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distribution-201229
function_utilities/function_utilities.cpp@133:22ab22818e01, 2020-10-05 (annotated)
- Committer:
- Lightvalve
- Date:
- Mon Oct 05 13:33:46 2020 +0000
- Revision:
- 133:22ab22818e01
- Parent:
- 99:7bbcb3c0fb06
- Child:
- 169:645207e160ca
201005
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 11:82d8768d7351 | 1 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 2 | #include "SPI_EEP_ENC.h" |
Lightvalve | 11:82d8768d7351 | 3 | #include "function_utilities.h" |
Lightvalve | 14:8e7590227d22 | 4 | #include "function_CAN.h" |
Lightvalve | 16:903b5a4433b4 | 5 | #include "stm32f4xx_flash.h" |
Lightvalve | 16:903b5a4433b4 | 6 | #include "FlashWriter.h" |
Lightvalve | 16:903b5a4433b4 | 7 | |
Lightvalve | 16:903b5a4433b4 | 8 | int Rom_Sector = 6; |
Lightvalve | 16:903b5a4433b4 | 9 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
Lightvalve | 16:903b5a4433b4 | 10 | |
Lightvalve | 11:82d8768d7351 | 11 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 12 | * VARIABLE |
Lightvalve | 11:82d8768d7351 | 13 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 14 | |
Lightvalve | 34:bb2ca2fc2a8e | 15 | // Board Information |
Lightvalve | 11:82d8768d7351 | 16 | uint8_t BNO = 0; |
Lightvalve | 11:82d8768d7351 | 17 | uint8_t CONTROL_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 18 | uint8_t OPERATING_MODE = 0; // (00 : Moog & Rot, 01 : Moog & Lin, 10 : KNR & Rot, 11 : KNR & Lin, 101 : SW & Lin) |
Lightvalve | 52:8ea76864368a | 19 | uint8_t SENSING_MODE = 0; // (0 : torque, 1: pressure) |
Lightvalve | 57:f4819de54e7a | 20 | uint8_t CONTROL_UTILITY_MODE = 0; |
Lightvalve | 52:8ea76864368a | 21 | uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control) |
Lightvalve | 52:8ea76864368a | 22 | uint8_t FLAG_VALVE_DEADZONE = 0; |
Lightvalve | 11:82d8768d7351 | 23 | uint8_t REFERENCE_MODE = 0; |
Lightvalve | 54:647072f5307a | 24 | int16_t CAN_FREQ = 500; |
Lightvalve | 17:1865016ca2e7 | 25 | int16_t DIR_JOINT_ENC = 0; |
Lightvalve | 17:1865016ca2e7 | 26 | int16_t DIR_VALVE = 0; |
Lightvalve | 17:1865016ca2e7 | 27 | int16_t DIR_VALVE_ENC = 0; |
Lightvalve | 11:82d8768d7351 | 28 | |
Lightvalve | 49:e7bcfc244d40 | 29 | float SUPPLY_VOLTAGE = 12.0f; |
Lightvalve | 49:e7bcfc244d40 | 30 | float VALVE_VOLTAGE_LIMIT = 12.0f; //v |
Lightvalve | 11:82d8768d7351 | 31 | |
Lightvalve | 30:8d561f16383b | 32 | float P_GAIN_VALVE_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 33 | float I_GAIN_VALVE_POSITION= 0.0f; |
Lightvalve | 30:8d561f16383b | 34 | float D_GAIN_VALVE_POSITION= 0.0f; |
Lightvalve | 30:8d561f16383b | 35 | float P_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 36 | float I_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 37 | float D_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 38 | float P_GAIN_JOINT_TORQUE = 0.0f; |
Lightvalve | 72:3436ce769b1e | 39 | float I_GAIN_JOINT_TORQUE = 0.0f; |
Lightvalve | 72:3436ce769b1e | 40 | float D_GAIN_JOINT_TORQUE = 0.0f; |
Lightvalve | 72:3436ce769b1e | 41 | float P_GAIN_JOINT_TORQUE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 42 | float I_GAIN_JOINT_TORQUE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 43 | float D_GAIN_JOINT_TORQUE_FF = 0.0f; |
Lightvalve | 11:82d8768d7351 | 44 | |
Lightvalve | 46:2694daea349b | 45 | int16_t K_SPRING = 0.0; |
Lightvalve | 46:2694daea349b | 46 | int16_t D_DAMPER = 0.0; |
Lightvalve | 72:3436ce769b1e | 47 | |
Lightvalve | 54:647072f5307a | 48 | int16_t flag_delay_test = 0; |
Lightvalve | 46:2694daea349b | 49 | |
Lightvalve | 36:a46e63505ed8 | 50 | //float P_GAIN_VALVE_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 51 | //float I_GAIN_VALVE_POSITION_OPP= 0.0f; |
Lightvalve | 36:a46e63505ed8 | 52 | //float D_GAIN_VALVE_POSITION_OPP= 0.0f; |
Lightvalve | 36:a46e63505ed8 | 53 | //float P_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 54 | //float I_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 55 | //float D_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 56 | //float P_GAIN_JOINT_TORQUE_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 57 | //float I_GAIN_JOINT_TORQUE_OPP = 0.0; |
Lightvalve | 36:a46e63505ed8 | 58 | //float D_GAIN_JOINT_TORQUE_OPP = 0.0; |
Lightvalve | 36:a46e63505ed8 | 59 | |
Lightvalve | 33:91b17819ec30 | 60 | float VALVE_DEADZONE_PLUS; |
Lightvalve | 33:91b17819ec30 | 61 | float VALVE_DEADZONE_MINUS; |
Lightvalve | 11:82d8768d7351 | 62 | |
Lightvalve | 11:82d8768d7351 | 63 | int16_t VELOCITY_COMP_GAIN; |
Lightvalve | 11:82d8768d7351 | 64 | int16_t COMPLIANCE_GAIN; |
Lightvalve | 11:82d8768d7351 | 65 | |
Lightvalve | 11:82d8768d7351 | 66 | int16_t VALVE_CENTER; |
Lightvalve | 11:82d8768d7351 | 67 | |
Lightvalve | 11:82d8768d7351 | 68 | int16_t VALVE_FF; |
Lightvalve | 11:82d8768d7351 | 69 | |
Lightvalve | 11:82d8768d7351 | 70 | int16_t BULK_MODULUS; |
Lightvalve | 11:82d8768d7351 | 71 | |
Lightvalve | 11:82d8768d7351 | 72 | int16_t CHAMBER_VOLUME_A; |
Lightvalve | 11:82d8768d7351 | 73 | int16_t CHAMBER_VOLUME_B; |
Lightvalve | 11:82d8768d7351 | 74 | |
Lightvalve | 11:82d8768d7351 | 75 | int16_t PISTON_AREA_A; |
Lightvalve | 11:82d8768d7351 | 76 | int16_t PISTON_AREA_B; |
Lightvalve | 30:8d561f16383b | 77 | float PISTON_AREA_alpha; |
Lightvalve | 57:f4819de54e7a | 78 | float alpha3 = 1.0f; |
Lightvalve | 11:82d8768d7351 | 79 | |
Lightvalve | 11:82d8768d7351 | 80 | |
Lightvalve | 11:82d8768d7351 | 81 | int16_t PRES_SUPPLY; |
Lightvalve | 11:82d8768d7351 | 82 | int16_t PRES_RETURN; |
Lightvalve | 11:82d8768d7351 | 83 | |
Lightvalve | 11:82d8768d7351 | 84 | int16_t ENC_LIMIT_PLUS; |
Lightvalve | 11:82d8768d7351 | 85 | int16_t ENC_LIMIT_MINUS; |
Lightvalve | 11:82d8768d7351 | 86 | |
Lightvalve | 11:82d8768d7351 | 87 | int16_t STROKE; |
Lightvalve | 11:82d8768d7351 | 88 | |
Lightvalve | 133:22ab22818e01 | 89 | float Amm = 236.4f; |
Lightvalve | 133:22ab22818e01 | 90 | float beta = 1300000000.0f; |
Lightvalve | 133:22ab22818e01 | 91 | float Ps = 10000000.0f; //100bar = 100*10^5 Pa |
Lightvalve | 133:22ab22818e01 | 92 | float Pt = 0.0f; // 0bar = 0Pa |
Lightvalve | 133:22ab22818e01 | 93 | //float Kv = 0.00000002635f; // Q = Kv*xv*sqrt(Ps-Pa) => 100bar full opening 5LPM (full opening : xv = 1) [unit] m^3.5/kg^0.5 |
Lightvalve | 133:22ab22818e01 | 94 | float gamma_hat = 1075.0f; // Kv*beta*A/(sqrt(2)*V) 0.00000002635f * 1300000000.0f * / (sqrt(2.0f)*(1256.6f + 236.4f * 39.75f) * 0.000000001f / 2) [unit] m^3.5/kg^0.5 |
Lightvalve | 133:22ab22818e01 | 95 | float V = 0.0000053f; // (1256.6f + 236.4f * 39.75f) * 0.000000001f / 2 |
Lightvalve | 133:22ab22818e01 | 96 | float x_4_des_old = 0.0f; |
Lightvalve | 11:82d8768d7351 | 97 | |
Lightvalve | 57:f4819de54e7a | 98 | //int16_t VALVE_LIMIT_PLUS; |
Lightvalve | 57:f4819de54e7a | 99 | //int16_t VALVE_LIMIT_MINUS; |
Lightvalve | 11:82d8768d7351 | 100 | |
Lightvalve | 48:889798ff9329 | 101 | float ENC_PULSE_PER_POSITION; |
Lightvalve | 48:889798ff9329 | 102 | float TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 30:8d561f16383b | 103 | float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 104 | float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 11:82d8768d7351 | 105 | |
Lightvalve | 11:82d8768d7351 | 106 | int HOMEPOS_OFFSET; |
Lightvalve | 11:82d8768d7351 | 107 | int HOMEPOS_VALVE_OPENING; |
Lightvalve | 11:82d8768d7351 | 108 | |
Lightvalve | 30:8d561f16383b | 109 | float FRICTION; |
Lightvalve | 30:8d561f16383b | 110 | float REF_PERIOD; |
Lightvalve | 30:8d561f16383b | 111 | float REF_MAG; |
Lightvalve | 11:82d8768d7351 | 112 | int REF_NUM; |
Lightvalve | 11:82d8768d7351 | 113 | |
Lightvalve | 11:82d8768d7351 | 114 | |
Lightvalve | 30:8d561f16383b | 115 | float DAC_REF; |
Lightvalve | 30:8d561f16383b | 116 | float DAC_RESOL; |
Lightvalve | 11:82d8768d7351 | 117 | |
Lightvalve | 11:82d8768d7351 | 118 | int REF_POSITION; |
Lightvalve | 11:82d8768d7351 | 119 | int REF_VELOCITY; |
Lightvalve | 11:82d8768d7351 | 120 | int16_t REF_TORQUE; |
Lightvalve | 11:82d8768d7351 | 121 | int16_t REF_PRES_DIFF; |
Lightvalve | 11:82d8768d7351 | 122 | int16_t REF_PWM; |
Lightvalve | 11:82d8768d7351 | 123 | int16_t REF_VALVE_POSITION; |
Lightvalve | 14:8e7590227d22 | 124 | int16_t REF_CURRENT; |
Lightvalve | 11:82d8768d7351 | 125 | |
Lightvalve | 11:82d8768d7351 | 126 | int REF_MOVE_TIME_5k; |
Lightvalve | 11:82d8768d7351 | 127 | int INIT_REF_PWM; |
Lightvalve | 11:82d8768d7351 | 128 | int INIT_REF_VALVE_POS; |
Lightvalve | 11:82d8768d7351 | 129 | int INIT_REF_POS; |
Lightvalve | 11:82d8768d7351 | 130 | int INIT_REF_VEL; |
Lightvalve | 11:82d8768d7351 | 131 | int INIT_REF_TORQUE; |
Lightvalve | 11:82d8768d7351 | 132 | int INIT_REF_PRES_DIFF; |
Lightvalve | 14:8e7590227d22 | 133 | int INIT_REF_CURRENT; |
Lightvalve | 11:82d8768d7351 | 134 | |
Lightvalve | 11:82d8768d7351 | 135 | int CUR_POSITION; |
Lightvalve | 11:82d8768d7351 | 136 | int CUR_VELOCITY; |
Lightvalve | 30:8d561f16383b | 137 | float CUR_TORQUE; |
Lightvalve | 30:8d561f16383b | 138 | float CUR_PRES_A; |
Lightvalve | 30:8d561f16383b | 139 | float CUR_PRES_B; |
Lightvalve | 11:82d8768d7351 | 140 | int CUR_VALVE_POSITION; |
Lightvalve | 11:82d8768d7351 | 141 | |
Lightvalve | 11:82d8768d7351 | 142 | unsigned int TMR2_COUNT_LED1; |
Lightvalve | 11:82d8768d7351 | 143 | unsigned int TMR2_COUNT_LED2; |
Lightvalve | 54:647072f5307a | 144 | unsigned int TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 145 | unsigned int TMR3_COUNT_TEST = 0; |
Lightvalve | 11:82d8768d7351 | 146 | |
Lightvalve | 11:82d8768d7351 | 147 | int num_err; |
Lightvalve | 11:82d8768d7351 | 148 | int flag_err[8]; |
Lightvalve | 11:82d8768d7351 | 149 | int flag_err_old[8]; |
Lightvalve | 11:82d8768d7351 | 150 | int flag_err_rt; |
Lightvalve | 11:82d8768d7351 | 151 | |
Lightvalve | 11:82d8768d7351 | 152 | int flag_ref_enable; |
Lightvalve | 11:82d8768d7351 | 153 | |
Lightvalve | 11:82d8768d7351 | 154 | int flag_data_request[5]; |
Lightvalve | 11:82d8768d7351 | 155 | |
Lightvalve | 45:35fa6884d0c6 | 156 | int MODE_POS_FT_TRANS = 0; |
Lightvalve | 66:a8e6799dbce3 | 157 | int NN_Control_Flag = 0; |
Lightvalve | 45:35fa6884d0c6 | 158 | |
Lightvalve | 57:f4819de54e7a | 159 | float CUR_CURRENT_mA = 0.0f; |
Lightvalve | 57:f4819de54e7a | 160 | float CUR_PRES_A_BAR = 0.0f; |
Lightvalve | 57:f4819de54e7a | 161 | float CUR_PRES_B_BAR = 0.0f; |
Lightvalve | 57:f4819de54e7a | 162 | float CUR_TORQUE_NM = 0.0f; |
Lightvalve | 57:f4819de54e7a | 163 | float CUR_TORQUE_NM_PRESS = 0.0f; |
Lightvalve | 11:82d8768d7351 | 164 | |
Lightvalve | 57:f4819de54e7a | 165 | float PRES_A_VREF = 0.0f; |
Lightvalve | 57:f4819de54e7a | 166 | float PRES_B_VREF = 0.0f; |
Lightvalve | 57:f4819de54e7a | 167 | float TORQUE_VREF = 0.0f; |
Lightvalve | 11:82d8768d7351 | 168 | |
Lightvalve | 57:f4819de54e7a | 169 | float VALVE_PWM_RAW_FB = 0.0f; |
Lightvalve | 57:f4819de54e7a | 170 | float VALVE_PWM_RAW_FF = 0.0f; |
Lightvalve | 57:f4819de54e7a | 171 | float VALVE_PWM_RAW = 0.0f; |
Lightvalve | 57:f4819de54e7a | 172 | int VALVE_PWM_VALVE_DZ = 0; |
Lightvalve | 11:82d8768d7351 | 173 | |
Lightvalve | 30:8d561f16383b | 174 | float VALVE_GAIN_LPM_PER_V[10]; |
Lightvalve | 30:8d561f16383b | 175 | float VALVE_POS_VS_PWM[25]; |
Lightvalve | 11:82d8768d7351 | 176 | long JOINT_VEL[100]; |
Lightvalve | 11:82d8768d7351 | 177 | |
Lightvalve | 11:82d8768d7351 | 178 | int VALVE_MAX_POS; |
Lightvalve | 11:82d8768d7351 | 179 | int VALVE_MIN_POS; |
Lightvalve | 11:82d8768d7351 | 180 | int VALVE_POS_NUM; |
Lightvalve | 32:4b8c0fedaf2c | 181 | float VALVE_CENTER_OFFSET; |
Lightvalve | 33:91b17819ec30 | 182 | float VALVE_DZ_MINUS_OFFSET; |
Lightvalve | 33:91b17819ec30 | 183 | float VALVE_DZ_PLUS_OFFSET; |
Lightvalve | 11:82d8768d7351 | 184 | |
Lightvalve | 57:f4819de54e7a | 185 | int TMR3_COUNT_FINDHOME = 0; |
Lightvalve | 57:f4819de54e7a | 186 | int TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 57:f4819de54e7a | 187 | int TMR3_COUNT_DEADZONE = 0; |
Lightvalve | 57:f4819de54e7a | 188 | int TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 57:f4819de54e7a | 189 | int TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 57:f4819de54e7a | 190 | int TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 57:f4819de54e7a | 191 | int TMR3_COUNT_REFERENCE = 0; |
Lightvalve | 57:f4819de54e7a | 192 | int TMR3_COUNT_JOINT = 0; |
Lightvalve | 57:f4819de54e7a | 193 | int TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 11:82d8768d7351 | 194 | |
Lightvalve | 57:f4819de54e7a | 195 | float TUNING_TIME = 600.0f; // sec |
Lightvalve | 56:6f50d9d3bfee | 196 | |
Lightvalve | 57:f4819de54e7a | 197 | float REFERENCE_FREQ = 1.0f; |
Lightvalve | 57:f4819de54e7a | 198 | float REFERENCE_MAG = 0.0f; |
Lightvalve | 11:82d8768d7351 | 199 | |
Lightvalve | 11:82d8768d7351 | 200 | bool FLAG_FIND_HOME; |
Lightvalve | 11:82d8768d7351 | 201 | |
Lightvalve | 11:82d8768d7351 | 202 | int MODE_JUMP_STATUS; |
Lightvalve | 11:82d8768d7351 | 203 | enum _JUMP_STATUS { |
Lightvalve | 11:82d8768d7351 | 204 | JUMP_NO_ACT = 0, //0 |
Lightvalve | 11:82d8768d7351 | 205 | JUMP_START, //1 |
Lightvalve | 11:82d8768d7351 | 206 | JUMP_TAKEOFF, //2 |
Lightvalve | 11:82d8768d7351 | 207 | JUMP_FLYING, //3 |
Lightvalve | 11:82d8768d7351 | 208 | JUMP_LANDING, //4 |
Lightvalve | 11:82d8768d7351 | 209 | }; |
Lightvalve | 11:82d8768d7351 | 210 | |
Lightvalve | 30:8d561f16383b | 211 | float CUR_PRES_DIFF_BAR = 0.0f; |
Lightvalve | 30:8d561f16383b | 212 | float CUR_PRES_A_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 213 | float CUR_PRES_B_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 214 | float CUR_PRES_A_mean = 0.0f; |
Lightvalve | 30:8d561f16383b | 215 | float CUR_PRES_B_mean = 0.0f; |
Lightvalve | 30:8d561f16383b | 216 | float CUR_TORQUE_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 217 | float CUR_TORQUE_mean = 0.0f; |
Lightvalve | 58:2eade98630e2 | 218 | float PRES_A_NULL = 300.0f; |
Lightvalve | 58:2eade98630e2 | 219 | float PRES_B_NULL = 300.0f; |
Lightvalve | 30:8d561f16383b | 220 | float TORQUE_NULL = 3900.0f; |
Lightvalve | 11:82d8768d7351 | 221 | |
Lightvalve | 30:8d561f16383b | 222 | float Ref_Valve_Pos_Old = 0.0f; |
Lightvalve | 11:82d8768d7351 | 223 | |
Lightvalve | 13:747daba9cf59 | 224 | int VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 225 | int VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 226 | int VALVE_FR_timer = 0; |
Lightvalve | 35:34ce7b0347b8 | 227 | //int VALVE_HPL_timer = 0; |
Lightvalve | 13:747daba9cf59 | 228 | int VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 229 | int JOINT_VEL_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 230 | int DDV_POS_AVG = 0; |
Lightvalve | 19:23b7c1ad8683 | 231 | int VALVE_POS_AVG[50] = {0}; |
Lightvalve | 13:747daba9cf59 | 232 | int VALVE_POS_AVG_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 233 | int data_num = 0; |
Lightvalve | 13:747daba9cf59 | 234 | int ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 235 | int DZ_index = 1; |
Lightvalve | 19:23b7c1ad8683 | 236 | int ID_index_array[50] = {0}; |
Lightvalve | 13:747daba9cf59 | 237 | int first_check = 0; |
Lightvalve | 30:8d561f16383b | 238 | float init_time = 0.0f; |
Lightvalve | 13:747daba9cf59 | 239 | int DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 240 | int START_POS = 0; |
Lightvalve | 13:747daba9cf59 | 241 | int FINAL_POS = 0; |
Lightvalve | 13:747daba9cf59 | 242 | int DZ_DIRECTION = 0; |
Lightvalve | 13:747daba9cf59 | 243 | int FIRST_DZ = 0; |
Lightvalve | 13:747daba9cf59 | 244 | int SECOND_DZ = 0; |
Lightvalve | 13:747daba9cf59 | 245 | int DZ_NUM = 0; |
Lightvalve | 13:747daba9cf59 | 246 | int one_period_end = 0; |
Lightvalve | 30:8d561f16383b | 247 | float Ref_Vel_Test = 0.0f; |
Lightvalve | 13:747daba9cf59 | 248 | long TMR2_FOR_SLOW_LOGGING = 0; |
Lightvalve | 19:23b7c1ad8683 | 249 | //int velcount = 0; |
Lightvalve | 13:747daba9cf59 | 250 | char max_check = 0; |
Lightvalve | 34:bb2ca2fc2a8e | 251 | char min_check = 0; |
Lightvalve | 13:747daba9cf59 | 252 | |
Lightvalve | 30:8d561f16383b | 253 | float valve_pos_err = 0.0f, valve_pos_err_old = 0.0f, valve_pos_err_diff = 0.0f, valve_pos_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 254 | float joint_pos_err = 0.0f, joint_pos_err_old = 0.0f, joint_pos_err_diff = 0.0f, joint_pos_err_diff_fil = 0.0f, joint_pos_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 255 | float joint_torq_err = 0.0f, joint_torq_err_old = 0.0f, joint_torq_err_diff = 0.0f, joint_torq_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 256 | float VALVE_PWM_RAW_POS = 0.0f, VALVE_PWM_RAW_TORQ = 0.0f; |
Lightvalve | 13:747daba9cf59 | 257 | |
Lightvalve | 30:8d561f16383b | 258 | float CUR_FLOWRATE = 0.0f; |
Lightvalve | 30:8d561f16383b | 259 | float VALVE_FF_VOLTAGE = 0.0f; |
Lightvalve | 13:747daba9cf59 | 260 | |
Lightvalve | 13:747daba9cf59 | 261 | int pos_plus_end = 0; |
Lightvalve | 13:747daba9cf59 | 262 | int pos_minus_end = 0; |
Lightvalve | 13:747daba9cf59 | 263 | |
Lightvalve | 13:747daba9cf59 | 264 | bool need_enc_init = false; |
Lightvalve | 13:747daba9cf59 | 265 | |
Lightvalve | 13:747daba9cf59 | 266 | int temp_time = 0; |
Lightvalve | 13:747daba9cf59 | 267 | |
Lightvalve | 30:8d561f16383b | 268 | float CUR_VELOCITY_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 269 | float temp_vel_sum = 0.0f; |
Lightvalve | 13:747daba9cf59 | 270 | |
Lightvalve | 13:747daba9cf59 | 271 | int DZ_dir = 0; |
Lightvalve | 13:747daba9cf59 | 272 | int DZ_temp_cnt = 0; |
Lightvalve | 13:747daba9cf59 | 273 | int DZ_temp_cnt2 = 0; |
Lightvalve | 13:747daba9cf59 | 274 | int DZ_end = 2; |
Lightvalve | 13:747daba9cf59 | 275 | int flag_flowrate = 0; |
Lightvalve | 13:747daba9cf59 | 276 | int fl_temp_cnt = 0; |
Lightvalve | 13:747daba9cf59 | 277 | int fl_temp_cnt2 = 0; |
Lightvalve | 13:747daba9cf59 | 278 | int cur_vel_sum = 0; |
Lightvalve | 13:747daba9cf59 | 279 | |
Lightvalve | 57:f4819de54e7a | 280 | float Cur_Valve_Open_pulse = 0.0f; |
Lightvalve | 57:f4819de54e7a | 281 | |
Lightvalve | 13:747daba9cf59 | 282 | // find home |
Lightvalve | 13:747daba9cf59 | 283 | int CUR_VELOCITY_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 284 | int cnt_findhome = 0; |
Lightvalve | 13:747daba9cf59 | 285 | int cnt_vel_findhome = 0; |
Lightvalve | 13:747daba9cf59 | 286 | int FINDHOME_VELOCITY = 0; |
Lightvalve | 13:747daba9cf59 | 287 | int FINDHOME_VELOCITY_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 288 | int FINDHOME_POSITION = 0; |
Lightvalve | 13:747daba9cf59 | 289 | int FINDHOME_POSITION_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 290 | |
Lightvalve | 13:747daba9cf59 | 291 | // valve gain |
Lightvalve | 13:747daba9cf59 | 292 | int check_vel_pos_init = 0; |
Lightvalve | 13:747daba9cf59 | 293 | int check_vel_pos_fin = 0; |
Lightvalve | 13:747daba9cf59 | 294 | int check_vel_pos_interv = 0; |
Lightvalve | 13:747daba9cf59 | 295 | int valve_gain_repeat_cnt = 0; |
Lightvalve | 30:8d561f16383b | 296 | float VALVE_VOLTAGE = 0.0f; |
Lightvalve | 13:747daba9cf59 | 297 | |
Lightvalve | 30:8d561f16383b | 298 | float freq_fric_tune = 1.0f; |
Lightvalve | 13:747daba9cf59 | 299 | |
Lightvalve | 14:8e7590227d22 | 300 | uint32_t TMR3_COUNT_CAN_TX = 0; |
Lightvalve | 14:8e7590227d22 | 301 | |
Lightvalve | 57:f4819de54e7a | 302 | // Current Control Variables |
Lightvalve | 57:f4819de54e7a | 303 | double I_REF = 0.0f; |
Lightvalve | 57:f4819de54e7a | 304 | double I_REF_fil = 0.0f; |
Lightvalve | 57:f4819de54e7a | 305 | double I_ERR = 0.0f; |
Lightvalve | 57:f4819de54e7a | 306 | double I_ERR_INT = 0.0f; |
Lightvalve | 57:f4819de54e7a | 307 | double I_REF_fil_old = 0.0f; |
Lightvalve | 57:f4819de54e7a | 308 | double I_REF_fil_diff = 0.0f; |
Lightvalve | 57:f4819de54e7a | 309 | |
Lightvalve | 57:f4819de54e7a | 310 | // system id |
Lightvalve | 57:f4819de54e7a | 311 | int cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 312 | double freq_sysid_Iref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 313 | |
Lightvalve | 14:8e7590227d22 | 314 | int TMR3_COUNT_IREF = 0; |
Lightvalve | 30:8d561f16383b | 315 | float CUR_CURRENT = 0.0f; |
Lightvalve | 30:8d561f16383b | 316 | float u_CUR[3] = {0.0f,0.0f,0.0f}; |
Lightvalve | 29:69f3f5445d6d | 317 | int FINDHOME_STAGE = 0; |
Lightvalve | 29:69f3f5445d6d | 318 | int FINDHOME_INIT = 0; |
Lightvalve | 30:8d561f16383b | 319 | int FINDHOME_GOTOLIMIT = 1; |
Lightvalve | 30:8d561f16383b | 320 | int FINDHOME_ZEROPOSE = 2; |
Lightvalve | 14:8e7590227d22 | 321 | |
Lightvalve | 45:35fa6884d0c6 | 322 | float alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 323 | |
Lightvalve | 57:f4819de54e7a | 324 | float V_out=0.0f; |
Lightvalve | 57:f4819de54e7a | 325 | float V_rem=0.0f; // for anti-windup |
Lightvalve | 57:f4819de54e7a | 326 | float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 327 | |
Lightvalve | 57:f4819de54e7a | 328 | float PWM_out=0.0f; |
Lightvalve | 57:f4819de54e7a | 329 | |
Lightvalve | 57:f4819de54e7a | 330 | double K_v = 0.0f; // valve flowrate gain |
Lightvalve | 57:f4819de54e7a | 331 | double mV_PER_mA = 600.0f; // current >> voltage |
Lightvalve | 57:f4819de54e7a | 332 | double mV_PER_pulse = 0.6f; // pulse >> voltage |
Lightvalve | 57:f4819de54e7a | 333 | double mA_PER_pulse = 0.001f; // pulse >> current |
Lightvalve | 57:f4819de54e7a | 334 | |
Lightvalve | 57:f4819de54e7a | 335 | int timer_while = 0; |
Lightvalve | 57:f4819de54e7a | 336 | int while_index = 0; |
Lightvalve | 57:f4819de54e7a | 337 | |
Lightvalve | 67:c2812cf26c38 | 338 | float K_LPF = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 339 | float D_LPF = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 340 | |
Lightvalve | 72:3436ce769b1e | 341 | float torq_ref_past = 0.0f; |
Lightvalve | 99:7bbcb3c0fb06 | 342 | float output_normalized = 0.0f; |
Lightvalve | 99:7bbcb3c0fb06 | 343 | |
Lightvalve | 72:3436ce769b1e | 344 | |
Lightvalve | 66:a8e6799dbce3 | 345 | //const int num_input = 6; |
Lightvalve | 66:a8e6799dbce3 | 346 | //const int num_input_array = num_input*2+1; |
Lightvalve | 23:59218d4a256d | 347 | |
Lightvalve | 11:82d8768d7351 | 348 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 349 | * General math functions |
Lightvalve | 11:82d8768d7351 | 350 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 351 | |
Lightvalve | 11:82d8768d7351 | 352 | |
Lightvalve | 34:bb2ca2fc2a8e | 353 | float dabs(float tx) |
Lightvalve | 34:bb2ca2fc2a8e | 354 | { |
Lightvalve | 30:8d561f16383b | 355 | if (tx >= 0.0f) |
Lightvalve | 11:82d8768d7351 | 356 | return tx; |
Lightvalve | 11:82d8768d7351 | 357 | else |
Lightvalve | 11:82d8768d7351 | 358 | return -tx; |
Lightvalve | 11:82d8768d7351 | 359 | } |
Lightvalve | 11:82d8768d7351 | 360 | |
Lightvalve | 34:bb2ca2fc2a8e | 361 | float change_int_to_efloat(int input) |
Lightvalve | 34:bb2ca2fc2a8e | 362 | { |
Lightvalve | 11:82d8768d7351 | 363 | int i = 0; |
Lightvalve | 11:82d8768d7351 | 364 | |
Lightvalve | 30:8d561f16383b | 365 | float output = 0; |
Lightvalve | 48:889798ff9329 | 366 | int vn = (int) ((float) input / 10.0f); |
Lightvalve | 11:82d8768d7351 | 367 | int en = input % 10; |
Lightvalve | 11:82d8768d7351 | 368 | |
Lightvalve | 30:8d561f16383b | 369 | float temp = 1.; |
Lightvalve | 11:82d8768d7351 | 370 | for (i = 0; i < en; i++) |
Lightvalve | 30:8d561f16383b | 371 | temp *= 0.1f; |
Lightvalve | 11:82d8768d7351 | 372 | |
Lightvalve | 30:8d561f16383b | 373 | output = (float) vn*temp; |
Lightvalve | 11:82d8768d7351 | 374 | return output; |
Lightvalve | 11:82d8768d7351 | 375 | } |
Lightvalve | 11:82d8768d7351 | 376 | |
Lightvalve | 34:bb2ca2fc2a8e | 377 | void make_delay(void) |
Lightvalve | 34:bb2ca2fc2a8e | 378 | { |
Lightvalve | 11:82d8768d7351 | 379 | int i = 0; |
Lightvalve | 11:82d8768d7351 | 380 | |
Lightvalve | 65:a2d7c63419c2 | 381 | for (i = 0; i < 1000000; i++) { |
Lightvalve | 11:82d8768d7351 | 382 | ; |
Lightvalve | 11:82d8768d7351 | 383 | } |
Lightvalve | 11:82d8768d7351 | 384 | |
Lightvalve | 11:82d8768d7351 | 385 | } |
Lightvalve | 11:82d8768d7351 | 386 | |
Lightvalve | 11:82d8768d7351 | 387 | |
Lightvalve | 11:82d8768d7351 | 388 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 389 | * ROM functions |
Lightvalve | 11:82d8768d7351 | 390 | ******************************************************************************/ |
Lightvalve | 34:bb2ca2fc2a8e | 391 | void ROM_RESET_DATA(void) |
Lightvalve | 34:bb2ca2fc2a8e | 392 | { |
Lightvalve | 16:903b5a4433b4 | 393 | FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
Lightvalve | 16:903b5a4433b4 | 394 | if (!writer.ready()) writer.open(); |
Lightvalve | 73:f80dc3970c99 | 395 | // BNO = 0; |
Lightvalve | 16:903b5a4433b4 | 396 | writer.write(RID_BNO,(int) BNO); // write at address, 쓸때도 4byte씩 씀 |
Lightvalve | 16:903b5a4433b4 | 397 | writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE); |
Lightvalve | 52:8ea76864368a | 398 | writer.write(RID_SENSING_MODE, (int) SENSING_MODE); |
Lightvalve | 52:8ea76864368a | 399 | writer.write(RID_CURRENT_CONTROL_MODE, (int) CURRENT_CONTROL_MODE); |
Lightvalve | 52:8ea76864368a | 400 | writer.write(RID_FLAG_VALVE_DEADZONE, (int) FLAG_VALVE_DEADZONE); |
Lightvalve | 16:903b5a4433b4 | 401 | writer.write(RID_CAN_FREQ,(int) CAN_FREQ); |
Lightvalve | 16:903b5a4433b4 | 402 | writer.write(RID_JOINT_ENC_DIR,(int) DIR_JOINT_ENC); |
Lightvalve | 16:903b5a4433b4 | 403 | writer.write(RID_VALVE_DIR,(int) DIR_VALVE); |
Lightvalve | 16:903b5a4433b4 | 404 | writer.write(RID_VALVE_ENC_DIR,(int) DIR_VALVE_ENC); |
Lightvalve | 30:8d561f16383b | 405 | writer.write(RID_VOLATGE_SUPPLY,(int) (SUPPLY_VOLTAGE * 10.0f)); |
Lightvalve | 30:8d561f16383b | 406 | writer.write(RID_VOLTAGE_VALVE,(int) (VALVE_VOLTAGE_LIMIT * 10.0f)); |
Lightvalve | 16:903b5a4433b4 | 407 | writer.write(RID_P_GAIN_VALVE_POSITION,(int) P_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 408 | writer.write(RID_I_GAIN_VALVE_POSITION,(int) I_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 409 | writer.write(RID_D_GAIN_VALVE_POSITION,(int) D_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 410 | writer.write(RID_P_GAIN_JOINT_POSITION,(int) P_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 411 | writer.write(RID_I_GAIN_JOINT_POSITION,(int) I_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 412 | writer.write(RID_D_GAIN_JOINT_POSITION,(int) D_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 413 | writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 414 | writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 415 | writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE); |
Lightvalve | 33:91b17819ec30 | 416 | writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS * 10.0f)); |
Lightvalve | 33:91b17819ec30 | 417 | writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS * 10.0f)); |
Lightvalve | 16:903b5a4433b4 | 418 | writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN); |
Lightvalve | 16:903b5a4433b4 | 419 | writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN); |
Lightvalve | 16:903b5a4433b4 | 420 | writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER); |
Lightvalve | 16:903b5a4433b4 | 421 | writer.write(RID_VALVE_FF,(int) VALVE_FF); |
Lightvalve | 16:903b5a4433b4 | 422 | writer.write(RID_BULK_MODULUS,(int) BNO); |
Lightvalve | 16:903b5a4433b4 | 423 | writer.write(RID_CHAMBER_VOLUME_A,(int) CHAMBER_VOLUME_A); |
Lightvalve | 16:903b5a4433b4 | 424 | writer.write(RID_CHAMBER_VOLUME_B,(int) CHAMBER_VOLUME_B); |
Lightvalve | 16:903b5a4433b4 | 425 | writer.write(RID_PISTON_AREA_A,(int) PISTON_AREA_A); |
Lightvalve | 16:903b5a4433b4 | 426 | writer.write(RID_PISTON_AREA_B,(int) PISTON_AREA_B); |
Lightvalve | 16:903b5a4433b4 | 427 | writer.write(RID_PRES_SUPPLY,(int) PRES_SUPPLY); |
Lightvalve | 16:903b5a4433b4 | 428 | writer.write(RID_PRES_RETURN,(int) PRES_RETURN); |
Lightvalve | 16:903b5a4433b4 | 429 | writer.write(RID_ENC_LIMIT_MINUS,(int) ENC_LIMIT_MINUS); |
Lightvalve | 16:903b5a4433b4 | 430 | writer.write(RID_ENC_LIMIT_PLUS,(int) ENC_LIMIT_PLUS); |
Lightvalve | 16:903b5a4433b4 | 431 | writer.write(RID_STROKE,(int) STROKE); |
Lightvalve | 57:f4819de54e7a | 432 | //writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS); |
Lightvalve | 57:f4819de54e7a | 433 | //writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS); |
Lightvalve | 48:889798ff9329 | 434 | writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION*10.0f)); |
Lightvalve | 58:2eade98630e2 | 435 | writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 10000.0f)); |
Lightvalve | 30:8d561f16383b | 436 | writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 30:8d561f16383b | 437 | writer.write(RID_PRES_SENSOR_B_PULSE_PER_BAR,(int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 438 | writer.write(RID_FRICTION,(int) (FRICTION * 10.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 439 | writer.write(RID_HOMEPOS_OFFSET,(int) HOMEPOS_OFFSET); |
Lightvalve | 34:bb2ca2fc2a8e | 440 | writer.write(RID_HOMEPOS_VALVE_OPENING,(int) HOMEPOS_VALVE_OPENING); |
Lightvalve | 34:bb2ca2fc2a8e | 441 | writer.write(RID_TORQUE_SENSOR_VREF,(int) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 30:8d561f16383b | 442 | writer.write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 30:8d561f16383b | 443 | writer.write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 444 | writer.write(RID_VALVE_GAIN_PLUS_1,(int) (VALVE_GAIN_LPM_PER_V[0] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 445 | writer.write(RID_VALVE_GAIN_PLUS_2,(int) (VALVE_GAIN_LPM_PER_V[2] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 446 | writer.write(RID_VALVE_GAIN_PLUS_3,(int) (VALVE_GAIN_LPM_PER_V[4] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 447 | writer.write(RID_VALVE_GAIN_PLUS_4,(int) (VALVE_GAIN_LPM_PER_V[6] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 448 | writer.write(RID_VALVE_GAIN_PLUS_5,(int) (VALVE_GAIN_LPM_PER_V[8] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 449 | writer.write(RID_VALVE_GAIN_MINUS_1,(int) (VALVE_GAIN_LPM_PER_V[1] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 450 | writer.write(RID_VALVE_GAIN_MINUS_2,(int) (VALVE_GAIN_LPM_PER_V[3] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 451 | writer.write(RID_VALVE_GAIN_MINUS_3,(int) (VALVE_GAIN_LPM_PER_V[5] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 452 | writer.write(RID_VALVE_GAIN_MINUS_4,(int) (VALVE_GAIN_LPM_PER_V[7] * 100.0f)); |
Lightvalve | 30:8d561f16383b | 453 | writer.write(RID_VALVE_GAIN_MINUS_5,(int) (VALVE_GAIN_LPM_PER_V[9] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 454 | for(int i=0; i<25; i++) { |
Lightvalve | 18:b8adf1582ea3 | 455 | writer.write(RID_VALVE_POS_VS_PWM_0 + i, (int) VALVE_POS_VS_PWM[i]); |
Lightvalve | 18:b8adf1582ea3 | 456 | } |
Lightvalve | 34:bb2ca2fc2a8e | 457 | for(int i=0; i<100; i++) { |
Lightvalve | 19:23b7c1ad8683 | 458 | writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 19:23b7c1ad8683 | 459 | writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 18:b8adf1582ea3 | 460 | } |
Lightvalve | 18:b8adf1582ea3 | 461 | writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS); |
Lightvalve | 18:b8adf1582ea3 | 462 | writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS); |
Lightvalve | 57:f4819de54e7a | 463 | //writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f)); |
Lightvalve | 18:b8adf1582ea3 | 464 | writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM); |
Lightvalve | 46:2694daea349b | 465 | |
Lightvalve | 46:2694daea349b | 466 | writer.write(RID_K_SPRING, (int) K_SPRING); |
Lightvalve | 46:2694daea349b | 467 | writer.write(RID_D_DAMPER, (int) D_DAMPER); |
Lightvalve | 11:82d8768d7351 | 468 | |
Lightvalve | 34:bb2ca2fc2a8e | 469 | writer.close(); |
Lightvalve | 34:bb2ca2fc2a8e | 470 | |
Lightvalve | 11:82d8768d7351 | 471 | } |
Lightvalve | 11:82d8768d7351 | 472 | |
Lightvalve | 34:bb2ca2fc2a8e | 473 | void ROM_CALL_DATA(void) |
Lightvalve | 34:bb2ca2fc2a8e | 474 | { |
Lightvalve | 16:903b5a4433b4 | 475 | BNO = flashReadInt(Rom_Sector, RID_BNO); |
Lightvalve | 133:22ab22818e01 | 476 | BNO = 1; |
Lightvalve | 16:903b5a4433b4 | 477 | OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE); |
Lightvalve | 89:a7b45368ea0f | 478 | // OPERATING_MODE = 5; |
Lightvalve | 52:8ea76864368a | 479 | SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE); |
Lightvalve | 89:a7b45368ea0f | 480 | // SENSING_MODE = 0; |
Lightvalve | 52:8ea76864368a | 481 | CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE); |
Lightvalve | 89:a7b45368ea0f | 482 | // CURRENT_CONTROL_MODE = 0; |
Lightvalve | 52:8ea76864368a | 483 | FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE); |
Lightvalve | 16:903b5a4433b4 | 484 | CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ); |
Lightvalve | 16:903b5a4433b4 | 485 | DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR); |
Lightvalve | 16:903b5a4433b4 | 486 | DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR); |
Lightvalve | 16:903b5a4433b4 | 487 | DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR); |
Lightvalve | 30:8d561f16383b | 488 | SUPPLY_VOLTAGE = (float) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1f; |
Lightvalve | 30:8d561f16383b | 489 | VALVE_VOLTAGE_LIMIT = (float) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 490 | P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 491 | I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 492 | D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 493 | P_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 494 | I_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 495 | D_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 496 | P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 497 | I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 498 | D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE); |
Lightvalve | 33:91b17819ec30 | 499 | VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f; |
Lightvalve | 33:91b17819ec30 | 500 | VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 501 | VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN); |
Lightvalve | 16:903b5a4433b4 | 502 | COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN); |
Lightvalve | 16:903b5a4433b4 | 503 | VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER); |
Lightvalve | 16:903b5a4433b4 | 504 | VALVE_FF = flashReadInt(Rom_Sector, RID_VALVE_FF); |
Lightvalve | 16:903b5a4433b4 | 505 | BULK_MODULUS = flashReadInt(Rom_Sector, RID_BULK_MODULUS); |
Lightvalve | 16:903b5a4433b4 | 506 | CHAMBER_VOLUME_A = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_A); |
Lightvalve | 16:903b5a4433b4 | 507 | CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B); |
Lightvalve | 16:903b5a4433b4 | 508 | PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A); |
Lightvalve | 16:903b5a4433b4 | 509 | PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B); |
Lightvalve | 69:3995ffeaa786 | 510 | PISTON_AREA_alpha = (float)PISTON_AREA_A/(float)PISTON_AREA_B; |
Lightvalve | 57:f4819de54e7a | 511 | alpha3 = PISTON_AREA_alpha * PISTON_AREA_alpha*PISTON_AREA_alpha; |
Lightvalve | 16:903b5a4433b4 | 512 | PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY); |
Lightvalve | 16:903b5a4433b4 | 513 | PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN); |
Lightvalve | 16:903b5a4433b4 | 514 | ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS); |
Lightvalve | 16:903b5a4433b4 | 515 | ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS); |
Lightvalve | 16:903b5a4433b4 | 516 | STROKE = flashReadInt(Rom_Sector, RID_STROKE); |
Lightvalve | 57:f4819de54e7a | 517 | //VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS); |
Lightvalve | 57:f4819de54e7a | 518 | //VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS); |
Lightvalve | 48:889798ff9329 | 519 | ENC_PULSE_PER_POSITION = (float) (flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION)) * 0.1f; |
Lightvalve | 48:889798ff9329 | 520 | // ENC_PULSE_PER_POSITION = (float) 1024.0f; |
Lightvalve | 58:2eade98630e2 | 521 | TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.0001f; |
Lightvalve | 48:889798ff9329 | 522 | //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle |
Lightvalve | 48:889798ff9329 | 523 | // TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee |
Lightvalve | 30:8d561f16383b | 524 | PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f; |
Lightvalve | 48:889798ff9329 | 525 | // PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 526 | PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f; |
Lightvalve | 48:889798ff9329 | 527 | // PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 528 | FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 529 | HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET); |
Lightvalve | 16:903b5a4433b4 | 530 | HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING); |
Lightvalve | 30:8d561f16383b | 531 | TORQUE_VREF = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_VREF)) *0.001f; |
Lightvalve | 32:4b8c0fedaf2c | 532 | PRES_A_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_A_SENSOR_VREF) * 0.001f; |
Lightvalve | 32:4b8c0fedaf2c | 533 | PRES_B_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_B_SENSOR_VREF) * 0.001f; |
Lightvalve | 30:8d561f16383b | 534 | VALVE_GAIN_LPM_PER_V[0] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_1)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 535 | VALVE_GAIN_LPM_PER_V[2] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_2)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 536 | VALVE_GAIN_LPM_PER_V[4] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_3)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 537 | VALVE_GAIN_LPM_PER_V[6] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_4)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 538 | VALVE_GAIN_LPM_PER_V[8] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_5)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 539 | VALVE_GAIN_LPM_PER_V[1] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_1)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 540 | VALVE_GAIN_LPM_PER_V[3] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_2)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 541 | VALVE_GAIN_LPM_PER_V[5] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 542 | VALVE_GAIN_LPM_PER_V[7] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 543 | VALVE_GAIN_LPM_PER_V[9] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01f; |
Lightvalve | 34:bb2ca2fc2a8e | 544 | for(int i=0; i<25; i++) { |
Lightvalve | 30:8d561f16383b | 545 | VALVE_POS_VS_PWM[i] = (float) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i)); |
Lightvalve | 16:903b5a4433b4 | 546 | } |
Lightvalve | 34:bb2ca2fc2a8e | 547 | for(int i=0; i<100; i++) { |
Lightvalve | 16:903b5a4433b4 | 548 | JOINT_VEL[i] = ( ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ; |
Lightvalve | 16:903b5a4433b4 | 549 | } |
Lightvalve | 16:903b5a4433b4 | 550 | VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS); |
Lightvalve | 16:903b5a4433b4 | 551 | VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS); |
Lightvalve | 57:f4819de54e7a | 552 | //DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 553 | VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM); |
Lightvalve | 46:2694daea349b | 554 | |
Lightvalve | 46:2694daea349b | 555 | K_SPRING = flashReadInt(Rom_Sector, RID_K_SPRING); |
Lightvalve | 46:2694daea349b | 556 | D_DAMPER = flashReadInt(Rom_Sector, RID_D_DAMPER); |
Lightvalve | 48:889798ff9329 | 557 | |
Lightvalve | 73:f80dc3970c99 | 558 | // ROM_RESET_DATA(); |
Lightvalve | 73:f80dc3970c99 | 559 | |
Lightvalve | 11:82d8768d7351 | 560 | } |
Lightvalve | 11:82d8768d7351 | 561 | |
Lightvalve | 11:82d8768d7351 | 562 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 563 | * ENCODER functions |
Lightvalve | 11:82d8768d7351 | 564 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 565 | // A-KHA |
Lightvalve | 30:8d561f16383b | 566 | #define KF_G1_11 0.083920206005350f |
Lightvalve | 30:8d561f16383b | 567 | #define KF_G1_12 0.000013905329560f |
Lightvalve | 30:8d561f16383b | 568 | #define KF_G1_21 -0.000575742328210f |
Lightvalve | 30:8d561f16383b | 569 | #define KF_G1_22 0.799999939711725f |
Lightvalve | 11:82d8768d7351 | 570 | // K |
Lightvalve | 30:8d561f16383b | 571 | #define KF_G2_11 0.916079793994650f |
Lightvalve | 30:8d561f16383b | 572 | #define KF_G2_12 0.000002878711641f |
Lightvalve | 30:8d561f16383b | 573 | #define KF_G2_21 0.000575742328210f |
Lightvalve | 30:8d561f16383b | 574 | #define KF_G2_22 0.199999945139809f |
Lightvalve | 11:82d8768d7351 | 575 | |
Lightvalve | 30:8d561f16383b | 576 | float KF_Y_11 = 0.0f; |
Lightvalve | 30:8d561f16383b | 577 | float KF_Y_21 = 0.0f; |
Lightvalve | 30:8d561f16383b | 578 | float KF_X_11 = 0.0f; |
Lightvalve | 30:8d561f16383b | 579 | float KF_X_21 = 0.0f; |
Lightvalve | 11:82d8768d7351 | 580 | |
Lightvalve | 11:82d8768d7351 | 581 | long ENC_pos_old = 0, ENC_pos_cur = 0, ENC_pos_diff = 0; |
Lightvalve | 11:82d8768d7351 | 582 | long ENC_RAW = 0, ENC_VEL_RAW = 0, ENC_VEL_KF = 0; |
Lightvalve | 11:82d8768d7351 | 583 | long enc_offset = 0; |
Lightvalve | 11:82d8768d7351 | 584 | |
Lightvalve | 34:bb2ca2fc2a8e | 585 | void ENC_UPDATE(void) |
Lightvalve | 34:bb2ca2fc2a8e | 586 | { |
Lightvalve | 11:82d8768d7351 | 587 | |
Lightvalve | 11:82d8768d7351 | 588 | ENC_pos_cur = spi_enc_read(); |
Lightvalve | 11:82d8768d7351 | 589 | ENC_pos_diff = ENC_pos_cur - ENC_pos_old; |
Lightvalve | 11:82d8768d7351 | 590 | |
Lightvalve | 57:f4819de54e7a | 591 | //Kalman Filter |
Lightvalve | 57:f4819de54e7a | 592 | // ENC_VEL_RAW = (int32_t) (ENC_pos_diff * TMR_FREQ_5k); |
Lightvalve | 54:647072f5307a | 593 | // KF_Y_11 = ENC_pos_cur; |
Lightvalve | 54:647072f5307a | 594 | // KF_Y_21 = ENC_VEL_RAW; |
Lightvalve | 54:647072f5307a | 595 | // KF_X_11 = KF_G1_11 * KF_X_11 + KF_G1_12 * KF_X_21 + KF_G2_11 * KF_Y_11 + KF_G2_12*KF_Y_21; |
Lightvalve | 54:647072f5307a | 596 | // KF_X_21 = KF_G1_21 * KF_X_11 + KF_G1_22 * KF_X_21 + KF_G2_21 * KF_Y_11 + KF_G2_22*KF_Y_21; |
Lightvalve | 54:647072f5307a | 597 | // ENC_VEL_KF = (int32_t) KF_X_21; |
Lightvalve | 54:647072f5307a | 598 | // |
Lightvalve | 54:647072f5307a | 599 | // pos.sen = (DIR_JOINT_ENC) * ENC_pos_cur + enc_offset; |
Lightvalve | 54:647072f5307a | 600 | // vel.sen = (DIR_JOINT_ENC) * ENC_VEL_KF; |
Lightvalve | 57:f4819de54e7a | 601 | |
Lightvalve | 57:f4819de54e7a | 602 | //Low Pass Filter |
Lightvalve | 57:f4819de54e7a | 603 | |
Lightvalve | 54:647072f5307a | 604 | double NEW_POSITION = (double) ((DIR_JOINT_ENC) * ENC_pos_cur + enc_offset); |
Lightvalve | 57:f4819de54e7a | 605 | double NEW_VELOCITY = (double) ((DIR_JOINT_ENC) * ENC_pos_diff * (int) FREQ_10k); |
Lightvalve | 54:647072f5307a | 606 | |
Lightvalve | 57:f4819de54e7a | 607 | double alpha_update_pos = 1.0f/(1.0f + FREQ_10k/(2.0f*3.14f*100.0f)); |
Lightvalve | 54:647072f5307a | 608 | pos.sen = NEW_POSITION; |
Lightvalve | 57:f4819de54e7a | 609 | vel.sen = (1.0f - alpha_update_pos) * vel.sen + alpha_update_pos * NEW_VELOCITY; // pulse/s |
Lightvalve | 57:f4819de54e7a | 610 | |
Lightvalve | 11:82d8768d7351 | 611 | ENC_pos_old = ENC_pos_cur; |
Lightvalve | 11:82d8768d7351 | 612 | } |
Lightvalve | 11:82d8768d7351 | 613 | |
Lightvalve | 34:bb2ca2fc2a8e | 614 | void ENC_SET_ZERO(void) |
Lightvalve | 34:bb2ca2fc2a8e | 615 | { |
Lightvalve | 11:82d8768d7351 | 616 | |
Lightvalve | 11:82d8768d7351 | 617 | spi_enc_set_clear(); |
Lightvalve | 11:82d8768d7351 | 618 | CUR_POSITION = 0; |
Lightvalve | 11:82d8768d7351 | 619 | ENC_pos_old = ENC_pos_cur = 0; |
Lightvalve | 11:82d8768d7351 | 620 | |
Lightvalve | 11:82d8768d7351 | 621 | } |
Lightvalve | 11:82d8768d7351 | 622 | |
Lightvalve | 34:bb2ca2fc2a8e | 623 | void ENC_SET(int32_t value_e) |
Lightvalve | 34:bb2ca2fc2a8e | 624 | { |
Lightvalve | 11:82d8768d7351 | 625 | spi_enc_set_clear(); |
Lightvalve | 13:747daba9cf59 | 626 | enc_offset = value_e; |
Lightvalve | 13:747daba9cf59 | 627 | CUR_POSITION = value_e; |
Lightvalve | 13:747daba9cf59 | 628 | ENC_pos_old = ENC_pos_cur = value_e; |
Lightvalve | 11:82d8768d7351 | 629 | |
Lightvalve | 11:82d8768d7351 | 630 | } |
Lightvalve | 18:b8adf1582ea3 | 631 | |
Lightvalve | 19:23b7c1ad8683 | 632 | |
Lightvalve | 30:8d561f16383b | 633 | |
Lightvalve | 57:f4819de54e7a | 634 |