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asdgas
Dependencies: mbed Eigen FastPWM
Diff: main.cpp
- Revision:
- 13:747daba9cf59
- Parent:
- 12:6f2531038ea4
- Child:
- 14:8e7590227d22
diff -r 6f2531038ea4 -r 747daba9cf59 main.cpp --- a/main.cpp Tue Aug 27 05:32:44 2019 +0000 +++ b/main.cpp Tue Aug 27 06:50:54 2019 +0000 @@ -55,19 +55,8 @@ double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV double PWM_out=0.0; -int ID_index_array[100] = {0}; - -double CUR_PRES_DIFF_BAR = 0; -double CUR_PRES_A_sum = 0.0; -double CUR_PRES_B_sum = 0.0; -double CUR_PRES_A_mean = 0.0; -double CUR_PRES_B_mean = 0.0; -double CUR_TORQUE_sum = 0.0; -double CUR_TORQUE_mean = 0.0; -double PRES_A_NULL = 200.0; -double PRES_B_NULL = 200.0; -double TORQUE_NULL = 3900; + // ============================================================================= // ============================================================================= // ============================================================================= @@ -75,8 +64,8 @@ /******************************************************************************* * REFERENCE MODE ******************************************************************************/ -enum _REFERENCE_MODE{ - MODE_REF_NO_ACT = 0, //0 +enum _REFERENCE_MODE { + MODE_REF_NO_ACT = 0, //0 MODE_REF_DIRECT, //1 MODE_REF_COS_INC, //2 MODE_REF_LINE_INC, //3 @@ -87,23 +76,23 @@ /******************************************************************************* * CONTROL MODE ******************************************************************************/ -enum _CONTROL_MODE{ +enum _CONTROL_MODE { //control mode MODE_NO_ACT = 0, //0 MODE_VALVE_OPEN_LOOP, //1 MODE_VALVE_POSITION_CONTROL, //2 - + MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 - + MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 - + MODE_TEST_CURRENT_CONTROL, //9 MODE_TEST_PWM_CONTROL, //10 - + //utility MODE_TORQUE_SENSOR_NULLING = 20, //20 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 @@ -112,7 +101,7 @@ MODE_PRESSURE_SENSOR_NULLING, //24 MODE_PRESSURE_SENSOR_CALIB, //25 MODE_ROTARY_FRICTION_TUNING, //26 - + MODE_DDV_POS_VS_PWM_ID = 30, //30 MODE_DDV_DEADZONE_AND_CENTER, //31 MODE_DDV_POS_VS_FLOWRATE, //32 @@ -123,7 +112,7 @@ /********************************* *** Initialization *********************************/ - + LED = 1; pc.baud(9600); @@ -140,7 +129,7 @@ enc.format(8,0); enc.frequency(5000000); //5M make_delay(); - + // ADC init Init_ADC(); make_delay(); @@ -149,7 +138,7 @@ Init_PWM(); TIM4->CR1 ^= TIM_CR1_UDIS; make_delay(); - + // TMR3 init Init_TMR3(); TIM3->CR1 ^= TIM_CR1_UDIS; @@ -159,43 +148,134 @@ can.attach(&CAN_RX_HANDLER); CAN_ID_INIT(); make_delay(); - + // spi _ enc spi_enc_set_init(); make_delay(); - + //eeprom ROM_INIT_DATA(); make_delay(); - + //DAC init dac_1 = PRES_A_VREF/3.3; dac_2 = PRES_B_VREF/3.3; make_delay(); - - for (int i=0; i<100; i++){ + + for (int i=0; i<100; i++) { if(i%2==0) ID_index_array[i] = - i * 0.5; else ID_index_array[i] = (i+1) * 0.5; } - - + + /************************************ *** Program is operating! *************************************/ while(1) { - + //spi _ enc //int a = spi_enc_read(); - + //i2c read_field(i2c_slave_addr1); } } +int DDV_JOINT_POS_FF(double REF_JOINT_VEL){ + + int i = 0; + int Ref_Valve_Pos_FF = DDV_CENTER; + for(i=0; i<VALVE_POS_NUM; i++) + { + if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) + { + if(i==0) + { + Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER; + } + else + { + Ref_Valve_Pos_FF = ((int) 50.0*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 50*ID_index_array[i-1]; + } + break; + } + } + if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) + { + Ref_Valve_Pos_FF = VALVE_MAX_POS; + } + else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) + { + Ref_Valve_Pos_FF = VALVE_MIN_POS; + } + return Ref_Valve_Pos_FF; +} +void VALVE_POS_CONTROL(double REF_VALVE_POS){ + int i = 0; + + valve_pos_err = REF_VALVE_POS - value; + valve_pos_err_diff = valve_pos_err - valve_pos_err_old; + valve_pos_err_old = valve_pos_err; + valve_pos_err_sum += valve_pos_err; + if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; + if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; + + 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; + + if(REF_VALVE_POS > VALVE_MAX_POS) + { + REF_VALVE_POS = VALVE_MAX_POS; + } + else if(REF_VALVE_POS < VALVE_MIN_POS) + { + REF_VALVE_POS = VALVE_MIN_POS; + } + + for(i=0; i<16; i++) + { + 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])) + { + if(i==0) + { + VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]); + } + else + { + VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1]; + } + break; + } + } + VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; +} + + +double PWM_duty_byLT(double Ref_V) { + double PWM_duty = 0.0; + if(Ref_V<LT_Voltage_Output[0]) { + PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0]; + } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { + PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1]; + } else { + int idx = 0; + for(idx=0; idx<LT_MAX_IDX-1; idx++) { + double ini_x = LT_Voltage_Output[idx]; + double fin_x = LT_Voltage_Output[idx+1]; + double ini_y = LT_PWM_duty[idx]; + double fin_y = LT_PWM_duty[idx+1]; + if(Ref_V>=ini_x && Ref_V<fin_x) { + PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; + break; + } + } + } + + return PWM_duty; +} /******************************************************************************* TIMER INTERRUPT @@ -208,18 +288,18 @@ { if ( TIM4->SR & TIM_SR_UIF ) { /******************************************************* - *** Sensor Read & Data Handling + *** Sensor Read & Data Handling ********************************************************/ - - if((CNT_TMR4%2)==0){ - + + if((CNT_TMR4%2)==0) { + //ADC ADC3->CR2 |= 0x40000000; // adc _ 12bit // a1=ADC1->DR; // a1=ADC2->DR; // int raw_cur = ADC3->DR; while((ADC3->SR & 0b10)); - + double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur); @@ -229,12 +309,12 @@ // dac_1 = ADC1->DR; // dac_2 = ADC2->DR; - - + + /******************************************************* *** Timer Counting & etc. ********************************************************/ - CNT_TMR4++; + CNT_TMR4++; } TIM4->SR = 0x0; // reset the status register } @@ -245,23 +325,21 @@ extern "C" void TIM3_IRQHandler(void) { if ( TIM3->SR & TIM_SR_UIF ) { - + ENC_UPDATE(); CUR_PRES_A_BAR = (CUR_PRES_A - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR + 1.; CUR_PRES_B_BAR = (CUR_PRES_B - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR + 1.; //CUR_TORQUE_NM = (CUR_TORQUE - TORQUE_NULL) / (double) TORQUE_SENSOR_PULSE_PER_TORQUE; // CUR_TORQUE_NM = CUR_TORQUE; // CUR_TORQUE_NM_PRESS = 1. * (CUR_PRES_A_BAR - CUR_PRES_B_BAR); - - // Reference Loop + + // Reference Loop switch (REFERENCE_MODE) { - case MODE_REF_NO_ACT: - { + case MODE_REF_NO_ACT: { break; } - - case MODE_REF_DIRECT: - { + + case MODE_REF_DIRECT: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = (double) REF_PWM; } @@ -277,9 +355,8 @@ } break; } - - case MODE_REF_COS_INC: - { + + case MODE_REF_COS_INC: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_PWM; } @@ -300,10 +377,9 @@ } break; } - - - case MODE_REF_LINE_INC: - { + + + case MODE_REF_LINE_INC: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_PWM; } @@ -327,9 +403,8 @@ } break; } - - case MODE_REF_SIN_WAVE: - { + + case MODE_REF_SIN_WAVE: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM; } @@ -349,9 +424,8 @@ } break; } - - case MODE_REF_SQUARE_WAVE: - { + + case MODE_REF_SQUARE_WAVE: { if (FLAG_REFERENCE_VALVE_PWM) { Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM; if (Ref_PWM >= REF_PWM) Ref_PWM = REF_MAG + REF_PWM; @@ -379,33 +453,1172 @@ } break; } + + default: + break; + } + + // CONTROL LOOP ------------------------------------------------------------ + switch (CONTROL_MODE) { + case MODE_NO_ACT: + { + // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0); + VALVE_PWM_RAW = 0; + break; + } + case MODE_VALVE_OPEN_LOOP: + { + VALVE_PWM_RAW = Ref_PWM; + break; + } + + case MODE_VALVE_POSITION_CONTROL: + { + VALVE_POS_CONTROL(Ref_Valve_Pos); + break; + } + + case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: + { + double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback + double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward + double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback + + // feedback input for position control + joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION; + joint_pos_err_diff = joint_pos_err - joint_pos_err_old; + joint_pos_err_old = joint_pos_err; + joint_pos_err_sum += joint_pos_err; + if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000; + if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000; + // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff; + PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err; + PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01; + + // feedforward input for position control + double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] + double K_ff = 0.9; + if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open + if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close + PWM_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50; + + // torque feedback + // joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM; + // joint_torq_err_diff = joint_torq_err - joint_torq_err_old; + // joint_torq_err_old = joint_torq_err; + // joint_torq_err_sum += joint_torq_err; + // if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000; + // if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000; + // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff; + // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01; + PWM_RAW_FORCE_FB = 0.0; + + // VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ; + VALVE_PWM_RAW = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB; + + break; + } + + case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: + { + TMR2_COUNT_JOINT++; + double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback + double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward + double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback + int DDV_JOINT_CAN = 0; + // feedback input for position control + joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION; + joint_pos_err_diff = joint_pos_err - joint_pos_err_old; + joint_pos_err_old = joint_pos_err; + joint_pos_err_sum += joint_pos_err; + if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000; + if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000; + VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff; + VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01; + + + //Ref_Joint_Vel = Ref_Vel_Test; + // feedforward input for position control + // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s] + // double K_ff = 0.9; + // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open + // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close + // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50; + + // torque feedback + // joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM; + // joint_torq_err_diff = joint_torq_err - joint_torq_err_old; + // joint_torq_err_old = joint_torq_err; + // joint_torq_err_sum += joint_torq_err; + // if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000; + // if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000; + // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff; + // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01; + VALVE_POS_RAW_FORCE_FB = 0.0; + + Ref_Valve_Pos = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(Ref_Joint_Vel) + VALVE_POS_RAW_FORCE_FB; + //Ref_Valve_Pos = DDV_JOINT_POS_FF(Ref_Joint_Vel); + + VALVE_POS_CONTROL(Ref_Valve_Pos); + break; + } + + case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: + { + + break; + } + + case MODE_JOINT_POSITION_PRES_CONTROL_PWM: + { + joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION; + joint_pos_err_diff = joint_pos_err - joint_pos_err_old; + joint_pos_err_old = joint_pos_err; + joint_pos_err_sum += joint_pos_err; + if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000; + if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000; + VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01; + + joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM; + joint_torq_err_diff = joint_torq_err - joint_torq_err_old; + joint_torq_err_old = joint_torq_err; + joint_torq_err_sum += joint_torq_err; + if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000; + if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000; + VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff; + + VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01; + + VALVE_PWM_RAW = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ; + + CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587; + CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L)) + if (DIR_VALVE > 0) { + if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0; + else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5; + else VALVE_FF_VOLTAGE = 0; + } else { + if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0; + else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0; + else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5; + else VALVE_FF_VOLTAGE = 0; + } + // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5; + + if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.)) + else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707; + + VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE; + break; + } + + case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: + { + joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION; + joint_pos_err_diff = joint_pos_err - joint_pos_err_old; + joint_pos_err_old = joint_pos_err; + joint_pos_err_sum += joint_pos_err; + if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000; + if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000; + VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01; + + joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM; + joint_torq_err_diff = joint_torq_err - joint_torq_err_old; + joint_torq_err_old = joint_torq_err; + joint_torq_err_sum += joint_torq_err; + if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000; + if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000; + VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff; + + Ref_Valve_Pos = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ; + + valve_pos_err = Ref_Valve_Pos - value; + valve_pos_err_diff = valve_pos_err - valve_pos_err_old; + valve_pos_err_old = valve_pos_err; + valve_pos_err_sum += valve_pos_err; + if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; + if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; + + VALVE_PWM_RAW = (double) P_GAIN_VALVE_POSITION * valve_pos_err + (double) I_GAIN_VALVE_POSITION * valve_pos_err_sum + (double) D_GAIN_VALVE_POSITION * valve_pos_err_diff; + + break; + } + + case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: + { + + break; + } + + case MODE_TORQUE_SENSOR_NULLING: + { + // DAC Voltage reference set + if (TMR2_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { + CUR_TORQUE_sum += CUR_TORQUE; + + if (TMR2_COUNT_TORQUE_NULL % 10 == 0) { + CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0; + CUR_TORQUE_sum = 0; + + TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean); + + // TORQUE_VREF = 0; + if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3; + if (TORQUE_VREF < 0) TORQUE_VREF = 0; + + spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0)); + spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0)); + } + } else { + CONTROL_MODE = MODE_NO_ACT; + TMR2_COUNT_TORQUE_NULL = 0; + CUR_TORQUE_sum = 0; + CUR_TORQUE_mean = 0; + spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); + + } + TMR2_COUNT_TORQUE_NULL++; + break; + } + + case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: + { + if (TMR2_COUNT_DEADZONE == 0) { + if (pos_plus_end == pos_minus_end) need_enc_init = true; + else temp_time = 0; + } + if (need_enc_init) { + if (TMR2_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) { + VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + pos_plus_end = CUR_POSITION; + } else if (TMR2_COUNT_DEADZONE < TMR_FREQ_5k) { + VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + pos_minus_end = CUR_POSITION; + } else if (TMR2_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; + temp_time = TMR_FREQ_5k; + } + + if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { + VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); + VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; + + } else if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) { + VALVE_PWM_RAW = 0; + CUR_VELOCITY_sum += CUR_VELOCITY; + } else if (TMR2_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { + if (CUR_VELOCITY_sum == 0) DZ_dir = 1; + else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; + else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; + else DZ_temp_cnt2 = DZ_end; + CUR_VELOCITY_sum = 0; + } else if (TMR2_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { + if (TMR2_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; + + // Position of Dead Zone + // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) + // | / | / |/ + // | ______/ ___|___/ ______/| + // |/ / | / | + // /| / | / | + // 0V 0V 0V + + if (DZ_temp_cnt2 < DZ_end) { + if (TMR2_COUNT_DEADZONE % 20 != 0) { + CUR_VELOCITY_sum += CUR_VELOCITY; + } else { + VALVE_PWM_RAW -= DZ_dir; + if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; + CUR_VELOCITY_sum = 0; + } + if (DZ_temp_cnt == 5) { + if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW; + else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW; + DZ_dir = -DZ_dir; + DZ_temp_cnt = 0; + DZ_temp_cnt2++; + } + } else { + TMR2_COUNT_DEADZONE = -1; + VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; + if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { + VALVE_DEADZONE_PLUS = VALVE_CENTER; + VALVE_DEADZONE_MINUS = VALVE_CENTER; + } + VALVE_PWM_RAW = 0; + spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); + spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); + + CONTROL_MODE = MODE_NO_ACT; + DZ_temp_cnt2 = 0; + } + } + TMR2_COUNT_DEADZONE++; + break; + } + + case MODE_FIND_HOME: + { + if (FLAG_FIND_HOME == true) { + cnt_findhome = 0; + cnt_vel_findhome = 0; + REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO + Ref_Joint_Pos = CUR_POSITION; + FLAG_FIND_HOME = false; + } + + int check_enc = (TMR_FREQ_5k/10); + if(cnt_findhome%check_enc == 0){ + FINDHOME_POSITION = CUR_POSITION; + FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; + FINDHOME_POSITION_OLD = FINDHOME_POSITION; + } cnt_findhome++; + if(cnt_findhome == 10000) cnt_findhome = 0; + + if (abs(FINDHOME_VELOCITY) <= 1) { + cnt_vel_findhome = cnt_vel_findhome + 1; + } else { + cnt_vel_findhome = 0; + } + + if (cnt_vel_findhome < 2*TMR_FREQ_5k) { + REFERENCE_MODE = MODE_REF_NO_ACT; + if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0; + else Ref_Joint_Pos = Ref_Joint_Pos - 1.0; + joint_pos_err = Ref_Joint_Pos - CUR_POSITION; + VALVE_PWM_RAW = ((double) P_GAIN_JOINT_POSITION * joint_pos_err) * 0.01; + // if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100; + // else VALVE_PWM_RAW = -100; + } else { + ENC_SET(HOMEPOS_OFFSET); + FLAG_REFERENCE_JOINT_POSITION = 1; + INIT_REF_POS = HOMEPOS_OFFSET; + REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k; + TMR2_COUNT_REFERENCE = 0; + Ref_Joint_Vel = 0.0; + REFERENCE_MODE = MODE_REF_COS_INC; + CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM; + + FINDHOME_POSITION = 0; + FINDHOME_POSITION_OLD = 0; + FINDHOME_VELOCITY = 0; + cnt_findhome = 0; + cnt_vel_findhome = 0; + } + break; + } + + case MODE_VALVE_GAIN_SETTING: + { + if (TMR2_COUNT_FLOWRATE == 0) { + if (pos_plus_end == pos_minus_end) need_enc_init = true; + else { + VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + temp_time = (int) (0.5 * (double) TMR_FREQ_5k); + } + } + if (need_enc_init) { + if (TMR2_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) { + VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + pos_plus_end = CUR_POSITION; + } else if (TMR2_COUNT_FLOWRATE < TMR_FREQ_5k) { + VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + pos_minus_end = CUR_POSITION; + } else if (TMR2_COUNT_FLOWRATE == TMR_FREQ_5k) { + need_enc_init = false; + check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end)); + check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end)); + check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; + } + temp_time = TMR_FREQ_5k; + } + TMR2_COUNT_FLOWRATE++; + if (TMR2_COUNT_FLOWRATE > temp_time) { + if (flag_flowrate % 2 == 0) { // (+) + VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1); + VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL; + if (CUR_POSITION > (pos_minus_end + check_vel_pos_init) && CUR_POSITION < (pos_minus_end + check_vel_pos_fin)) { + fl_temp_cnt++; + } else if (CUR_POSITION >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { + VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 + // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec + fl_temp_cnt2++; + } + } else if (flag_flowrate % 2 == 1) { // (-) + VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1); + VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL; + if (CUR_POSITION < (pos_plus_end - check_vel_pos_init) && CUR_POSITION > (pos_plus_end - check_vel_pos_fin)) { + fl_temp_cnt++; + } else if (CUR_POSITION <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { + VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); + // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec + fl_temp_cnt2++; + } + } + if (fl_temp_cnt2 == 100) { + spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0)); + cur_vel_sum = 0; + fl_temp_cnt = 0; + fl_temp_cnt2 = 0; + flag_flowrate++; + } + if (flag_flowrate == 10) { + VALVE_PWM_RAW = 0; + flag_flowrate = 0; + TMR2_COUNT_FLOWRATE = 0; + valve_gain_repeat_cnt++; + if (valve_gain_repeat_cnt >= 1) { + CONTROL_MODE = MODE_NO_ACT; + valve_gain_repeat_cnt = 0; + } + + } + break; + } + + } + + case MODE_PRESSURE_SENSOR_NULLING: + { + // DAC Voltage reference set + if (TMR2_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { + CUR_PRES_A_sum += CUR_PRES_A; + CUR_PRES_B_sum += CUR_PRES_B; + + if (TMR2_COUNT_PRES_NULL % 10 == 0) { + CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0; + CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0; + CUR_PRES_A_sum = 0; + CUR_PRES_B_sum = 0; + + double VREF_NullingGain = 0.0003; + PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean); + PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean); + + if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3; + if (PRES_A_VREF < 0) PRES_A_VREF = 0; + if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3; + if (PRES_B_VREF < 0) PRES_B_VREF = 0; + + spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0)); + spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0)); + } + } else { + CONTROL_MODE = MODE_NO_ACT; + TMR2_COUNT_PRES_NULL = 0; + CUR_PRES_A_sum = 0; + CUR_PRES_B_sum = 0; + CUR_PRES_A_mean = 0; + CUR_PRES_B_mean = 0; + + spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0)); + spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0)); + } + TMR2_COUNT_PRES_NULL++; + break; + } + + case MODE_PRESSURE_SENSOR_CALIB: + { + if (TMR2_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { + VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.; + if (TMR2_COUNT_PRES_CALIB >= TMR_FREQ_5k) { + CUR_PRES_A_sum += CUR_PRES_A; + } + } else if (TMR2_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { + VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.; + if (TMR2_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { + CUR_PRES_B_sum += CUR_PRES_B; + } + } else { + CONTROL_MODE = MODE_NO_ACT; + TMR2_COUNT_PRES_CALIB = 0; + VALVE_PWM_RAW = 0; + PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL; + PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.); + PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL; + PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.); + CUR_PRES_A_sum = 0; + CUR_PRES_B_sum = 0; + CUR_PRES_A_mean = 0; + CUR_PRES_B_mean = 0; + + spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0)); + spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0)); + } + TMR2_COUNT_PRES_CALIB++; + break; + } + + case MODE_ROTARY_FRICTION_TUNING: + { + if (TMR2_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05); + VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001); + if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL; + else VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + TMR2_COUNT_ROTARY_FRIC_TUNE++; + if (TMR2_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { + TMR2_COUNT_ROTARY_FRIC_TUNE = 0; + VALVE_PWM_RAW = 0; + CONTROL_MODE = MODE_NO_ACT; + } + break; + } + + case MODE_DDV_POS_VS_PWM_ID: + { + VALVE_ID_timer = VALVE_ID_timer + 1; + + if(VALVE_ID_timer < TMR_FREQ_5k*1) + { + VALVE_PWM_RAW = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100); + } + else if(VALVE_ID_timer < TMR_FREQ_5k*2) + { + VALVE_PWM_RAW = 1000*(ID_index_array[ID_index]); + } + else if(VALVE_ID_timer == TMR_FREQ_5k*2) + { + VALVE_POS_TMP = 0; + data_num = 0; + } + else if(VALVE_ID_timer < TMR_FREQ_5k*3) + { + data_num = data_num + 1; + VALVE_POS_TMP = VALVE_POS_TMP + value; + } + else if(VALVE_ID_timer == TMR_FREQ_5k*3) + { + VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; + VALVE_ID_timer = 0; + ID_index= ID_index +1; + } + + if(ID_index>=18) + { + int i; + VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; + for(i=0;i<18;i++) + { + VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); + spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i])); + if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) + { + VALVE_MAX_POS = VALVE_POS_AVG[i]; + VALVE_POS_AVG_OLD = VALVE_MAX_POS; + } + else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) + { + VALVE_MIN_POS = VALVE_POS_AVG[i]; + VALVE_POS_AVG_OLD = VALVE_MIN_POS; + } + } + spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS)); + spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS)); + CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS)); + ID_index = 0; + CONTROL_MODE = MODE_NO_ACT; + } + + + break; + } + + case MODE_DDV_DEADZONE_AND_CENTER: + { + + VALVE_DZ_timer = VALVE_DZ_timer + 1; + if(first_check == 0) + { + if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + } + else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + pos_plus_end = CUR_POSITION; + } + else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + } + else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + pos_minus_end = CUR_POSITION; + } + else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); + } + else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); + data_num = data_num + 1; + VALVE_POS_TMP = VALVE_POS_TMP + value; + } + else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); + DDV_POS_AVG = VALVE_POS_TMP / data_num; + START_POS = CUR_POSITION; + CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num)); + VALVE_POS_TMP = 0; + data_num = 0; + + } + else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos = DDV_POS_AVG; + VALVE_POS_CONTROL(Ref_Valve_Pos); + //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS)); + + } + else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos = DDV_POS_AVG; + VALVE_POS_CONTROL(Ref_Valve_Pos); + if(CUR_VELOCITY >= 0) + VEL_POINT = VEL_POINT + 1; + else + VEL_POINT = VEL_POINT - 1; + } + else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos = DDV_POS_AVG; + VALVE_POS_CONTROL(Ref_Valve_Pos); + FINAL_POS = CUR_POSITION; + // if(VEL_POINT >= 0) + // { + // DZ_case = 1; + // } + // else + // { + // DZ_case = -1; + // } + // if(abs(FINAL_POS - START_POS) < 100) + // { + // DZ_case = 0; + // } + + if((FINAL_POS - START_POS)>100) + { + DZ_case = 1; + } + else if((FINAL_POS - START_POS)<-100) + { + DZ_case = -1; + } + else + { + DZ_case = 0; + } + + VEL_POINT = 0; + first_check = 1; + DZ_DIRECTION = 1; + VALVE_DZ_timer = 0; + Ref_Valve_Pos_Old = DDV_POS_AVG; + DZ_NUM = 1; + DZ_index = 1; + CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM)); + + } + } + else + { + if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) + { + if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); + } + else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) + { + START_POS = CUR_POSITION; + } + else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; + if(Ref_Valve_Pos <= VALVE_MIN_POS) + { + Ref_Valve_Pos = VALVE_MIN_POS; + } + else if(Ref_Valve_Pos >= VALVE_MAX_POS) + { + Ref_Valve_Pos = VALVE_MAX_POS; + } + VALVE_POS_CONTROL(Ref_Valve_Pos); + if(CUR_VELOCITY >= 0) + VEL_POINT = VEL_POINT + 1; + else + VEL_POINT = VEL_POINT - 1; + } + else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos_Old = Ref_Valve_Pos; + FINAL_POS = CUR_POSITION; + // if(VEL_POINT >= 0) + // DZ_DIRECTION = 1 * DZ_case; + // else + // DZ_DIRECTION = -1 * DZ_case; + // if(abs(FINAL_POS - START_POS) < 100) + // DZ_DIRECTION = 1 * DZ_case; + + if((FINAL_POS - START_POS)>100) + { + DZ_DIRECTION = 1 * DZ_case; + } + else if((FINAL_POS - START_POS)<-100) + { + DZ_DIRECTION = -1 * DZ_case; + } + else + { + DZ_DIRECTION = 1 * DZ_case; + } + + VEL_POINT = 0; + + VALVE_DZ_timer = 0; + DZ_index= DZ_index *2; + if(DZ_index >= 128) + { + FIRST_DZ = Ref_Valve_Pos; + DZ_NUM = 2; + Ref_Valve_Pos_Old = FIRST_DZ; + DZ_index = 1; + DZ_DIRECTION = 1; + } + + //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index)); + } + } + else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) + { + if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); + } + else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) + { + START_POS = CUR_POSITION; + } + else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION + 64 / DZ_index; + if(Ref_Valve_Pos <= VALVE_MIN_POS) + { + Ref_Valve_Pos = VALVE_MIN_POS; + } + else if(Ref_Valve_Pos >= VALVE_MAX_POS) + { + Ref_Valve_Pos = VALVE_MAX_POS; + } + VALVE_POS_CONTROL(Ref_Valve_Pos); + if(CUR_VELOCITY >= 0) + VEL_POINT = VEL_POINT + 1; + else + VEL_POINT = VEL_POINT - 1; + } + else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos_Old = Ref_Valve_Pos; + FINAL_POS = CUR_POSITION; + // if(VEL_POINT >= 0) + // DZ_DIRECTION = 1 * DZ_case; + // else + // DZ_DIRECTION = -1 * DZ_case; + // if(abs(FINAL_POS - START_POS) < 100) + // DZ_DIRECTION = -1 * DZ_case; + + if((FINAL_POS - START_POS)>100) + { + DZ_DIRECTION = -1; + } + else if((FINAL_POS - START_POS)<-100) + { + DZ_DIRECTION = 1; + } + else + { + DZ_DIRECTION = 1; + } + + VEL_POINT = 0; + + + VALVE_DZ_timer = 0; + DZ_index= DZ_index *2; + if(DZ_index >= 128) + { + SECOND_DZ = Ref_Valve_Pos; + DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ)); + first_check = 0; + spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ); + spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ); + spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER); + //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ); + CONTROL_MODE = MODE_NO_ACT; + DZ_index = 1; + } + + CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index)); + } + } + else if(DZ_case == 0 && DZ_NUM ==1) + { + if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); + } + else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) + { + START_POS = CUR_POSITION; + } + else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; + if(Ref_Valve_Pos <= VALVE_MIN_POS) + { + Ref_Valve_Pos = VALVE_MIN_POS; + } + else if(Ref_Valve_Pos >= VALVE_MAX_POS) + { + Ref_Valve_Pos = VALVE_MAX_POS; + } + VALVE_POS_CONTROL(Ref_Valve_Pos); + if(CUR_VELOCITY >= 0) + VEL_POINT = VEL_POINT + 1; + else + VEL_POINT = VEL_POINT - 1; + } + else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos_Old = Ref_Valve_Pos; + FINAL_POS = CUR_POSITION; + // if(VEL_POINT >= 0) + // DZ_DIRECTION = 1; + // else + // DZ_DIRECTION = -1; + // if(abs(FINAL_POS - START_POS) < 100) + // DZ_DIRECTION = 1; + + if((FINAL_POS - START_POS)>100) + { + DZ_DIRECTION = 1; + } + else if((FINAL_POS - START_POS)<-100) + { + DZ_DIRECTION = -1; + } + else + { + DZ_DIRECTION = 1; + } + + VEL_POINT = 0; + //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION)); + VALVE_DZ_timer = 0; + DZ_index= DZ_index *2; + if(DZ_index >= 128) + { + FIRST_DZ = Ref_Valve_Pos; + DZ_NUM = 2; + Ref_Valve_Pos_Old = FIRST_DZ; + DZ_index = 1; + DZ_DIRECTION = 1; + } + } + } + else + { + if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); + } + else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) + { + START_POS = CUR_POSITION; + } + else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; + if(Ref_Valve_Pos <= VALVE_MIN_POS) + { + Ref_Valve_Pos = VALVE_MIN_POS; + } + else if(Ref_Valve_Pos > VALVE_MAX_POS) + { + Ref_Valve_Pos = VALVE_MAX_POS - 1; + } + VALVE_POS_CONTROL(Ref_Valve_Pos); + if(CUR_VELOCITY >= 0) + VEL_POINT = VEL_POINT + 1; + else + VEL_POINT = VEL_POINT - 1; + } + else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos_Old = Ref_Valve_Pos; + FINAL_POS = CUR_POSITION; + if(VEL_POINT >= 0) + DZ_DIRECTION = -1; + else + DZ_DIRECTION = 1; + if(abs(FINAL_POS - START_POS) < 100) + DZ_DIRECTION = 1; + + VEL_POINT = 0; + + + VALVE_DZ_timer = 0; + //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index)); + DZ_index= DZ_index *2; + if(DZ_index >= 128) + { + SECOND_DZ = Ref_Valve_Pos; + DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ)); + first_check = 0; + VALVE_DEADZONE_MINUS = FIRST_DZ; + spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ); + VALVE_DEADZONE_PLUS = SECOND_DZ; + spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ); + spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER); + CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ); + CONTROL_MODE = MODE_NO_ACT; + DZ_index = 1; + } + + //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index)); + } + } + } + break; + } + + case MODE_DDV_POS_VS_FLOWRATE: + { + VALVE_FR_timer = VALVE_FR_timer + 1; + if(first_check == 0) + { + if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); + } + else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + pos_plus_end = CUR_POSITION; + // CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (7)); + } + else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + } + else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) + { + // CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (8)); + VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL; + pos_minus_end = CUR_POSITION; + first_check = 1; + VALVE_FR_timer = 0; + Ref_Valve_Pos = DDV_CENTER; + ID_index = 0; + max_check = 0; + min_check = 0; + } + } + else + { + if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) + { + VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION); + } + else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) + { + data_num = 0; + Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER; + + VALVE_POS_CONTROL(Ref_Valve_Pos); + START_POS = CUR_POSITION; + } + else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) + { + Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER; + VALVE_POS_CONTROL(Ref_Valve_Pos); + data_num = data_num + 1; + if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION) > 20000) + { + FINAL_POS = CUR_POSITION; + one_period_end = 1; + } + } + else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) + { + FINAL_POS = CUR_POSITION; + one_period_end = 1; + } + + if(one_period_end == 1){ + if(Ref_Valve_Pos > VALVE_MAX_POS) + { + max_check = 1; + } + else if(Ref_Valve_Pos < VALVE_MIN_POS) + { + min_check = 1; + } + JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec + spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF)); + spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF)); + VALVE_FR_timer = 0; + one_period_end = 0; + ID_index= ID_index +1; + // CAN_TX_PRES((int16_t) (Ref_Valve_Pos), (int16_t) (ID_index)); + } + + if(max_check == 1 && min_check == 1) + { + spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index)); + VALVE_POS_NUM = ID_index; + ID_index = 0; + first_check = 0; + VALVE_FR_timer = 0; + // CAN_TX_PRES((int16_t) (123), (int16_t) (123)); + CONTROL_MODE = MODE_NO_ACT; + } + } + break; + } default: break; } + if (FLAG_VALVE_OUTPUT_CALIB) { + // Valve Dead Zone (Mechanical dead-zone canceling) + // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) { + // if (VALVE_PWM_RAW > 0.) { + // VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_PLUS; + // } else if (VALVE_PWM_RAW < 0.) { + // VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_MINUS; + // } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_CENTER; + // } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW; + + if(VALVE_PWM_RAW>0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS; + else if(VALVE_PWM_RAW<0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS; + + VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_CENTER; + // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone) + double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV + double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin); + + if (CUR_PWM_DZ > 0) CUR_PWM = (int)CUR_PWM_DZ + 143; + else if (CUR_PWM_DZ < 0) CUR_PWM = (int)CUR_PWM_DZ - 138; + else CUR_PWM = CUR_PWM_DZ; + } else { + CUR_PWM = VALVE_PWM_RAW; + } + + VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE); + //CAN ---------------------------------------------------------------------- + if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) { + + if (flag_data_request[0] == HIGH) { + //position+velocity + CAN_TX_POSITION((long) CUR_POSITION, (long) CUR_VELOCITY); + // CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.)); + // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR); + } + + if (flag_data_request[1] == HIGH) { + //torque + //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.)); + CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM)); + // CAN_TX_TORQUE((int16_t) DZ_temp_cnt); + } + + if (flag_data_request[2] == HIGH) { + //pressure A and B + CAN_TX_PRES((int16_t) (CUR_PRES_A), (int16_t) (CUR_PRES_B)); // CUR_PRES_X : 0(0bar)~4096(210bar) + // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.)); + // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.); + // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.); + + } + + if (flag_data_request[3] == HIGH) { + //PWM + CAN_TX_PWM((int16_t) CUR_PWM); + // CAN_TX_PWM((int16_t) (CONTROL_MODE)); + // CAN_TX_PWM((int16_t) cnt_vel_findhome); + // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.)); + // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.)); + + } + + if (flag_data_request[4] == HIGH) { + //valve position + CAN_TX_VALVE_POSITION((int16_t) (I2C_val)); + //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF)); + //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF)); + + + //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM)); + // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE)); + // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION); + // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos); + // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate); + } + + TMR3_COUNT_CAN_TX = 0; + + } + TMR3_COUNT_CAN_TX++; + /******************************************************* - *** Valve Control + *** Valve Control ********************************************************/ ValveControl(CONTROL_MODE); - + double t = (double)CNT_TMR4*DT_TMR4; - double T = 5.0; + double T = 5.0; V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty) // if(V_out > 0.0) V_out = 1000.0; -// else if(V_out < 0.0) V_out = -1000.0; +// else if(V_out < 0.0) V_out = -1000.0; /******************************************************* *** PWM ********************************************************/ PWM_out= V_out/12000.0; // Full duty : 12000.0mV - + // Saturation of output voltage to 5.0V if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667 else if (PWM_out < -0.41667) PWM_out=-0.41667; - + if (PWM_out>0.0) { dtc_v=0.0; dtc_w=PWM_out; @@ -413,11 +1626,11 @@ dtc_v=-PWM_out; dtc_w=0.0; } - + //pwm TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v); TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w); - + /******************************************************* *** Data Send (CAN) & Print out (UART) ********************************************************/ @@ -433,12 +1646,10 @@ // can.write(msg); // } - if((CNT_TMR3%5000)==0){ - if(LED==1) - { + if((CNT_TMR3%5000)==0) { + if(LED==1) { LED=0; - } - else + } else LED = 1; // LED != LED; } @@ -446,7 +1657,7 @@ /******************************************************* *** Timer Counting & etc. ********************************************************/ - CNT_TMR3++; + CNT_TMR3++; } TIM3->SR = 0x0; // reset the status register } @@ -459,17 +1670,17 @@ break; case MODE_VALVE_OPEN_LOOP: // 1 V_out = Vout.ref; - break; + break; case MODE_VALVE_POSITION_CONTROL: // 2 CurrentControl(); - break; + break; case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3 V_out = 0.0; - break; + break; case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward - + // feedback input for position control pos.err = pos.ref - pos.sen; double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz @@ -477,34 +1688,35 @@ pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff; pos.err_old = pos.err; I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1); - + // feedforward input for position control - double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] + double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s] double K_ff = 1.3; double K_v = 0.0; if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA) - if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA) + if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA) I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref; - + cur.ref = I_REF_POS_FF + I_REF_POS_FB; - break; + break; case MODE_TEST_CURRENT_CONTROL: // 9 V_out = 0.0; - break; + break; case MODE_TEST_PWM_CONTROL: // 10 V_out = 0.0; - break; + break; case MODE_FIND_HOME: // 22 V_out = 0.0; - break; + break; default: V_out = 0.0; break; - + } } -void CurrentControl() { +void CurrentControl() +{ cur.err = cur.ref - cur.sen; cur.err_int = cur.err_int + cur.err*DT_TMR4; cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4; @@ -521,8 +1733,8 @@ V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff); // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV - - double Ka = 5.0/KP_I; + + double Ka = 5.0/KP_I; if(V_out > V_MAX) { V_rem = V_out-V_MAX; V_rem = Ka*V_rem; @@ -530,8 +1742,8 @@ cur.err_int = cur.err_int - V_rem*DT_5k; } else if(V_out < -V_MAX) { V_rem = V_out-(-V_MAX); - V_rem = Ka*V_rem; + V_rem = Ka*V_rem; V_out = -V_MAX; cur.err_int = cur.err_int - V_rem*DT_5k; - } + } } \ No newline at end of file