Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard

asdgas

Dependencies:   mbed Eigen FastPWM

main.cpp@61:8d36b4042096, 2020-04-13 (annotated)

Committer:
Lightvalve
Date:
Mon Apr 13 11:55:09 2020 +0000
Revision:
61:8d36b4042096
Parent:
60:64181f1d3e60
Child:
62:456f87e3124e
200413

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
Lightvalve 31:66738bfecec5 12 ///191008////
Lightvalve 31:66738bfecec5 13
jobuuu 7:e9086c72bb22 14 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 15 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 16 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 17 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 18 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 19 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 20 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 21 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 22
Lightvalve 24:ef6e1092e9e6 23
jobuuu 7:e9086c72bb22 24 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 25 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 26 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 27
jobuuu 7:e9086c72bb22 28 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 29 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 30 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 31 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 32
jobuuu 7:e9086c72bb22 33 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 34 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 35 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 36 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 37 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 38 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 39 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 43
jobuuu 7:e9086c72bb22 44 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 45 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 46 CANMessage msg;
Lightvalve 11:82d8768d7351 47 void onMsgReceived()
Lightvalve 11:82d8768d7351 48 {
Lightvalve 11:82d8768d7351 49 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 50 }
jobuuu 2:a1c0a37df760 51
jobuuu 7:e9086c72bb22 52 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 53 State pos;
jobuuu 7:e9086c72bb22 54 State vel;
jobuuu 7:e9086c72bb22 55 State Vout;
jobuuu 7:e9086c72bb22 56 State torq;
jobuuu 7:e9086c72bb22 57 State pres_A;
jobuuu 7:e9086c72bb22 58 State pres_B;
jobuuu 7:e9086c72bb22 59 State cur;
Lightvalve 14:8e7590227d22 60 State valve_pos;
Lightvalve 14:8e7590227d22 61
Lightvalve 14:8e7590227d22 62 State INIT_Vout;
Lightvalve 14:8e7590227d22 63 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 64 State INIT_Pos;
Lightvalve 14:8e7590227d22 65 State INIT_torq;
jobuuu 5:a4319f79457b 66
Lightvalve 19:23b7c1ad8683 67 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 68 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 69 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 70 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 71
Lightvalve 19:23b7c1ad8683 72 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 73 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 74 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 75 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 78
jobuuu 7:e9086c72bb22 79 // =============================================================================
jobuuu 7:e9086c72bb22 80 // =============================================================================
jobuuu 7:e9086c72bb22 81 // =============================================================================
jobuuu 7:e9086c72bb22 82
Lightvalve 12:6f2531038ea4 83 /*******************************************************************************
Lightvalve 12:6f2531038ea4 84 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 85 ******************************************************************************/
Lightvalve 13:747daba9cf59 86 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 87 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 88 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 89 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 90 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 91 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 92 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 93 };
Lightvalve 12:6f2531038ea4 94
Lightvalve 12:6f2531038ea4 95 /*******************************************************************************
Lightvalve 12:6f2531038ea4 96 * CONTROL MODE
Lightvalve 12:6f2531038ea4 97 ******************************************************************************/
Lightvalve 13:747daba9cf59 98 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 99 //control mode
Lightvalve 12:6f2531038ea4 100 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 101 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 102 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 103
Lightvalve 47:fdcb8bd86fd6 104 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 105 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 106 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 107
Lightvalve 12:6f2531038ea4 108 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 109 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 110 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 111
Lightvalve 12:6f2531038ea4 112 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 113 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 114
Lightvalve 14:8e7590227d22 115 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 116 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 117 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 //utility
Lightvalve 12:6f2531038ea4 120 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 121 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 122 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 123 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 124 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 125 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 126 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 129 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 130 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 131 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 132 };
Lightvalve 12:6f2531038ea4 133
Lightvalve 61:8d36b4042096 134
Lightvalve 61:8d36b4042096 135
GiJeongKim 0:51c43836c1d7 136 int main()
GiJeongKim 0:51c43836c1d7 137 {
jobuuu 6:df07d3491e3a 138 /*********************************
jobuuu 1:e04e563be5ce 139 *** Initialization
jobuuu 6:df07d3491e3a 140 *********************************/
Lightvalve 57:f4819de54e7a 141 LED = 1;
Lightvalve 61:8d36b4042096 142 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 143
GiJeongKim 0:51c43836c1d7 144 // i2c init
Lightvalve 8:5d2eebdad025 145 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 146 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 147 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 148 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 149 make_delay();
jobuuu 2:a1c0a37df760 150
GiJeongKim 0:51c43836c1d7 151 // // spi init
Lightvalve 16:903b5a4433b4 152 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 153 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 154 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 155 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 156 make_delay();
Lightvalve 21:e5f1a43ea6f9 157
Lightvalve 16:903b5a4433b4 158 //rom
Lightvalve 19:23b7c1ad8683 159 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 160 make_delay();
Lightvalve 13:747daba9cf59 161
GiJeongKim 0:51c43836c1d7 162 // ADC init
jobuuu 5:a4319f79457b 163 Init_ADC();
Lightvalve 11:82d8768d7351 164 make_delay();
jobuuu 2:a1c0a37df760 165
GiJeongKim 0:51c43836c1d7 166 // Pwm init
GiJeongKim 0:51c43836c1d7 167 Init_PWM();
GiJeongKim 0:51c43836c1d7 168 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 169 make_delay();
Lightvalve 13:747daba9cf59 170
Lightvalve 11:82d8768d7351 171 // TMR3 init
Lightvalve 11:82d8768d7351 172 Init_TMR3();
Lightvalve 11:82d8768d7351 173 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 174 make_delay();
Lightvalve 21:e5f1a43ea6f9 175
Lightvalve 50:3c630b5eba9f 176 // TMR2 init
Lightvalve 56:6f50d9d3bfee 177 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 178 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 179 // make_delay();
Lightvalve 21:e5f1a43ea6f9 180
GiJeongKim 0:51c43836c1d7 181 // CAN
jobuuu 2:a1c0a37df760 182 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 183 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 184 make_delay();
Lightvalve 34:bb2ca2fc2a8e 185
Lightvalve 23:59218d4a256d 186 //Timer priority
Lightvalve 23:59218d4a256d 187 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 188 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 189 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 190
Lightvalve 23:59218d4a256d 191 //can.reset();
Lightvalve 19:23b7c1ad8683 192 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 193
GiJeongKim 0:51c43836c1d7 194 // spi _ enc
GiJeongKim 0:51c43836c1d7 195 spi_enc_set_init();
Lightvalve 11:82d8768d7351 196 make_delay();
Lightvalve 13:747daba9cf59 197
Lightvalve 11:82d8768d7351 198 //DAC init
Lightvalve 58:2eade98630e2 199 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 200 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 201 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 202 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 203 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 204 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 205 }
Lightvalve 11:82d8768d7351 206 make_delay();
Lightvalve 13:747daba9cf59 207
Lightvalve 19:23b7c1ad8683 208 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 209 if(i%2==0)
Lightvalve 38:118df027d851 210 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 211 else
Lightvalve 38:118df027d851 212 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 213 }
Lightvalve 58:2eade98630e2 214
jobuuu 6:df07d3491e3a 215 /************************************
jobuuu 1:e04e563be5ce 216 *** Program is operating!
jobuuu 6:df07d3491e3a 217 *************************************/
GiJeongKim 0:51c43836c1d7 218 while(1) {
Lightvalve 57:f4819de54e7a 219 if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 61:8d36b4042096 220 //if(timer_while==1000) {
Lightvalve 17:1865016ca2e7 221 //i2c
Lightvalve 17:1865016ca2e7 222 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 223 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 57:f4819de54e7a 224 // if(LED==1) {
Lightvalve 57:f4819de54e7a 225 // LED=0;
Lightvalve 57:f4819de54e7a 226 // } else
Lightvalve 57:f4819de54e7a 227 // LED = 1;
Lightvalve 17:1865016ca2e7 228 timer_while = 0;
Lightvalve 17:1865016ca2e7 229 }
Lightvalve 17:1865016ca2e7 230 timer_while ++;
Lightvalve 61:8d36b4042096 231 //pc.printf("%d\n", value);
GiJeongKim 0:51c43836c1d7 232 }
jobuuu 1:e04e563be5ce 233 }
jobuuu 1:e04e563be5ce 234
Lightvalve 33:91b17819ec30 235 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 236 {
Lightvalve 14:8e7590227d22 237
Lightvalve 13:747daba9cf59 238 int i = 0;
Lightvalve 48:889798ff9329 239 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 240 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 241 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 242 if(i==0) {
Lightvalve 50:3c630b5eba9f 243 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 244 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 245 } else {
Lightvalve 57:f4819de54e7a 246 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 247 }
Lightvalve 14:8e7590227d22 248 } else {
Lightvalve 50:3c630b5eba9f 249 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 250 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 251 } else {
Lightvalve 57:f4819de54e7a 252 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 253 }
Lightvalve 13:747daba9cf59 254 }
Lightvalve 13:747daba9cf59 255 break;
Lightvalve 13:747daba9cf59 256 }
Lightvalve 13:747daba9cf59 257 }
Lightvalve 14:8e7590227d22 258 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 259 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 260 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 261 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 262 }
Lightvalve 36:a46e63505ed8 263
Lightvalve 57:f4819de54e7a 264 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 265 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 266
Lightvalve 13:747daba9cf59 267 }
jobuuu 6:df07d3491e3a 268
jobuuu 6:df07d3491e3a 269
Lightvalve 30:8d561f16383b 270 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 271 {
Lightvalve 13:747daba9cf59 272 int i = 0;
Lightvalve 13:747daba9cf59 273
Lightvalve 38:118df027d851 274 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 275 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 276 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 277 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 278 }
Lightvalve 38:118df027d851 279
Lightvalve 13:747daba9cf59 280 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 281 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 282 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 283 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 284 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 285 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 286
Lightvalve 13:747daba9cf59 287 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 288
Lightvalve 18:b8adf1582ea3 289 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 290 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 291 if(i==0) {
Lightvalve 48:889798ff9329 292 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 293 } else {
Lightvalve 48:889798ff9329 294 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 295 }
Lightvalve 13:747daba9cf59 296 break;
Lightvalve 13:747daba9cf59 297 }
Lightvalve 13:747daba9cf59 298 }
Lightvalve 59:f308b1656d9c 299 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 300 }
Lightvalve 13:747daba9cf59 301
Lightvalve 14:8e7590227d22 302 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 303 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve 34:bb2ca2fc2a8e 304 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 305 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 306 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 307 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 308 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 309 }; // duty
Lightvalve 30:8d561f16383b 310 float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve 34:bb2ca2fc2a8e 311 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 312 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 313 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 314 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 315 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 316 }; // mV
Lightvalve 13:747daba9cf59 317
Lightvalve 30:8d561f16383b 318 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 319 {
Lightvalve 30:8d561f16383b 320 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 321 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 322 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 323 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 324 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 325 } else {
Lightvalve 13:747daba9cf59 326 int idx = 0;
Lightvalve 13:747daba9cf59 327 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 328 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 329 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 330 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 331 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 332 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 333 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 334 break;
Lightvalve 13:747daba9cf59 335 }
Lightvalve 13:747daba9cf59 336 }
Lightvalve 13:747daba9cf59 337 }
Lightvalve 14:8e7590227d22 338
Lightvalve 13:747daba9cf59 339 return PWM_duty;
Lightvalve 13:747daba9cf59 340 }
jobuuu 6:df07d3491e3a 341
Lightvalve 57:f4819de54e7a 342
Lightvalve 57:f4819de54e7a 343
Lightvalve 57:f4819de54e7a 344
Lightvalve 57:f4819de54e7a 345
jobuuu 2:a1c0a37df760 346 /*******************************************************************************
jobuuu 2:a1c0a37df760 347 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 348 *******************************************************************************/
jobuuu 2:a1c0a37df760 349
Lightvalve 51:b46bed7fec80 350 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 351 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 352 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 353 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 354 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 355 {
Lightvalve 19:23b7c1ad8683 356 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 357
Lightvalve 21:e5f1a43ea6f9 358 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 359 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 360 ********************************************************/
Lightvalve 13:747daba9cf59 361
Lightvalve 57:f4819de54e7a 362 //Encoder
Lightvalve 57:f4819de54e7a 363 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 364 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 365 }
Lightvalve 61:8d36b4042096 366
Lightvalve 61:8d36b4042096 367 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 368 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 369 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 370 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 371 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 372 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 58:2eade98630e2 373 torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 17:1865016ca2e7 374
Lightvalve 58:2eade98630e2 375 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 376 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 377 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 378 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 379 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 380 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 381 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 382 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 383 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 384
Lightvalve 58:2eade98630e2 385 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 386 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 387 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 388 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 389 }
Lightvalve 58:2eade98630e2 390 }
Lightvalve 61:8d36b4042096 391
Lightvalve 58:2eade98630e2 392 // //Pressure sensor A
Lightvalve 58:2eade98630e2 393 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 394 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 395 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 396 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 397 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 398 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 399 //
Lightvalve 58:2eade98630e2 400 //
Lightvalve 58:2eade98630e2 401 // //Pressure sensor B
Lightvalve 58:2eade98630e2 402 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 403 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 404 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 405 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 406
Lightvalve 17:1865016ca2e7 407
Lightvalve 21:e5f1a43ea6f9 408 //Current
Lightvalve 21:e5f1a43ea6f9 409 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 410 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 411 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 412 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 413 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 414 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 415 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 416
Lightvalve 57:f4819de54e7a 417 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 418 }
Lightvalve 11:82d8768d7351 419 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 420 }
Lightvalve 19:23b7c1ad8683 421
Lightvalve 19:23b7c1ad8683 422
Lightvalve 18:b8adf1582ea3 423 int j =0;
Lightvalve 54:647072f5307a 424 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 425 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 426 int cnt_trans = 0;
Lightvalve 48:889798ff9329 427 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 428 int can_rest =0;
Lightvalve 48:889798ff9329 429
Lightvalve 11:82d8768d7351 430 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 431 {
Lightvalve 19:23b7c1ad8683 432 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 433
Lightvalve 57:f4819de54e7a 434 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 435 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 436 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 437 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 438 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 439 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 440 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 441 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 442 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 443 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 444 }
Lightvalve 50:3c630b5eba9f 445
Lightvalve 50:3c630b5eba9f 446 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 447 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 448 cnt_trans++;
Lightvalve 46:2694daea349b 449 torq.err_sum = 0;
Lightvalve 48:889798ff9329 450 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 451 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 452 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 453 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 454 cnt_trans++;
Lightvalve 46:2694daea349b 455 torq.err_sum = 0;
Lightvalve 48:889798ff9329 456 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 457 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 458 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 459 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 460 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 461 } else {
Lightvalve 58:2eade98630e2 462 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 463 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 464 }
Lightvalve 45:35fa6884d0c6 465
Lightvalve 50:3c630b5eba9f 466
Lightvalve 57:f4819de54e7a 467 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 468 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 469
Lightvalve 57:f4819de54e7a 470 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 471 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 472 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 473 } else {
Lightvalve 57:f4819de54e7a 474 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 475 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 476 }
Lightvalve 56:6f50d9d3bfee 477
Lightvalve 56:6f50d9d3bfee 478
Lightvalve 56:6f50d9d3bfee 479
Lightvalve 57:f4819de54e7a 480 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 481
Lightvalve 57:f4819de54e7a 482 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 483 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 484 break;
Lightvalve 13:747daba9cf59 485 }
Lightvalve 14:8e7590227d22 486
Lightvalve 14:8e7590227d22 487 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 488 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 489 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 490 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 491
Lightvalve 14:8e7590227d22 492 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 493 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 494 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 495
Lightvalve 59:f308b1656d9c 496 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 497
Lightvalve 30:8d561f16383b 498 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 499 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 500
Lightvalve 16:903b5a4433b4 501 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 502 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 503 }
Lightvalve 13:747daba9cf59 504 } else {
Lightvalve 58:2eade98630e2 505 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 506 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 507 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 508 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 509
Lightvalve 16:903b5a4433b4 510 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 511
Lightvalve 30:8d561f16383b 512 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 513
Lightvalve 13:747daba9cf59 514 }
Lightvalve 14:8e7590227d22 515 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 516 break;
Lightvalve 19:23b7c1ad8683 517 }
Lightvalve 14:8e7590227d22 518
Lightvalve 50:3c630b5eba9f 519 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 520 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 521 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 522 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 523 // }
Lightvalve 50:3c630b5eba9f 524 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 525 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 526 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 527 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 528 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 529 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 530 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 531 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 532 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 533 // }
Lightvalve 50:3c630b5eba9f 534 //
Lightvalve 50:3c630b5eba9f 535 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 536 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 537 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 538 //
Lightvalve 50:3c630b5eba9f 539 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 540 // V_out = 0;
Lightvalve 50:3c630b5eba9f 541 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 542 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 543 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 544 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 545 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 546 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 547 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 548 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 549 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 550 //
Lightvalve 50:3c630b5eba9f 551 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 552 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 553 // // | / | / |/
Lightvalve 50:3c630b5eba9f 554 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 555 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 556 // // /| / | / |
Lightvalve 50:3c630b5eba9f 557 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 558 //
Lightvalve 50:3c630b5eba9f 559 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 560 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 561 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 562 // } else {
Lightvalve 50:3c630b5eba9f 563 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 564 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 565 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 566 // }
Lightvalve 50:3c630b5eba9f 567 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 568 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 569 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 570 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 571 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 572 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 573 // }
Lightvalve 50:3c630b5eba9f 574 // } else {
Lightvalve 50:3c630b5eba9f 575 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 576 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 577 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 578 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 579 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 580 // }
Lightvalve 50:3c630b5eba9f 581 // V_out = 0;
Lightvalve 50:3c630b5eba9f 582 //
Lightvalve 50:3c630b5eba9f 583 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 584 //
Lightvalve 50:3c630b5eba9f 585 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 586 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 587 //
Lightvalve 50:3c630b5eba9f 588 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 589 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 590 // }
Lightvalve 50:3c630b5eba9f 591 // }
Lightvalve 50:3c630b5eba9f 592 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 593 // break;
Lightvalve 50:3c630b5eba9f 594 // }
Lightvalve 14:8e7590227d22 595
Lightvalve 14:8e7590227d22 596 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 597 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 598 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 599 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 600 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 601 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 602 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 603 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 604 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 605 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 606 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 607 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 608 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 609 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 610 }
Lightvalve 29:69f3f5445d6d 611 cnt_findhome++;
Lightvalve 14:8e7590227d22 612
Lightvalve 29:69f3f5445d6d 613 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 614 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 615 } else {
Lightvalve 29:69f3f5445d6d 616 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 617 }
Lightvalve 19:23b7c1ad8683 618
Lightvalve 57:f4819de54e7a 619 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 620 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 59:f308b1656d9c 621 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
Lightvalve 59:f308b1656d9c 622 else pos.ref = pos.ref - 2.0f;
Lightvalve 61:8d36b4042096 623
Lightvalve 59:f308b1656d9c 624 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 625 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 626 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 627 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 628 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 629
Lightvalve 59:f308b1656d9c 630 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 631 alpha_trans = 0.0f;
Lightvalve 61:8d36b4042096 632
Lightvalve 34:bb2ca2fc2a8e 633
Lightvalve 29:69f3f5445d6d 634 } else {
Lightvalve 29:69f3f5445d6d 635 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 636 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 637 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 638 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 639 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 640 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 641 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 642 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 643 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 644 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 645 }
Lightvalve 29:69f3f5445d6d 646 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 647 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 648 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 59:f308b1656d9c 649 vel.ref = 0.0f;
Lightvalve 19:23b7c1ad8683 650
Lightvalve 29:69f3f5445d6d 651 // input for position control
Lightvalve 61:8d36b4042096 652
Lightvalve 59:f308b1656d9c 653 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 654 alpha_trans = 0.0f;
Lightvalve 59:f308b1656d9c 655 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 656 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 657 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 658 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 659 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 660
Lightvalve 29:69f3f5445d6d 661 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 662 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 663 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 664 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 665 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 666 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 667 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 668 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 669 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 670 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 671 }
Lightvalve 13:747daba9cf59 672 }
Lightvalve 19:23b7c1ad8683 673
Lightvalve 13:747daba9cf59 674 break;
Lightvalve 13:747daba9cf59 675 }
Lightvalve 14:8e7590227d22 676
Lightvalve 50:3c630b5eba9f 677 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 678 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 679 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 680 // else {
Lightvalve 50:3c630b5eba9f 681 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 682 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 683 // }
Lightvalve 50:3c630b5eba9f 684 // }
Lightvalve 50:3c630b5eba9f 685 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 686 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 687 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 688 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 689 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 690 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 691 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 692 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 693 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 694 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 695 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 696 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 697 // }
Lightvalve 50:3c630b5eba9f 698 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 699 // }
Lightvalve 50:3c630b5eba9f 700 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 701 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 702 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 703 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 704 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 705 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 706 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 707 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 708 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 709 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 710 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 711 // }
Lightvalve 50:3c630b5eba9f 712 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 713 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 714 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 715 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 716 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 717 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 718 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 719 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 720 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 721 // }
Lightvalve 50:3c630b5eba9f 722 // }
Lightvalve 50:3c630b5eba9f 723 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 724 //
Lightvalve 50:3c630b5eba9f 725 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 726 //
Lightvalve 50:3c630b5eba9f 727 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 728 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 729 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 730 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 731 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 732 // }
Lightvalve 50:3c630b5eba9f 733 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 734 // V_out = 0;
Lightvalve 50:3c630b5eba9f 735 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 736 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 737 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 738 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 739 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 740 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 741 // }
Lightvalve 50:3c630b5eba9f 742 //
Lightvalve 50:3c630b5eba9f 743 // }
Lightvalve 50:3c630b5eba9f 744 // break;
Lightvalve 50:3c630b5eba9f 745 // }
Lightvalve 50:3c630b5eba9f 746 //
Lightvalve 50:3c630b5eba9f 747 // }
Lightvalve 14:8e7590227d22 748 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 749 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 750 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 751 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 752 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 753
Lightvalve 14:8e7590227d22 754 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 755 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 756 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 757 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 758 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 759
Lightvalve 38:118df027d851 760 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 761 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 762 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 763
Lightvalve 30:8d561f16383b 764 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 765 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 766 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 767 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 768
Lightvalve 30:8d561f16383b 769 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 770 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 771 }
Lightvalve 13:747daba9cf59 772 } else {
Lightvalve 57:f4819de54e7a 773 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 774 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 775 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 776 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 777 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 778 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 779
Lightvalve 16:903b5a4433b4 780 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 781
Lightvalve 30:8d561f16383b 782 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 783 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 784 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 785 }
Lightvalve 14:8e7590227d22 786 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 787 break;
Lightvalve 13:747daba9cf59 788 }
Lightvalve 14:8e7590227d22 789
Lightvalve 50:3c630b5eba9f 790 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 791 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 792 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 793 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 794 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 795 // }
Lightvalve 50:3c630b5eba9f 796 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 797 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 798 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 799 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 800 // }
Lightvalve 50:3c630b5eba9f 801 // } else {
Lightvalve 50:3c630b5eba9f 802 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 803 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 804 // V_out = 0;
Lightvalve 50:3c630b5eba9f 805 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 806 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 807 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 808 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 809 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 810 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 811 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 812 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 813 //
Lightvalve 50:3c630b5eba9f 814 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 815 //
Lightvalve 50:3c630b5eba9f 816 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 817 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 818 // }
Lightvalve 50:3c630b5eba9f 819 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 820 // break;
Lightvalve 50:3c630b5eba9f 821 // }
Lightvalve 19:23b7c1ad8683 822
Lightvalve 50:3c630b5eba9f 823 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 824 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 825 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 826 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 827 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 828 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 829 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 830 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 831 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 832 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 833 // }
Lightvalve 50:3c630b5eba9f 834 // break;
Lightvalve 50:3c630b5eba9f 835 // }
Lightvalve 14:8e7590227d22 836
Lightvalve 14:8e7590227d22 837 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 838 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 839 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 840
Lightvalve 14:8e7590227d22 841 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 842 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 843 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 844 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 845 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 846 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 847 data_num = 0;
Lightvalve 14:8e7590227d22 848 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 849 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 850 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 851 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 852 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 853 } else {
Lightvalve 13:747daba9cf59 854 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 855 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 856 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 857 }
Lightvalve 14:8e7590227d22 858
Lightvalve 17:1865016ca2e7 859 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 860 int i;
Lightvalve 13:747daba9cf59 861 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 862 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 863 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 864 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 865 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 866 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 867 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 868 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 869 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 870 }
Lightvalve 13:747daba9cf59 871 }
Lightvalve 59:f308b1656d9c 872 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 873 ID_index = 0;
Lightvalve 57:f4819de54e7a 874 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 875 }
Lightvalve 14:8e7590227d22 876
Lightvalve 14:8e7590227d22 877
Lightvalve 13:747daba9cf59 878 break;
Lightvalve 13:747daba9cf59 879 }
Lightvalve 14:8e7590227d22 880
Lightvalve 14:8e7590227d22 881 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 882 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 883 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 884 if(first_check == 0) {
Lightvalve 30:8d561f16383b 885 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 886 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 887 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 888 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 889 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 890 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 891 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 892 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 893 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 894 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 895 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 896 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 897 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 898 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 899 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 900 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 901 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 902 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 903 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 904 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 905 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 906 data_num = 0;
Lightvalve 14:8e7590227d22 907
Lightvalve 30:8d561f16383b 908 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 909 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 910 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 911
Lightvalve 30:8d561f16383b 912 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 913 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 914 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 915
Lightvalve 30:8d561f16383b 916 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 917 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 918 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 919 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 920
Lightvalve 60:64181f1d3e60 921 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 922 DZ_case = 1;
Lightvalve 60:64181f1d3e60 923 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 924 DZ_case = -1;
Lightvalve 14:8e7590227d22 925 } else {
Lightvalve 13:747daba9cf59 926 DZ_case = 0;
Lightvalve 13:747daba9cf59 927 }
Lightvalve 61:8d36b4042096 928
Lightvalve 60:64181f1d3e60 929 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 930
Lightvalve 13:747daba9cf59 931 first_check = 1;
Lightvalve 13:747daba9cf59 932 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 933 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 934 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 935 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 936 DZ_index = 1;
Lightvalve 14:8e7590227d22 937
Lightvalve 13:747daba9cf59 938 }
Lightvalve 19:23b7c1ad8683 939 } else {
Lightvalve 14:8e7590227d22 940 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 941 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 942 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 943 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 944 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 945 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 946 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 947 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 948 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 949 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 950 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 951 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 952 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 953 }
Lightvalve 14:8e7590227d22 954 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 955
Lightvalve 30:8d561f16383b 956 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 957 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 958 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 959
Lightvalve 14:8e7590227d22 960 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 961 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 962 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 963 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 964 } else {
Lightvalve 13:747daba9cf59 965 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 966 }
Lightvalve 14:8e7590227d22 967
Lightvalve 13:747daba9cf59 968 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 969 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 970 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 971 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 972 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 973 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 974 DZ_index = 1;
Lightvalve 13:747daba9cf59 975 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 976 }
Lightvalve 13:747daba9cf59 977 }
Lightvalve 14:8e7590227d22 978 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 979 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 980 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 981 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 982 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 983 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 984 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 985 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 986 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 987 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 988 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 989 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 990 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 991 }
Lightvalve 14:8e7590227d22 992 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 993
Lightvalve 30:8d561f16383b 994 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 995 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 996 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 997 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 998 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 999
Lightvalve 14:8e7590227d22 1000 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1001 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1002 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1003 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1004 } else {
Lightvalve 60:64181f1d3e60 1005 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1006 }
Lightvalve 14:8e7590227d22 1007
Lightvalve 13:747daba9cf59 1008 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1009 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1010 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1011 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1012 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1013 first_check = 0;
Lightvalve 33:91b17819ec30 1014 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1015 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1016
Lightvalve 16:903b5a4433b4 1017 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1018
Lightvalve 60:64181f1d3e60 1019 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1020 DZ_index = 1;
Lightvalve 13:747daba9cf59 1021 }
Lightvalve 13:747daba9cf59 1022 }
Lightvalve 14:8e7590227d22 1023 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1024 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1025 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1026 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1027 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1028 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1029 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1030 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1031 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1032 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1033 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1034 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1035 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1036 }
Lightvalve 14:8e7590227d22 1037 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 1038
Lightvalve 30:8d561f16383b 1039 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1040 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1041 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1042
Lightvalve 14:8e7590227d22 1043 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1044 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1045 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1046 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1047 } else {
Lightvalve 13:747daba9cf59 1048 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1049 }
Lightvalve 13:747daba9cf59 1050 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1051 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1052 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1053 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1054 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1055 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1056 DZ_index = 1;
Lightvalve 13:747daba9cf59 1057 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1058 }
Lightvalve 13:747daba9cf59 1059 }
Lightvalve 14:8e7590227d22 1060 } else {
Lightvalve 30:8d561f16383b 1061 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1062 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1063 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1064 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1065 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1066 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1067 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1068 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1069 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1070 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1071 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1072 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1073 }
Lightvalve 14:8e7590227d22 1074 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1075
Lightvalve 30:8d561f16383b 1076 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1077 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1078 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1079 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1080 FINAL_POS = pos.sen;
Lightvalve 61:8d36b4042096 1081
Lightvalve 60:64181f1d3e60 1082 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1083 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1084 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1085 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1086 } else {
Lightvalve 13:747daba9cf59 1087 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1088 }
Lightvalve 14:8e7590227d22 1089
Lightvalve 13:747daba9cf59 1090 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1091 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1092 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1093 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1094 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1095 first_check = 0;
Lightvalve 33:91b17819ec30 1096 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1097 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:8d36b4042096 1098
Lightvalve 59:f308b1656d9c 1099 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1100
Lightvalve 57:f4819de54e7a 1101 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1102 DZ_index = 1;
Lightvalve 13:747daba9cf59 1103 }
Lightvalve 13:747daba9cf59 1104 }
Lightvalve 13:747daba9cf59 1105 }
Lightvalve 14:8e7590227d22 1106 }
Lightvalve 13:747daba9cf59 1107 break;
Lightvalve 13:747daba9cf59 1108 }
Lightvalve 14:8e7590227d22 1109
Lightvalve 14:8e7590227d22 1110 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1111 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1112 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1113 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1114 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1115 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1116 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1117 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1118 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1119 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1120 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1121 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1122 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1123 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1124 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1125 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1126 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1127 first_check = 1;
Lightvalve 13:747daba9cf59 1128 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1129 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1130 ID_index = 0;
Lightvalve 13:747daba9cf59 1131 max_check = 0;
Lightvalve 13:747daba9cf59 1132 min_check = 0;
Lightvalve 13:747daba9cf59 1133 }
Lightvalve 14:8e7590227d22 1134 } else {
Lightvalve 30:8d561f16383b 1135 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1136 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1137 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1138 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1139 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1140 data_num = 0;
Lightvalve 57:f4819de54e7a 1141 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1142
Lightvalve 14:8e7590227d22 1143 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1144 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1145 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1146 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1147 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1148 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1149 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1150 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1151 one_period_end = 1;
Lightvalve 13:747daba9cf59 1152 }
Lightvalve 30:8d561f16383b 1153 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1154 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1155 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1156 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1157 }
Lightvalve 14:8e7590227d22 1158
Lightvalve 14:8e7590227d22 1159 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1160 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1161 max_check = 1;
Lightvalve 14:8e7590227d22 1162 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1163 min_check = 1;
Lightvalve 13:747daba9cf59 1164 }
Lightvalve 13:747daba9cf59 1165 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1166
Lightvalve 13:747daba9cf59 1167 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1168 one_period_end = 0;
Lightvalve 13:747daba9cf59 1169 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1170 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1171 }
Lightvalve 14:8e7590227d22 1172
Lightvalve 14:8e7590227d22 1173 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1174
Lightvalve 13:747daba9cf59 1175 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1176 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1177 ID_index = 0;
Lightvalve 13:747daba9cf59 1178 first_check = 0;
Lightvalve 13:747daba9cf59 1179 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1180 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1181 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1182 }
Lightvalve 13:747daba9cf59 1183 }
Lightvalve 13:747daba9cf59 1184 break;
Lightvalve 13:747daba9cf59 1185 }
Lightvalve 58:2eade98630e2 1186
Lightvalve 57:f4819de54e7a 1187 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1188 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1189 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1190 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1191 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1192 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1193 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1194 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1195 }
Lightvalve 57:f4819de54e7a 1196 break;
Lightvalve 57:f4819de54e7a 1197 }
Lightvalve 58:2eade98630e2 1198
Lightvalve 58:2eade98630e2 1199
Lightvalve 57:f4819de54e7a 1200
Lightvalve 57:f4819de54e7a 1201 default:
Lightvalve 57:f4819de54e7a 1202 break;
Lightvalve 57:f4819de54e7a 1203 }
Lightvalve 57:f4819de54e7a 1204
Lightvalve 57:f4819de54e7a 1205 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1206
Lightvalve 57:f4819de54e7a 1207 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1208 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1209 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1210 break;
Lightvalve 57:f4819de54e7a 1211 }
Lightvalve 57:f4819de54e7a 1212
Lightvalve 57:f4819de54e7a 1213 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 57:f4819de54e7a 1214 if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve 57:f4819de54e7a 1215 I_REF = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1216 } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve 57:f4819de54e7a 1217 V_out = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1218 } else { //SW Valve
Lightvalve 57:f4819de54e7a 1219 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1220 V_out = Vout.ref;
Lightvalve 57:f4819de54e7a 1221 }
Lightvalve 58:2eade98630e2 1222
Lightvalve 57:f4819de54e7a 1223 break;
Lightvalve 57:f4819de54e7a 1224 }
Lightvalve 57:f4819de54e7a 1225
Lightvalve 57:f4819de54e7a 1226 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1227 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1228 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 57:f4819de54e7a 1229 vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1230 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 57:f4819de54e7a 1231 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1232
Lightvalve 57:f4819de54e7a 1233 // torque feedback
Lightvalve 58:2eade98630e2 1234 torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1235 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1236
Lightvalve 57:f4819de54e7a 1237 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1238
Lightvalve 57:f4819de54e7a 1239 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1240 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1241 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1242
Lightvalve 57:f4819de54e7a 1243 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1244 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1245 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1246
Lightvalve 57:f4819de54e7a 1247 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1248 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1249 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1250 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1251 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1252 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1253 }
Lightvalve 57:f4819de54e7a 1254 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1255 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1256
Lightvalve 57:f4819de54e7a 1257 // velocity compensation for torque control
Lightvalve 57:f4819de54e7a 1258 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1259 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1260 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1261 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1262 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1263 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1264 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 1265 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1266 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1267 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1268 }
Lightvalve 57:f4819de54e7a 1269 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1270 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1271 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1272 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1273 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1274
Lightvalve 57:f4819de54e7a 1275 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 57:f4819de54e7a 1276
Lightvalve 57:f4819de54e7a 1277 } else {
Lightvalve 57:f4819de54e7a 1278 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 57:f4819de54e7a 1279
Lightvalve 57:f4819de54e7a 1280 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1281 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1282
Lightvalve 57:f4819de54e7a 1283 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 57:f4819de54e7a 1284 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1285 } else {
Lightvalve 57:f4819de54e7a 1286 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1287 }
Lightvalve 57:f4819de54e7a 1288
Lightvalve 57:f4819de54e7a 1289 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1290 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1291 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1292 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1293 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1294 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1295 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1296 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1297 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1298 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1299 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1300 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1301 }
Lightvalve 57:f4819de54e7a 1302 }
Lightvalve 61:8d36b4042096 1303
Lightvalve 57:f4819de54e7a 1304 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:8d36b4042096 1305
Lightvalve 60:64181f1d3e60 1306 Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1307 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1308
Lightvalve 57:f4819de54e7a 1309 }
Lightvalve 58:2eade98630e2 1310
Lightvalve 57:f4819de54e7a 1311 break;
Lightvalve 57:f4819de54e7a 1312 }
Lightvalve 58:2eade98630e2 1313
Lightvalve 57:f4819de54e7a 1314 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1315 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1316 break;
Lightvalve 57:f4819de54e7a 1317 }
Lightvalve 14:8e7590227d22 1318
Lightvalve 12:6f2531038ea4 1319 default:
Lightvalve 12:6f2531038ea4 1320 break;
Lightvalve 12:6f2531038ea4 1321 }
Lightvalve 14:8e7590227d22 1322
Lightvalve 57:f4819de54e7a 1323
Lightvalve 57:f4819de54e7a 1324 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1325
Lightvalve 57:f4819de54e7a 1326 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1327 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1328 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1329 if (CURRENT_CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1330 double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1331 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1332
Lightvalve 57:f4819de54e7a 1333 I_ERR = I_REF_fil - cur.sen;
Lightvalve 57:f4819de54e7a 1334 I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
Lightvalve 57:f4819de54e7a 1335
Lightvalve 57:f4819de54e7a 1336
Lightvalve 57:f4819de54e7a 1337 // Moog Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1338 double R_model = 539.0f; // ohm
Lightvalve 57:f4819de54e7a 1339 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1340 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1341 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1342 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1343
Lightvalve 57:f4819de54e7a 1344 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1345 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1346 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1347 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1348 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1349 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1350 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1351 }
Lightvalve 57:f4819de54e7a 1352
Lightvalve 57:f4819de54e7a 1353 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1354
Lightvalve 57:f4819de54e7a 1355 VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
Lightvalve 57:f4819de54e7a 1356 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1357 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1358 I_REF_fil_old = I_REF_fil;
Lightvalve 57:f4819de54e7a 1359 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
Lightvalve 57:f4819de54e7a 1360 double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1361
Lightvalve 57:f4819de54e7a 1362 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1363 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1364 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1365 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1366 VALVE_PWM_RAW = V_MAX;
Lightvalve 57:f4819de54e7a 1367 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 57:f4819de54e7a 1368 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1369 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1370 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1371 VALVE_PWM_RAW = -V_MAX;
Lightvalve 57:f4819de54e7a 1372 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 57:f4819de54e7a 1373 }
Lightvalve 57:f4819de54e7a 1374 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1375 } else {
Lightvalve 57:f4819de54e7a 1376 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1377 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1378 }
Lightvalve 57:f4819de54e7a 1379
Lightvalve 57:f4819de54e7a 1380 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1381 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1382 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1383 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1384 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1385 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1386 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1387
Lightvalve 57:f4819de54e7a 1388 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1389
Lightvalve 57:f4819de54e7a 1390 } else {
Lightvalve 57:f4819de54e7a 1391 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1392 }
Lightvalve 57:f4819de54e7a 1393
Lightvalve 57:f4819de54e7a 1394 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1395 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 57:f4819de54e7a 1396 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 57:f4819de54e7a 1397
Lightvalve 57:f4819de54e7a 1398 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 57:f4819de54e7a 1399 if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
Lightvalve 57:f4819de54e7a 1400 else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
Lightvalve 57:f4819de54e7a 1401 else V_out = CUR_PWM_lin;
Lightvalve 57:f4819de54e7a 1402 }
Lightvalve 58:2eade98630e2 1403
Lightvalve 58:2eade98630e2 1404
Lightvalve 14:8e7590227d22 1405
jobuuu 7:e9086c72bb22 1406 /*******************************************************
jobuuu 7:e9086c72bb22 1407 *** PWM
jobuuu 7:e9086c72bb22 1408 ********************************************************/
Lightvalve 49:e7bcfc244d40 1409 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1410 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1411 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1412 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1413 }
Lightvalve 49:e7bcfc244d40 1414 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1415
Lightvalve 19:23b7c1ad8683 1416 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1417 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1418 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1419
Lightvalve 30:8d561f16383b 1420 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1421 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1422 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1423 } else {
jobuuu 2:a1c0a37df760 1424 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1425 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1426 }
Lightvalve 13:747daba9cf59 1427
jobuuu 1:e04e563be5ce 1428 //pwm
Lightvalve 30:8d561f16383b 1429 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1430 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1431
Lightvalve 20:806196fda269 1432
Lightvalve 57:f4819de54e7a 1433 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1434
Lightvalve 54:647072f5307a 1435 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1436 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1437 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1438 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1439 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
Lightvalve 54:647072f5307a 1440 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1441 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1442 }
Lightvalve 57:f4819de54e7a 1443 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1444 if (SENSING_MODE == 0) {
Lightvalve 60:64181f1d3e60 1445 CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
Lightvalve 54:647072f5307a 1446 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1447 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1448 }
Lightvalve 52:8ea76864368a 1449 }
Lightvalve 52:8ea76864368a 1450 }
Lightvalve 56:6f50d9d3bfee 1451 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1452 //valve position
Lightvalve 54:647072f5307a 1453 double t_value = 0;
Lightvalve 57:f4819de54e7a 1454 // if(value>=(float) VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1455 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1456 // } else {
Lightvalve 57:f4819de54e7a 1457 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1458 // }
Lightvalve 58:2eade98630e2 1459 if(OPERATING_MODE==5) {
Lightvalve 57:f4819de54e7a 1460 t_value = (double) value;
Lightvalve 58:2eade98630e2 1461 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 57:f4819de54e7a 1462 t_value = cur.sen;
Lightvalve 58:2eade98630e2 1463 } else {
Lightvalve 57:f4819de54e7a 1464 t_value = V_out;
Lightvalve 54:647072f5307a 1465 }
Lightvalve 60:64181f1d3e60 1466 CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
Lightvalve 54:647072f5307a 1467 }
Lightvalve 58:2eade98630e2 1468
Lightvalve 58:2eade98630e2 1469
Lightvalve 56:6f50d9d3bfee 1470 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1471 //pressure A and B
Lightvalve 57:f4819de54e7a 1472 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1473 }
Lightvalve 58:2eade98630e2 1474
Lightvalve 57:f4819de54e7a 1475 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1476 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1477 ;
Lightvalve 57:f4819de54e7a 1478 }
Lightvalve 58:2eade98630e2 1479
Lightvalve 56:6f50d9d3bfee 1480 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1481 //PWM
Lightvalve 57:f4819de54e7a 1482 CAN_TX_PWM((int16_t) cur.sen); //1500
Lightvalve 54:647072f5307a 1483 }
Lightvalve 57:f4819de54e7a 1484 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1485 // ;
Lightvalve 57:f4819de54e7a 1486 // }
Lightvalve 56:6f50d9d3bfee 1487 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1488 //valve position
Lightvalve 57:f4819de54e7a 1489 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1490 }
Lightvalve 20:806196fda269 1491
Lightvalve 54:647072f5307a 1492 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1493 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1494 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1495 // }
Lightvalve 54:647072f5307a 1496 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1497 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1498 //}
Lightvalve 52:8ea76864368a 1499
Lightvalve 54:647072f5307a 1500 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1501 }
Lightvalve 54:647072f5307a 1502 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1503
Lightvalve 20:806196fda269 1504 }
Lightvalve 52:8ea76864368a 1505 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1506
Lightvalve 58:2eade98630e2 1507 }