1372 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1373 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1374 DZ_index = 1;
Lightvalve 13:747daba9cf59 1375 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1376
Lightvalve 13:747daba9cf59 1377 }
Lightvalve 14:8e7590227d22 1378 }else {
Lightvalve 14:8e7590227d22 1379 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 14:8e7590227d22 1380 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1381 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1382 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1383 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1384 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1385 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1386 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1387 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1388 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1389 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1390 }
Lightvalve 14:8e7590227d22 1391 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1392 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1393 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1394 else
Lightvalve 13:747daba9cf59 1395 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1396 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1397 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1398 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1399 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1400 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1401 // else
Lightvalve 14:8e7590227d22 1402 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1403 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1404 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1405
Lightvalve 14:8e7590227d22 1406 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1407 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1408 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1409 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1410 } else {
Lightvalve 13:747daba9cf59 1411 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1412 }
Lightvalve 14:8e7590227d22 1413
Lightvalve 14:8e7590227d22 1414 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1415
Lightvalve 13:747daba9cf59 1416 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1417 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1418 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1419 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1420 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1421 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1422 DZ_index = 1;
Lightvalve 13:747daba9cf59 1423 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1424 }
Lightvalve 14:8e7590227d22 1425
Lightvalve 13:747daba9cf59 1426 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1427 }
Lightvalve 14:8e7590227d22 1428 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 14:8e7590227d22 1429 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1430 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1431 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1432 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1433 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1434 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION + 64 / DZ_index;
Lightvalve 14:8e7590227d22 1435 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1436 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1437 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1438 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1439 }
Lightvalve 14:8e7590227d22 1440 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1441 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1442 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1443 else
Lightvalve 13:747daba9cf59 1444 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1445 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1446 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1447 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1448 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1449 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1450 // else
Lightvalve 14:8e7590227d22 1451 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1452 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1453 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1454
Lightvalve 14:8e7590227d22 1455 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1456 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1457 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1458 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1459 } else {
Lightvalve 13:747daba9cf59 1460 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1461 }
Lightvalve 14:8e7590227d22 1462
Lightvalve 14:8e7590227d22 1463 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1464
Lightvalve 14:8e7590227d22 1465
Lightvalve 13:747daba9cf59 1466 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1467 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1468 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1469 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1470 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1471 first_check = 0;
Lightvalve 16:903b5a4433b4 1472
Lightvalve 16:903b5a4433b4 1473 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1474
Lightvalve 16:903b5a4433b4 1475 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 16:903b5a4433b4 1476 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 16:903b5a4433b4 1477 //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
Lightvalve 13:747daba9cf59 1478 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1479 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1480 DZ_index = 1;
Lightvalve 13:747daba9cf59 1481 }
Lightvalve 14:8e7590227d22 1482
Lightvalve 13:747daba9cf59 1483 CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1484 }
Lightvalve 14:8e7590227d22 1485 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 14:8e7590227d22 1486 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1487 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1488 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1489 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1490 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1491 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1492 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1493 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1494 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1495 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1496 }
Lightvalve 14:8e7590227d22 1497 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1498 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1499 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1500 else
Lightvalve 13:747daba9cf59 1501 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1502 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1503 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1504 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1505 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1506 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1507 // else
Lightvalve 14:8e7590227d22 1508 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1509 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1510 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1511
Lightvalve 14:8e7590227d22 1512 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1513 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1514 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1515 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1516 } else {
Lightvalve 13:747daba9cf59 1517 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1518 }
Lightvalve 14:8e7590227d22 1519
Lightvalve 14:8e7590227d22 1520 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1521 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1522 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1523 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1524 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1525 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1526 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1527 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1528 DZ_index = 1;
Lightvalve 13:747daba9cf59 1529 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1530 }
Lightvalve 13:747daba9cf59 1531 }
Lightvalve 14:8e7590227d22 1532 } else {
Lightvalve 14:8e7590227d22 1533 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1534 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1535 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1536 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1537 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1538 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1539 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1540 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1541 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1542 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1543 }
Lightvalve 14:8e7590227d22 1544 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1545 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1546 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1547 else
Lightvalve 13:747daba9cf59 1548 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1549 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1550 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1551 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1552 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1553 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1554 else
Lightvalve 13:747daba9cf59 1555 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1556 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1557 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1558
Lightvalve 14:8e7590227d22 1559 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1560
Lightvalve 14:8e7590227d22 1561
Lightvalve 13:747daba9cf59 1562 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1563 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1564 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1565 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1566 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1567 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1568 first_check = 0;
Lightvalve 13:747daba9cf59 1569 VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve 16:903b5a4433b4 1570
Lightvalve 16:903b5a4433b4 1571 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1572
Lightvalve 16:903b5a4433b4 1573 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 13:747daba9cf59 1574 VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve 16:903b5a4433b4 1575
Lightvalve 16:903b5a4433b4 1576 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1577
Lightvalve 16:903b5a4433b4 1578 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 16:903b5a4433b4 1579 //spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
Lightvalve 13:747daba9cf59 1580 CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1581 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1582 DZ_index = 1;
Lightvalve 13:747daba9cf59 1583 }
Lightvalve 14:8e7590227d22 1584
Lightvalve 13:747daba9cf59 1585 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1586 }
Lightvalve 13:747daba9cf59 1587 }
Lightvalve 14:8e7590227d22 1588 }
Lightvalve 13:747daba9cf59 1589 break;
Lightvalve 13:747daba9cf59 1590 }
Lightvalve 14:8e7590227d22 1591
Lightvalve 14:8e7590227d22 1592 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1593 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1594 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1595 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1596 V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 13:747daba9cf59 1597 CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 14:8e7590227d22 1598 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1599 V_out = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1600 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1601 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 14:8e7590227d22 1602 } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1603 V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1604 } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1605 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 14:8e7590227d22 1606 V_out = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
Lightvalve 14:8e7590227d22 1607 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1608 first_check = 1;
Lightvalve 13:747daba9cf59 1609 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1610 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1611 ID_index = 0;
Lightvalve 13:747daba9cf59 1612 max_check = 0;
Lightvalve 13:747daba9cf59 1613 min_check = 0;
Lightvalve 13:747daba9cf59 1614 }
Lightvalve 14:8e7590227d22 1615 } else {
Lightvalve 14:8e7590227d22 1616 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1617 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1618 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1619 data_num = 0;
Lightvalve 14:8e7590227d22 1620 valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1621
Lightvalve 14:8e7590227d22 1622 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1623 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1624 } else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1625 valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1626 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1627 data_num = data_num + 1;
Lightvalve 14:8e7590227d22 1628 if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000) {
Lightvalve 14:8e7590227d22 1629 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1630 one_period_end = 1;
Lightvalve 13:747daba9cf59 1631 }
Lightvalve 14:8e7590227d22 1632 } else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1633 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1634 one_period_end = 1;
Lightvalve 13:747daba9cf59 1635 }
Lightvalve 14:8e7590227d22 1636
Lightvalve 14:8e7590227d22 1637 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1638 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1639 max_check = 1;
Lightvalve 14:8e7590227d22 1640 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1641 min_check = 1;
Lightvalve 13:747daba9cf59 1642 }
Lightvalve 13:747daba9cf59 1643 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 16:903b5a4433b4 1644
Lightvalve 16:903b5a4433b4 1645 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1646
Lightvalve 16:903b5a4433b4 1647 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1648 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1649 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1650 one_period_end = 0;
Lightvalve 13:747daba9cf59 1651 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1652 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1653 }
Lightvalve 14:8e7590227d22 1654
Lightvalve 14:8e7590227d22 1655 if(max_check == 1 && min_check == 1) {
Lightvalve 16:903b5a4433b4 1656
Lightvalve 16:903b5a4433b4 1657 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1658
Lightvalve 16:903b5a4433b4 1659 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1660 VALVE_POS_NUM = ID_index;
Lightvalve 13:747daba9cf59 1661 ID_index = 0;
Lightvalve 13:747daba9cf59 1662 first_check = 0;
Lightvalve 13:747daba9cf59 1663 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1664 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1665 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1666 }
Lightvalve 13:747daba9cf59 1667 }
Lightvalve 13:747daba9cf59 1668 break;
Lightvalve 13:747daba9cf59 1669 }
Lightvalve 14:8e7590227d22 1670
Lightvalve 12:6f2531038ea4 1671 default:
Lightvalve 12:6f2531038ea4 1672 break;
Lightvalve 12:6f2531038ea4 1673 }
Lightvalve 14:8e7590227d22 1674
Lightvalve 13:747daba9cf59 1675 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1676 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1677 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1678 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1679 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1680 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1681 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1682 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1683 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1684
Lightvalve 14:8e7590227d22 1685 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1686 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1687
Lightvalve 14:8e7590227d22 1688 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1689
Lightvalve 13:747daba9cf59 1690 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 13:747daba9cf59 1691 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV
Lightvalve 13:747daba9cf59 1692 double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1693
Lightvalve 14:8e7590227d22 1694 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1695 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1696 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1697 } else {
Lightvalve 17:1865016ca2e7 1698 V_out = V_out;
Lightvalve 13:747daba9cf59 1699 }
Lightvalve 14:8e7590227d22 1700
Lightvalve 14:8e7590227d22 1701 //VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
Lightvalve 15:bd0d12728506 1702 //PWM_out = CUR_PWM;
Lightvalve 14:8e7590227d22 1703
Lightvalve 14:8e7590227d22 1704
Lightvalve 14:8e7590227d22 1705
Lightvalve 14:8e7590227d22 1706 //CAN ----------------------------------------------------------------------
Lightvalve 14:8e7590227d22 1707 //if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 14:8e7590227d22 1708 if (TMR3_COUNT_CAN_TX % 10 == 0) {
Lightvalve 14:8e7590227d22 1709
Lightvalve 13:747daba9cf59 1710 if (flag_data_request[0] == HIGH) {
Lightvalve 13:747daba9cf59 1711 //position+velocity
Lightvalve 17:1865016ca2e7 1712 CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 14:8e7590227d22 1713 //pc.printf("can good");
Lightvalve 13:747daba9cf59 1714 // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve 13:747daba9cf59 1715 }
Lightvalve 14:8e7590227d22 1716
Lightvalve 13:747daba9cf59 1717 if (flag_data_request[1] == HIGH) {
Lightvalve 13:747daba9cf59 1718 //torque
Lightvalve 13:747daba9cf59 1719 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 17:1865016ca2e7 1720 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 17:1865016ca2e7 1721 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 13:747daba9cf59 1722 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 13:747daba9cf59 1723 }
Lightvalve 14:8e7590227d22 1724
Lightvalve 13:747daba9cf59 1725 if (flag_data_request[2] == HIGH) {
Lightvalve 14:8e7590227d22 1726 //pressure A and B
Lightvalve 14:8e7590227d22 1727 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 15:bd0d12728506 1728 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 13:747daba9cf59 1729 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 13:747daba9cf59 1730 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 13:747daba9cf59 1731 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 14:8e7590227d22 1732
Lightvalve 13:747daba9cf59 1733 }
Lightvalve 14:8e7590227d22 1734
Lightvalve 13:747daba9cf59 1735 if (flag_data_request[3] == HIGH) {
Lightvalve 13:747daba9cf59 1736 //PWM
Lightvalve 13:747daba9cf59 1737 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 13:747daba9cf59 1738 // CAN_TX_PWM((int16_t) (CONTROL_MODE));
Lightvalve 13:747daba9cf59 1739 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 13:747daba9cf59 1740 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 13:747daba9cf59 1741 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 14:8e7590227d22 1742
Lightvalve 13:747daba9cf59 1743 }
Lightvalve 14:8e7590227d22 1744
Lightvalve 13:747daba9cf59 1745 if (flag_data_request[4] == HIGH) {
Lightvalve 13:747daba9cf59 1746 //valve position
Lightvalve 14:8e7590227d22 1747 CAN_TX_VALVE_POSITION((int16_t) (value));
Lightvalve 13:747daba9cf59 1748 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 13:747daba9cf59 1749 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve 14:8e7590227d22 1750
Lightvalve 14:8e7590227d22 1751
Lightvalve 13:747daba9cf59 1752 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 13:747daba9cf59 1753 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE));
Lightvalve 13:747daba9cf59 1754 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 13:747daba9cf59 1755 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 13:747daba9cf59 1756 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 13:747daba9cf59 1757 }
Lightvalve 14:8e7590227d22 1758
Lightvalve 13:747daba9cf59 1759 TMR3_COUNT_CAN_TX = 0;
Lightvalve 14:8e7590227d22 1760
Lightvalve 13:747daba9cf59 1761 }
Lightvalve 13:747daba9cf59 1762 TMR3_COUNT_CAN_TX++;
Lightvalve 14:8e7590227d22 1763
Lightvalve 14:8e7590227d22 1764
Lightvalve 14:8e7590227d22 1765
Lightvalve 13:747daba9cf59 1766
jobuuu 1:e04e563be5ce 1767 /*******************************************************
Lightvalve 13:747daba9cf59 1768 *** Valve Control
jobuuu 1:e04e563be5ce 1769 ********************************************************/
Lightvalve 14:8e7590227d22 1770 //ValveControl(CONTROL_MODE);
Lightvalve 13:747daba9cf59 1771
Lightvalve 14:8e7590227d22 1772 // double t = (double)CNT_TMR4*DT_TMR4;
Lightvalve 14:8e7590227d22 1773 // double T = 1.0;
Lightvalve 14:8e7590227d22 1774 // V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
jobuuu 7:e9086c72bb22 1775 // if(V_out > 0.0) V_out = 1000.0;
Lightvalve 13:747daba9cf59 1776 // else if(V_out < 0.0) V_out = -1000.0;
jobuuu 5:a4319f79457b 1777
Lightvalve 17:1865016ca2e7 1778 //V_out = 2000.0 * sin(2 * 3.14159 * (double) CNT_TMR3 / (double) 5000.0);
Lightvalve 17:1865016ca2e7 1779
jobuuu 7:e9086c72bb22 1780 /*******************************************************
jobuuu 7:e9086c72bb22 1781 *** PWM
jobuuu 7:e9086c72bb22 1782 ********************************************************/
jobuuu 5:a4319f79457b 1783 PWM_out= V_out/12000.0; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1784
jobuuu 2:a1c0a37df760 1785 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1786 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1787 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 17:1865016ca2e7 1788
Lightvalve 17:1865016ca2e7 1789 // Saturation of output voltage to 12.0V
Lightvalve 17:1865016ca2e7 1790 if(PWM_out > 1.0) PWM_out=1.0;
Lightvalve 17:1865016ca2e7 1791 else if (PWM_out < -1.0) PWM_out=-1.0;
Lightvalve 13:747daba9cf59 1792
jobuuu 2:a1c0a37df760 1793 if (PWM_out>0.0) {
jobuuu 2:a1c0a37df760 1794 dtc_v=0.0;
jobuuu 1:e04e563be5ce 1795 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1796 } else {
jobuuu 2:a1c0a37df760 1797 dtc_v=-PWM_out;
jobuuu 2:a1c0a37df760 1798 dtc_w=0.0;
jobuuu 1:e04e563be5ce 1799 }
Lightvalve 13:747daba9cf59 1800
jobuuu 1:e04e563be5ce 1801 //pwm
jobuuu 2:a1c0a37df760 1802 TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
jobuuu 2:a1c0a37df760 1803 TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
Lightvalve 13:747daba9cf59 1804
jobuuu 1:e04e563be5ce 1805 /*******************************************************
jobuuu 2:a1c0a37df760 1806 *** Data Send (CAN) & Print out (UART)
jobuuu 1:e04e563be5ce 1807 ********************************************************/
Lightvalve 14:8e7590227d22 1808 // if((CNT_TMR3%1000)==0){
Lightvalve 11:82d8768d7351 1809 // msg.id = 50;
Lightvalve 11:82d8768d7351 1810 // msg.len = 4;
Lightvalve 11:82d8768d7351 1811 // int temp_CUR = (int)(cur.sen*1000.0);
Lightvalve 11:82d8768d7351 1812 // msg.data[0]=0x00FF&temp_CUR;
Lightvalve 11:82d8768d7351 1813 // msg.data[1]=0x00FF&(temp_CUR>>8);
Lightvalve 11:82d8768d7351 1814 // int temp_PWM = (int)(V_out);
Lightvalve 11:82d8768d7351 1815 // msg.data[2]=0x00FF&temp_PWM;
Lightvalve 11:82d8768d7351 1816 // msg.data[3]=0x00FF&(temp_PWM>>8);
Lightvalve 11:82d8768d7351 1817 // can.write(msg);
Lightvalve 11:82d8768d7351 1818 // }
Lightvalve 11:82d8768d7351 1819
Lightvalve 13:747daba9cf59 1820 if((CNT_TMR3%5000)==0) {
Lightvalve 17:1865016ca2e7 1821 // if(LED==1) {
Lightvalve 17:1865016ca2e7 1822 // LED=0;
Lightvalve 17:1865016ca2e7 1823 // } else
Lightvalve 17:1865016ca2e7 1824 // LED = 1;
Lightvalve 11:82d8768d7351 1825 // LED != LED;
Lightvalve 15:bd0d12728506 1826 // pc.printf("A %f\n", (double) pres_A.sen);
Lightvalve 15:bd0d12728506 1827 // pc.printf("A %f\n", PRES_SENSOR_A_PULSE_PER_BAR);
Lightvalve 15:bd0d12728506 1828 // pc.printf("B %f\n", (double) pres_B.sen);
Lightvalve 15:bd0d12728506 1829 // pc.printf("B %f\n", PRES_SENSOR_B_PULSE_PER_BAR);
Lightvalve 17:1865016ca2e7 1830 // pc.printf("preAVref %d\n", (int) PRES_A_VREF);
jobuuu 2:a1c0a37df760 1831 }
jobuuu 1:e04e563be5ce 1832
jobuuu 1:e04e563be5ce 1833 /*******************************************************
jobuuu 1:e04e563be5ce 1834 *** Timer Counting & etc.
jobuuu 1:e04e563be5ce 1835 ********************************************************/
Lightvalve 13:747daba9cf59 1836 CNT_TMR3++;
jobuuu 1:e04e563be5ce 1837 }
Lightvalve 17:1865016ca2e7 1838
Lightvalve 11:82d8768d7351 1839 TIM3->SR = 0x0; // reset the status register
Lightvalve 17:1865016ca2e7 1840
jobuuu 7:e9086c72bb22 1841 }
jobuuu 7:e9086c72bb22 1842
Lightvalve 14:8e7590227d22 1843 /*
jobuuu 7:e9086c72bb22 1844 void ValveControl(unsigned int ControlMode)
jobuuu 7:e9086c72bb22 1845 {
jobuuu 7:e9086c72bb22 1846 switch (ControlMode) {
jobuuu 7:e9086c72bb22 1847 case MODE_NO_ACT: // 0
jobuuu 7:e9086c72bb22 1848 V_out = 0.0;
jobuuu 7:e9086c72bb22 1849 break;
jobuuu 7:e9086c72bb22 1850 case MODE_VALVE_OPEN_LOOP: // 1
jobuuu 7:e9086c72bb22 1851 V_out = Vout.ref;
Lightvalve 13:747daba9cf59 1852 break;
jobuuu 7:e9086c72bb22 1853 case MODE_VALVE_POSITION_CONTROL: // 2
jobuuu 7:e9086c72bb22 1854 CurrentControl();
Lightvalve 13:747daba9cf59 1855 break;
jobuuu 7:e9086c72bb22 1856 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3
jobuuu 7:e9086c72bb22 1857 V_out = 0.0;
Lightvalve 13:747daba9cf59 1858 break;
jobuuu 7:e9086c72bb22 1859 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4
jobuuu 7:e9086c72bb22 1860 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
jobuuu 7:e9086c72bb22 1861 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 13:747daba9cf59 1862
jobuuu 7:e9086c72bb22 1863 // feedback input for position control
jobuuu 7:e9086c72bb22 1864 pos.err = pos.ref - pos.sen;
jobuuu 7:e9086c72bb22 1865 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
jobuuu 7:e9086c72bb22 1866 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
jobuuu 7:e9086c72bb22 1867 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
jobuuu 7:e9086c72bb22 1868 pos.err_old = pos.err;
jobuuu 7:e9086c72bb22 1869 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 13:747daba9cf59 1870
jobuuu 7:e9086c72bb22 1871 // feedforward input for position control
Lightvalve 13:747daba9cf59 1872 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
jobuuu 7:e9086c72bb22 1873 double K_ff = 1.3;
jobuuu 7:e9086c72bb22 1874 double K_v = 0.0;
jobuuu 7:e9086c72bb22 1875 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 13:747daba9cf59 1876 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
jobuuu 7:e9086c72bb22 1877 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 13:747daba9cf59 1878
jobuuu 7:e9086c72bb22 1879 cur.ref = I_REF_POS_FF + I_REF_POS_FB;
Lightvalve 13:747daba9cf59 1880 break;
jobuuu 7:e9086c72bb22 1881 case MODE_TEST_CURRENT_CONTROL: // 9
jobuuu 7:e9086c72bb22 1882 V_out = 0.0;
Lightvalve 13:747daba9cf59 1883 break;
jobuuu 7:e9086c72bb22 1884 case MODE_TEST_PWM_CONTROL: // 10
jobuuu 7:e9086c72bb22 1885 V_out = 0.0;
Lightvalve 13:747daba9cf59 1886 break;
jobuuu 7:e9086c72bb22 1887 case MODE_FIND_HOME: // 22
jobuuu 7:e9086c72bb22 1888 V_out = 0.0;
Lightvalve 13:747daba9cf59 1889 break;
jobuuu 7:e9086c72bb22 1890 default:
jobuuu 7:e9086c72bb22 1891 V_out = 0.0;
jobuuu 7:e9086c72bb22 1892 break;
Lightvalve 13:747daba9cf59 1893
jobuuu 7:e9086c72bb22 1894 }
jobuuu 7:e9086c72bb22 1895 }
Lightvalve 14:8e7590227d22 1896 */
jobuuu 7:e9086c72bb22 1897
Lightvalve 13:747daba9cf59 1898 void CurrentControl()
Lightvalve 13:747daba9cf59 1899 {
jobuuu 7:e9086c72bb22 1900 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1901 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1902 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1903 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1904
jobuuu 7:e9086c72bb22 1905 double R_model = 150.0; // ohm
jobuuu 7:e9086c72bb22 1906 double L_model = 0.3;
jobuuu 7:e9086c72bb22 1907 double w0 = 2.0*3.14*90.0;
jobuuu 7:e9086c72bb22 1908 double KP_I = L_model*w0;
jobuuu 7:e9086c72bb22 1909 double KI_I = R_model*w0;
jobuuu 7:e9086c72bb22 1910 double KD_I = 0.0;
jobuuu 7:e9086c72bb22 1911
jobuuu 7:e9086c72bb22 1912 double FF_gain = 0.0;
jobuuu 7:e9086c72bb22 1913 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1914 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1915 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1916
Lightvalve 13:747daba9cf59 1917 double Ka = 5.0/KP_I;
jobuuu 7:e9086c72bb22 1918 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1919 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1920 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1921 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1922 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1923 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1924 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1925 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1926 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1927 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1928 }
GiJeongKim 0:51c43836c1d7 1929 }