File content as of revision 111:93289db9e77a:

//200911-2
#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
#include "function_CAN.h"
#include "SPI_EEP_ENC.h"
#include "I2C_AS5510.h"
#include "setting.h"
#include "function_utilities.h"
#include "stm32f4xx_flash.h"
#include "FlashWriter.h"      

using namespace std;
Timer t;

///191008////

// dac & check ///////////////////////////////////////////
DigitalOut check(PC_2);
DigitalOut check_2(PC_3);
AnalogOut dac_1(PA_4);
AnalogOut dac_2(PA_5);
AnalogIn adc1(PC_4); //pressure_1
AnalogIn adc2(PB_0); //pressure_2
AnalogIn adc3(PC_1); //current


// PWM ///////////////////////////////////////////
float dtc_v=0.0f;
float dtc_w=0.0f;

// I2C ///////////////////////////////////////////
I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
const int i2c_slave_addr1 =  0x56;
unsigned int value; // 10bit output of reading sensor AS5510

// SPI ///////////////////////////////////////////
//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
//DigitalOut eeprom_cs(PB_12);
//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
DigitalOut LED(PA_15);

// UART ///////////////////////////////////////////
Serial pc(PA_9,PA_10); //  _ UART

// CAN ///////////////////////////////////////////
CAN can(PB_8, PB_9, 1000000);
CANMessage msg;
void onMsgReceived()
{
    CAN_RX_HANDLER();
}

// Variables ///////////////////////////////////////////
State pos;
State vel;
State Vout;
State torq;
State pres_A;
State pres_B;
State cur;
State valve_pos;

State INIT_Vout;
State INIT_Valve_Pos;
State INIT_Pos;
State INIT_torq;

extern int CID_RX_CMD;
extern int CID_RX_REF_POSITION;
extern int CID_RX_REF_VALVE_POS;
extern int CID_RX_REF_PWM;

extern int CID_TX_INFO;
extern int CID_TX_POSITION;
extern int CID_TX_TORQUE;
extern int CID_TX_PRES;
extern int CID_TX_VOUT;
extern int CID_TX_VALVE_POSITION;




// =============================================================================
// =============================================================================
// =============================================================================

/*******************************************************************************
 *  REFERENCE MODE
 ******************************************************************************/
enum _REFERENCE_MODE {
    MODE_REF_NO_ACT = 0,                                //0
    MODE_REF_DIRECT,                                //1
    MODE_REF_COS_INC,                                  //2
    MODE_REF_LINE_INC,                                 //3
    MODE_REF_SIN_WAVE,                                  //4
    MODE_REF_SQUARE_WAVE,                                  //5
};

/*******************************************************************************
 *  CONTROL MODE
 ******************************************************************************/
enum _CONTROL_MODE {
    //control mode
    MODE_NO_ACT = 0,                                    //0
    MODE_VALVE_POSITION_CONTROL,                        //1
    MODE_JOINT_CONTROL,                                 //2

    MODE_VALVE_OPEN_LOOP,                               //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

    MODE_CURRENT_CONTROL,                               //11
    MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT,         //12
    MODE_JOINT_POSITION_PRES_CONTROL_CURRENT,           //13

    //utility
    MODE_TORQUE_SENSOR_NULLING = 20,                    //20
    MODE_VALVE_NULLING_AND_DEADZONE_SETTING,            //21
    MODE_FIND_HOME,                                     //22
    MODE_VALVE_GAIN_SETTING,                            //23
    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
    MODE_SYSTEM_ID,                                     //33
};

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;//8
  RCC_OscInitStruct.PLL.PLLN = 180; //180
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    //Error_Handler();
  }
  /** Activate the Over-Drive mode 
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    //Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    //Error_Handler();
  }
}

float u_past[num_array_u_past] = {0.0f};
float x_past[num_array_x_past] = {0.0f};
float x_future[num_array_x_future] = {0.0f};
float f_past[num_array_f_past] = {0.0f};
float f_future[num_array_f_future] = {0.0f};

float input_NN[num_input] = { 0.0f };

const float h1[num_input][32] = { 
   {-0.5549973249435425f,0.8768957853317261f,0.09650412201881409f,0.24851557612419128f,-0.030186515301465988f,-0.10503339767456055f,-0.16243299841880798f,-0.1012694388628006f,-0.17202284932136536f,0.0038828651886433363f,0.2429600954055786f,-0.22321639955043793f,-0.2678239345550537f,0.09377405047416687f,-0.19232401251792908f,0.1060103252530098f,-0.4086070656776428f,0.18299975991249084f,-0.32800766825675964f,-0.10222791880369186f,-0.35377758741378784f,0.09747585654258728f,-0.3031907379627228f,-0.0722002387046814f,-0.015438207425177097f,0.1674489974975586f,-0.16104386746883392f,-0.020340800285339355f,0.3390881419181824f,-0.17127496004104614f,0.06583423912525177f,0.02365354634821415f},
{-0.5140904784202576f,1.802839756011963f,0.2721617817878723f,0.2552260458469391f,0.005723567213863134f,-0.14306120574474335f,0.18916600942611694f,-0.01718241721391678f,-0.09363629668951035f,0.08362014591693878f,0.27739882469177246f,-0.1465436816215515f,-0.05722622573375702f,0.17776066064834595f,0.04180806875228882f,-0.08746688067913055f,-0.4267401397228241f,0.01310769934207201f,0.2637748420238495f,0.11253026872873306f,-0.0928034633398056f,-0.1100652664899826f,-0.0866384208202362f,0.25256627798080444f,0.11583297699689865f,0.26763588190078735f,0.11561140418052673f,-0.07117867469787598f,0.06925801932811737f,0.08939173817634583f,0.025751285254955292f,0.04056354612112045f},
{0.2908337116241455f,1.9345721006393433f,-0.0038479268550872803f,0.2460736334323883f,0.027719123288989067f,-0.14455747604370117f,0.09766381233930588f,-0.07469607889652252f,0.023745449259877205f,-0.014074495993554592f,0.1612796038389206f,0.02426053024828434f,-0.11591038107872009f,0.31654080748558044f,-0.28905919194221497f,-0.27905717492103577f,-0.4644099473953247f,-0.28356316685676575f,0.1289939284324646f,0.34010887145996094f,0.1374463587999344f,-0.1395411342382431f,0.12350606918334961f,-0.2247280478477478f,0.16758419573307037f,0.13248568773269653f,-0.14138396084308624f,-0.14598605036735535f,-0.6143582463264465f,0.27591514587402344f,-0.06936990469694138f,-0.2276267111301422f},
{0.014919288456439972f,0.8462927341461182f,-0.18711818754673004f,1.7169139385223389f,-0.11782031506299973f,-0.4051613211631775f,0.06353594362735748f,-0.5361209511756897f,0.3316388726234436f,-0.5792112350463867f,-0.35297247767448425f,0.510019063949585f,-0.20880702137947083f,0.21087929606437683f,-0.11680684983730316f,-1.108352541923523f,1.2171339988708496f,-0.25848352909088135f,-0.23431266844272614f,0.03679851070046425f,-0.29174768924713135f,-0.08014044165611267f,-0.13406386971473694f,-0.26563718914985657f,0.01664377935230732f,0.12903746962547302f,0.12193542718887329f,-0.03078395314514637f,0.055805303156375885f,0.12058231234550476f,-0.015879614278674126f,0.11237641423940659f},
{0.06727614998817444f,-0.19447815418243408f,0.07664334774017334f,-3.289839267730713f,-0.2341507524251938f,3.0233073234558105f,-0.030563730746507645f,-1.0927037000656128f,-0.18823972344398499f,-0.5661014914512634f,-0.8137605786323547f,1.575478434562683f,0.11876024305820465f,0.013919633813202381f,-0.22851628065109253f,2.7398576736450195f,1.0657321214675903f,-0.2109011709690094f,0.10224029421806335f,-0.212050199508667f,0.061001237481832504f,0.2149595022201538f,-0.2236560881137848f,-0.06796601414680481f,0.052188288420438766f,-0.31218889355659485f,0.036975473165512085f,-0.5947616100311279f,2.1079158782958984f,-0.1487281620502472f,-0.10598565638065338f,-0.021861236542463303f},
{0.10944844782352448f,0.08481812477111816f,0.27807939052581787f,-0.24680021405220032f,0.9184458255767822f,1.51350736618042f,-0.19825877249240875f,0.22346614301204681f,-0.3255809545516968f,-0.7702114582061768f,1.2050813436508179f,0.6697520613670349f,-0.10150232166051865f,-1.1368283033370972f,0.19959628582000732f,0.7601221203804016f,0.18227435648441315f,-0.33317211270332336f,-0.3353314995765686f,-0.26803967356681824f,0.05996573343873024f,-0.008817970752716064f,0.1147087812423706f,0.3015863299369812f,0.969081699848175f,0.18968838453292847f,-0.2666270434856415f,1.0817092657089233f,-0.49324920773506165f,-0.0011968016624450684f,-0.6789158582687378f,-0.10069727152585983f},
{-0.16714653372764587f,-0.22078187763690948f,0.14843863248825073f,-0.16687650978565216f,0.6331403851509094f,0.8896927237510681f,-0.22739233076572418f,0.1937950998544693f,-0.13269852101802826f,-0.4603324234485626f,0.44943761825561523f,0.18886254727840424f,0.016859780997037888f,-0.5811019539833069f,-0.1665383130311966f,0.3616390824317932f,0.07132945209741592f,-0.11663476377725601f,0.2749055027961731f,-0.16971218585968018f,-0.21101048588752747f,-0.1614212840795517f,-0.23933082818984985f,-0.223466694355011f,0.4593464434146881f,-0.14157472550868988f,-0.10264839231967926f,0.3197772800922394f,-0.4842132329940796f,-0.031773269176483154f,-0.15459232032299042f,0.058029334992170334f},
{0.06547479331493378f,0.008711201138794422f,0.15168696641921997f,-0.03261690214276314f,0.32004988193511963f,-0.005622576922178268f,-0.016663318499922752f,0.15775597095489502f,0.23933224380016327f,0.07812093943357468f,0.06328822672367096f,-0.289379358291626f,0.02518923580646515f,-0.26473143696784973f,0.0499650239944458f,0.4153742492198944f,-0.18384186923503876f,-0.30320557951927185f,-0.33621424436569214f,-0.060710761696100235f,-0.1309119462966919f,0.020663440227508545f,-0.11643148958683014f,-0.025921106338500977f,0.35802432894706726f,0.01617935299873352f,-0.3111790418624878f,0.06786756217479706f,-0.23781399428844452f,0.003934144973754883f,0.07942681759595871f,0.18824386596679688f},
{-0.07761932164430618f,0.0945894867181778f,0.12494269013404846f,0.13152939081192017f,-0.27321603894233704f,-0.6603643894195557f,-0.07748483121395111f,-0.13726256787776947f,-0.02937302365899086f,0.3532249927520752f,-0.22989411652088165f,0.08077867329120636f,0.03110603801906109f,0.3703298270702362f,0.22008126974105835f,-0.11594834178686142f,-0.4816214442253113f,0.012397116981446743f,0.12267253547906876f,-0.01222713477909565f,-0.33934450149536133f,-0.020349353551864624f,-0.27003389596939087f,0.07697224617004395f,-0.42190366983413696f,-0.07489721477031708f,-0.08116541802883148f,0.019913367927074432f,0.28361597657203674f,-0.1086675226688385f,0.13248927891254425f,0.03974803909659386f},
{-0.3010596036911011f,0.3982500731945038f,-0.22278577089309692f,0.252787709236145f,-0.2283351719379425f,-0.6769713163375854f,0.16400250792503357f,-0.45796144008636475f,-0.2718566060066223f,0.44359269738197327f,-0.4421471059322357f,0.05107002705335617f,0.002674868330359459f,0.45658165216445923f,-0.2440950870513916f,-0.8691561222076416f,0.1355404108762741f,0.2601526081562042f,0.08024941384792328f,-0.023476023226976395f,-0.24644076824188232f,0.14930570125579834f,-0.10644422471523285f,-0.29311618208885193f,-0.4298771619796753f,0.05133715271949768f,0.12382996082305908f,-0.19605278968811035f,0.346666157245636f,0.2767742872238159f,0.29475823044776917f,0.12010034918785095f},
{-0.18162256479263306f,-0.1843947470188141f,-0.060682862997055054f,0.061431434005498886f,-1.340694546699524f,-1.1265767812728882f,0.07892224937677383f,-0.31683415174484253f,-0.2528810203075409f,0.5439277291297913f,-0.9198852181434631f,-0.8414495587348938f,-0.23697304725646973f,1.135300636291504f,0.01561826467514038f,-0.6690000295639038f,0.05162588879466057f,-0.26449376344680786f,0.17733198404312134f,-0.10266680270433426f,0.09142167866230011f,-0.2309320867061615f,0.21849101781845093f,0.010328710079193115f,-0.9104908108711243f,0.09358248114585876f,0.07340890169143677f,-1.362223505973816f,0.5899525880813599f,0.02698659896850586f,0.29089462757110596f,0.11591790616512299f},
{0.16239318251609802f,-0.8852085471153259f,-0.28074589371681213f,0.27869588136672974f,-0.35394349694252014f,-1.0620883703231812f,-0.16018594801425934f,-0.18174774944782257f,-0.309278279542923f,0.8313618302345276f,0.35396403074264526f,-0.38282737135887146f,-0.10479026287794113f,0.018967464566230774f,-0.2727475166320801f,-0.637644350528717f,-1.0137202739715576f,-0.20914039015769958f,-0.28837206959724426f,-0.09804096817970276f,0.19977138936519623f,0.2074018120765686f,-0.21301458775997162f,0.29898685216903687f,-0.3063725531101227f,0.192124605178833f,0.308285653591156f,-0.12744085490703583f,0.42813849449157715f,0.1348828673362732f,0.047758929431438446f,-0.09322920441627502f},
{0.16610150039196014f,-1.2725626230239868f,0.17577719688415527f,0.561373770236969f,-0.10644831508398056f,-0.889015793800354f,-0.27063801884651184f,-0.04091417416930199f,-0.17987392842769623f,0.8136709332466125f,-0.13073813915252686f,-0.37499094009399414f,-0.31904900074005127f,0.043367061764001846f,0.05913722515106201f,-1.03632652759552f,-0.8771762251853943f,0.15525749325752258f,-0.026301899924874306f,-0.15697745978832245f,-0.29377415776252747f,0.02479115128517151f,0.011343330144882202f,-0.002705395221710205f,0.015216371044516563f,0.02754300832748413f,0.3120383620262146f,-0.2562366724014282f,0.25270625948905945f,-0.31464317440986633f,0.1813870370388031f,0.042772985994815826f},
{-0.19705000519752502f,-0.6178469657897949f,0.057266801595687866f,0.7703638076782227f,0.041649166494607925f,-0.6464152336120605f,0.17727656662464142f,-0.1536043882369995f,-0.11153905838727951f,0.7199433445930481f,0.7088598608970642f,-0.5713542699813843f,-0.042250778526067734f,0.08392687886953354f,0.09772798418998718f,-1.595205307006836f,-1.5327260494232178f,0.03707598149776459f,-0.1115458533167839f,-0.1690705567598343f,-0.2675037980079651f,-0.01396968960762024f,0.10836946964263916f,-0.30204448103904724f,0.1585797220468521f,-0.13537266850471497f,0.23587000370025635f,-0.19212594628334045f,0.008908407762646675f,0.2203761339187622f,-0.014040830545127392f,0.17387545108795166f},
{0.14984130859375f,-0.39736050367355347f,0.23348617553710938f,-0.3494146466255188f,-0.17855070531368256f,0.13934549689292908f,0.06768791377544403f,-0.15335479378700256f,0.032426122575998306f,0.42427369952201843f,0.2606595456600189f,0.5648385882377625f,0.09768744558095932f,-0.30517274141311646f,0.03607487678527832f,-0.6766859889030457f,-1.9688489437103271f,-0.10961295664310455f,0.2235242873430252f,-0.2857018709182739f,0.2236296832561493f,0.23995733261108398f,0.024087339639663696f,0.2164597511291504f,0.053514543920755386f,0.1771809458732605f,0.18153810501098633f,-0.5757332444190979f,-0.06988154351711273f,-0.09508240222930908f,-0.5335040092468262f,-0.221766859292984f},
{-0.2193826287984848f,-0.5374747514724731f,-0.12567082047462463f,-2.7913031578063965f,-0.859361469745636f,1.780104637145996f,-0.2859870493412018f,-0.5403660535812378f,-0.19070780277252197f,0.05212870240211487f,-1.1803473234176636f,1.942721962928772f,-0.018939485773444176f,0.4069802165031433f,0.25621795654296875f,-0.3258415162563324f,0.814672589302063f,-0.17165549099445343f,-0.2667202353477478f,-0.7847774624824524f,0.10423620790243149f,0.06402266025543213f,-0.11836928129196167f,0.039934515953063965f,-0.599066436290741f,-0.11239828169345856f,-0.1133931428194046f,-0.98674076795578f,1.1241964101791382f,0.2547503709793091f,-0.9127485752105713f,0.1149011179804802f},
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};

const float h2[32][32] = { 
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{-0.29703569412231445f,0.002147972583770752f,-0.04321768879890442f,0.17127861082553864f,0.039372533559799194f,-0.24937361478805542f,-1.0147807598114014f,-0.2040083259344101f,0.24677053093910217f,0.048597872257232666f,-0.03626091033220291f,-0.21903453767299652f,0.12364552170038223f,0.17729739844799042f,-0.1603364199399948f,-0.8733221888542175f,0.056778669357299805f,-0.2737269401550293f,-0.0741347074508667f,0.05775337293744087f,-0.14897437393665314f,0.05729661509394646f,-0.3051934540271759f,0.07562146335840225f,-0.19067099690437317f,-0.08739247173070908f,-0.1973082274198532f,0.27654072642326355f,-0.28620439767837524f,-0.16291001439094543f,0.19307708740234375f,0.09121111035346985f},
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{-0.25928929448127747f,-0.17203155159950256f,0.0620841383934021f,0.01778830587863922f,-0.07396678626537323f,-0.34411129355430603f,0.14942871034145355f,-0.0022616139613091946f,-0.21029016375541687f,0.2210421860218048f,-1.8161520957946777f,-5.139366626739502f,-0.2357577234506607f,-0.010392035357654095f,-0.446238249540329f,-1.4517326354980469f,0.10771593451499939f,-0.29308468103408813f,-5.485420227050781f,-0.1598595678806305f,-1.2829571962356567f,0.08762194961309433f,-0.22302524745464325f,-0.03663624823093414f,-1.5755536556243896f,2.0357444286346436f,-0.38451701402664185f,1.2428606748580933f,0.17976179718971252f,-0.38860374689102173f,0.28763797879219055f,0.08446511626243591f},
{-0.09888127446174622f,-0.22750279307365417f,-0.22503364086151123f,-0.008032619953155518f,-0.012498408555984497f,-0.24329537153244019f,-0.1042325496673584f,0.08175003528594971f,-0.016126900911331177f,0.06972584128379822f,0.05885356292128563f,0.20356176793575287f,-0.031845152378082275f,-0.33328720927238464f,0.18349257111549377f,0.20412376523017883f,-0.09216172993183136f,0.04617339372634888f,-0.06279236078262329f,-0.06833663582801819f,-0.0014530055923387408f,-0.25417202711105347f,-0.06047184765338898f,-0.28923499584198f,-0.00548509368672967f,-0.18183766305446625f,0.3139438033103943f,-0.2903735339641571f,-0.16326025128364563f,0.11664235591888428f,-0.02675291895866394f,0.1267804503440857f},
};

const float h3[32][32] = { 
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{0.05588451027870178f,0.19731858372688293f,-0.055143773555755615f,0.030042022466659546f,-0.13887283205986023f,-0.1361943781375885f,-0.2855546772480011f,0.011247634887695312f,0.1085631251335144f,0.021339505910873413f,0.17599248886108398f,0.09762296080589294f,-0.05771490931510925f,-0.14660483598709106f,-0.21469902992248535f,0.03876742720603943f,-0.21865856647491455f,-0.12651903927326202f,0.22753819823265076f,-0.23926785588264465f,-0.14443452656269073f,0.06739777326583862f,0.14157342910766602f,0.049514561891555786f,-0.1251431256532669f,-0.25851932168006897f,0.0932874083518982f,0.2900666892528534f,-0.023782014846801758f,0.050485759973526f,0.09447437524795532f,0.0058679282665252686f},
{-0.2800689935684204f,-0.038760632276535034f,0.13974270224571228f,0.01585569977760315f,0.11945047974586487f,-0.19458696246147156f,0.11322265863418579f,0.25643888115882874f,-0.061097174882888794f,-0.07816044986248016f,-0.07445238530635834f,-0.22145158052444458f,-0.1081896424293518f,-0.09452249109745026f,0.16234496235847473f,0.1413259506225586f,-0.2648085951805115f,-0.054869145154953f,-0.05491623282432556f,0.17325228452682495f,0.23639705777168274f,0.0748760998249054f,-0.1324603259563446f,0.15828460454940796f,-0.22871175408363342f,-0.027338534593582153f,-0.06307074427604675f,0.13438841700553894f,0.13834497332572937f,0.1633671224117279f,0.259930282831192f,-0.21565306186676025f},
{0.2906629145145416f,0.19203472137451172f,-0.2048129439353943f,0.2633720338344574f,0.05571131780743599f,-0.10277977585792542f,-0.061309605836868286f,-0.17915479838848114f,-0.02168092131614685f,-0.044261813163757324f,-0.09506386518478394f,0.24970653653144836f,0.19422964751720428f,0.07040172815322876f,0.22106656432151794f,-0.23978039622306824f,-0.28915077447891235f,0.030949801206588745f,-0.2734605371952057f,0.1836264431476593f,0.217695951461792f,-0.05513932183384895f,-0.16484108567237854f,-0.27595841884613037f,0.1793176233768463f,-0.11024686694145203f,-0.06155381724238396f,0.029482178390026093f,-0.1661308854818344f,-0.25852420926094055f,0.05653107166290283f,0.0037463903427124023f},
{0.07563930749893188f,-0.0864691436290741f,-0.2677825689315796f,0.1497999131679535f,-0.2632053792476654f,-0.12118913233280182f,-0.09772239625453949f,0.2470131814479828f,-0.2551872134208679f,-0.2740214169025421f,0.2979947626590729f,-0.24627932906150818f,-0.23258495330810547f,-0.1546318233013153f,0.06802645325660706f,-0.048776447772979736f,0.20131775736808777f,0.013118326663970947f,0.0808630883693695f,0.2585393488407135f,-0.03326711058616638f,0.21529874205589294f,0.1718432903289795f,0.20571765303611755f,-0.19813477993011475f,0.12758469581604004f,0.2959180772304535f,-0.20305807888507843f,0.17249789834022522f,-0.09959287941455841f,-0.07189898192882538f,0.007399916648864746f},
{0.10931676626205444f,0.2396949827671051f,0.02465958334505558f,-0.01787710189819336f,-0.18189938366413116f,0.04702233150601387f,-0.061815500259399414f,0.04091137647628784f,-0.1548205316066742f,-0.15699732303619385f,0.08972057700157166f,-0.21529507637023926f,-0.09960521757602692f,-0.18788893520832062f,0.2971965968608856f,0.25175121426582336f,-0.2889891266822815f,-0.13035915791988373f,0.16576141119003296f,0.06524023413658142f,0.043987397104501724f,-0.29416441917419434f,-0.08076366037130356f,0.27409639954566956f,-0.17873622477054596f,-0.18302330374717712f,0.012964649125933647f,0.05726006254553795f,-0.27729424834251404f,-0.29547566175460815f,-0.25800079107284546f,0.24402263760566711f},
{-0.21155381202697754f,0.08702024817466736f,0.39014747738838196f,-0.1001071110367775f,-1.509809970855713f,0.019517995417118073f,0.024466078728437424f,0.2444917857646942f,0.1586996465921402f,-0.3482595980167389f,-0.07352845370769501f,-0.25618287920951843f,-0.42223870754241943f,1.3170944452285767f,0.25543639063835144f,-0.1192857176065445f,-0.18917083740234375f,0.011466026306152344f,0.09649982303380966f,0.45830419659614563f,-2.3485023975372314f,0.0407455638051033f,-1.0573325157165527f,-0.32043763995170593f,0.1070551797747612f,-0.2910519242286682f,-2.1807496547698975f,-1.105339527130127f,1.697184443473816f,-0.09532724320888519f,0.3623135983943939f,0.048518333584070206f},
{-0.01093912124633789f,-0.23583689332008362f,0.28153905272483826f,0.2877257764339447f,0.061600930988788605f,-0.23844322562217712f,0.036741942167282104f,-0.0059101879596710205f,-0.2663145065307617f,-0.27182313799858093f,0.09319102764129639f,-0.08139897882938385f,0.17758730053901672f,-0.0009110257960855961f,0.0685860812664032f,-0.29903873801231384f,0.1317853033542633f,0.20550194382667542f,-0.13298553228378296f,-0.30602920055389404f,0.2254093587398529f,0.1367388367652893f,0.0343703031539917f,0.12564969062805176f,0.05320189520716667f,0.23886635899543762f,-0.2778390347957611f,0.11170581728219986f,0.28547611832618713f,0.17161712050437927f,-0.04008360207080841f,-0.0665527880191803f},
{-0.20420776307582855f,0.1970202624797821f,0.23591408133506775f,-0.282694011926651f,0.09019026160240173f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.15246456861495972f,-0.1270071268081665f,0.20025727152824402f,0.13077861070632935f,-0.2238168716430664f,-0.20709244906902313f,-0.0045506954193115234f,-0.16448761522769928f,0.28163614869117737f,0.1971360743045807f,0.30405697226524353f,-0.28959211707115173f,-0.2255709171295166f,0.15360668301582336f,0.24163606762886047f,0.19554737210273743f,-0.1804599016904831f,0.07604315876960754f,-0.1459394246339798f,-0.14081311225891113f,-0.29656586050987244f,0.19529584050178528f,-0.05168652534484863f,-0.03415781259536743f},
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{0.10771462321281433f,0.1270637810230255f,-0.1647956818342209f,-0.00161704421043396f,0.019556356593966484f,0.2866024971008301f,-0.2502448558807373f,-0.05063694715499878f,-0.36160364747047424f,-0.11501708626747131f,0.24353471398353577f,0.11519002914428711f,-0.1879904866218567f,0.1574537307024002f,-0.0055807530879974365f,0.05870962142944336f,-0.0561012327671051f,-0.1419317126274109f,-0.24982497096061707f,-0.05947013199329376f,-0.25784793496131897f,-0.17594656348228455f,0.2986377775669098f,-0.2888573110103607f,-0.055695902556180954f,-0.03866580128669739f,0.09892630577087402f,0.07635774463415146f,0.1267586350440979f,0.024399906396865845f,-0.264041006565094f,-0.037910252809524536f},
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{0.3047083914279938f,0.09637480229139328f,0.6663159728050232f,-0.3968810439109802f,1.394707202911377f,1.1879960298538208f,-0.31533196568489075f,-0.25786101818084717f,-0.45381349325180054f,0.002715438837185502f,-0.12802965939044952f,-0.21325801312923431f,1.652679681777954f,-0.20448876917362213f,0.062144935131073f,-0.28920799493789673f,0.03473195433616638f,-0.147878959774971f,-0.051286373287439346f,-0.46827998757362366f,-1.1367347240447998f,0.43894249200820923f,0.9637669324874878f,-0.10900285840034485f,-0.21752621233463287f,-0.031148135662078857f,0.5380248427391052f,0.13976286351680756f,-1.1275972127914429f,0.017086774110794067f,-0.03652779012918472f,-0.2557351291179657f},
{-0.06136500835418701f,-0.11579577624797821f,-0.23311558365821838f,-0.020844489336013794f,0.161813884973526f,0.22929790616035461f,0.11958792805671692f,-0.0384809672832489f,-0.10647237300872803f,-0.09010881185531616f,0.22322741150856018f,-0.1071339100599289f,0.05349445343017578f,-0.23458370566368103f,0.040097206830978394f,0.08616101741790771f,-0.15468145906925201f,-0.21275553107261658f,-0.21210846304893494f,-0.23840199410915375f,0.12352427840232849f,0.282552570104599f,0.14114680886268616f,0.09007054567337036f,-0.05948364734649658f,0.12031787633895874f,-0.184563547372818f,0.07786750793457031f,-0.2169322669506073f,-0.24735762178897858f,-0.0892629474401474f,-0.11765947937965393f},
{0.1169951856136322f,0.06741076707839966f,0.014288008213043213f,-0.1894388198852539f,0.2306886613368988f,0.08970087766647339f,0.29362860321998596f,0.2666439712047577f,-0.1488228738307953f,0.22382596135139465f,-0.1313140094280243f,0.02602824568748474f,0.029441386461257935f,-0.1546926349401474f,0.10762849450111389f,0.06951633095741272f,0.0639207661151886f,0.27696695923805237f,-0.2749756872653961f,0.2684275209903717f,-0.240950807929039f,-0.08405844867229462f,0.26762983202934265f,0.09600964188575745f,-0.20394444465637207f,0.012219250202178955f,-0.09225042164325714f,-0.12637756764888763f,-0.21354423463344574f,-0.29393887519836426f,-0.056166648864746094f,0.002250969409942627f},
{-0.16101892292499542f,0.08832049369812012f,0.7218345403671265f,0.14346855878829956f,1.6714346408843994f,-0.40862950682640076f,0.020126188173890114f,-0.17396175861358643f,1.6681544780731201f,-0.1594701111316681f,0.060176216065883636f,-0.1897185742855072f,0.33592286705970764f,-0.6470072865486145f,-0.2592318058013916f,0.05000441148877144f,0.10359722375869751f,0.14719179272651672f,-0.2130231410264969f,-0.19025570154190063f,1.1770896911621094f,-0.31014513969421387f,1.5579278469085693f,0.13123968243598938f,-0.41480347514152527f,-0.28873488306999207f,1.026596188545227f,0.388054221868515f,-0.5821989178657532f,0.18439257144927979f,-0.1099272072315216f,-0.19634971022605896f},
{0.261911004781723f,-0.2460976243019104f,-0.2993849217891693f,-0.0216875858604908f,0.0666251853108406f,-0.01244714017957449f,-0.06670857965946198f,-0.030254334211349487f,-0.2842422127723694f,0.1197996437549591f,0.01667046546936035f,-0.2924177646636963f,0.27609601616859436f,-0.1634647399187088f,-0.20773646235466003f,-0.10781967639923096f,-0.15712574124336243f,0.16112294793128967f,0.226307213306427f,0.1923319399356842f,0.19387927651405334f,0.08757619559764862f,-0.06879205256700516f,0.14906415343284607f,0.11202559620141983f,0.0025720298290252686f,0.172196626663208f,-0.1669369786977768f,0.09279179573059082f,0.21125611662864685f,-0.05751854181289673f,-0.22727590799331665f},
{0.14277681708335876f,-0.3658076822757721f,-0.5719888806343079f,-0.4293256402015686f,-2.0242974758148193f,0.4469848573207855f,0.3269858956336975f,-0.27022814750671387f,0.06979308277368546f,-0.4726024866104126f,-0.2715148627758026f,0.050719037652015686f,-0.4272148907184601f,0.38357505202293396f,-0.03100520372390747f,-0.2484396994113922f,-0.012858442030847073f,-0.2764144539833069f,0.12210605293512344f,-0.19511310756206512f,-1.1714394092559814f,0.24047309160232544f,0.9077915549278259f,-0.20270410180091858f,0.09234108775854111f,-0.19159743189811707f,0.6707311272621155f,-0.1395704746246338f,-0.5330768823623657f,-0.10488687455654144f,-0.8295623660087585f,-0.08823436498641968f},
{0.29069945216178894f,-0.39432209730148315f,-0.7187185287475586f,-1.2350605726242065f,0.33998313546180725f,-0.7123181223869324f,-0.00625432888045907f,-0.2674146592617035f,-1.0739837884902954f,-0.19378143548965454f,-0.3571389317512512f,-0.23599010705947876f,0.41418182849884033f,-0.7971703410148621f,0.09875330328941345f,-0.038175541907548904f,0.15272922813892365f,-0.009927275590598583f,-0.30229559540748596f,-0.29054272174835205f,-0.3118758201599121f,-1.000040888786316f,0.6674321889877319f,-0.2809290885925293f,-0.36089688539505005f,0.023651927709579468f,0.48456552624702454f,0.6994032263755798f,0.43271538615226746f,0.19045329093933105f,-0.4914795756340027f,-0.6128694415092468f},
{0.1991647183895111f,0.12534403800964355f,-0.04112154245376587f,0.23123982548713684f,-0.2870309352874756f,-0.17046742141246796f,-0.1610087752342224f,-0.031804412603378296f,0.007328375708311796f,-0.25018924474716187f,0.15975651144981384f,-0.057292819023132324f,0.021193383261561394f,0.19422577321529388f,0.2151305377483368f,0.2952744662761688f,-0.21319252252578735f,0.04970458149909973f,0.10210192203521729f,0.3050673305988312f,0.14308568835258484f,-0.03906850144267082f,0.013936702162027359f,0.25299301743507385f,0.01011967658996582f,-0.07015113532543182f,-0.42569056153297424f,-0.1553160846233368f,-0.07337476313114166f,-0.24420931935310364f,0.015819430351257324f,-0.10595546662807465f},
{0.12202468514442444f,0.10608518123626709f,-0.23480777442455292f,-0.2956502139568329f,0.19210411608219147f,0.006585080176591873f,-0.06113804876804352f,-0.11568751931190491f,0.2989203929901123f,-0.3037929832935333f,-0.06917986273765564f,-0.11160935461521149f,-0.21990501880645752f,-0.07006501406431198f,-0.06735922396183014f,0.05864924192428589f,-0.25733181834220886f,-0.17565661668777466f,0.05582946538925171f,-0.17989838123321533f,-0.22137431800365448f,0.28839531540870667f,0.10811747610569f,-0.05681343376636505f,0.1227402538061142f,0.1795230209827423f,0.3393796384334564f,0.07415845990180969f,-0.17302250862121582f,0.2425754964351654f,-0.22172409296035767f,-0.009572982788085938f},
{-0.3055141270160675f,-0.25011783838272095f,0.7311385273933411f,-0.24157972633838654f,-1.0624009370803833f,0.26226386427879333f,-0.17178095877170563f,0.06810887902975082f,-0.06822292506694794f,-0.18939678370952606f,-0.44836026430130005f,-0.1535065621137619f,-0.18740224838256836f,-0.23460710048675537f,-0.023131370544433594f,-0.11770424991846085f,0.08485811203718185f,-0.09997666627168655f,-0.26266708970069885f,-0.49668270349502563f,-0.11813896894454956f,-0.524924099445343f,0.38801339268684387f,0.03961586579680443f,-0.09372541308403015f,-0.02825927734375f,-0.2623272240161896f,-0.7227498888969421f,-0.5388938784599304f,0.1865309774875641f,0.11643480509519577f,-0.42531272768974304f},
{0.1782623827457428f,-0.03538484498858452f,-2.431919574737549f,-0.103914275765419f,-0.7199633121490479f,0.42455410957336426f,-0.33633333444595337f,0.025226306170225143f,-0.2375945746898651f,-0.061203453689813614f,-0.5022079944610596f,-0.3804698884487152f,0.46265190839767456f,0.6709904074668884f,-0.2527656555175781f,-0.4420746862888336f,-0.04571865499019623f,-0.36618950963020325f,-0.056735262274742126f,-0.5319806933403015f,-0.6619629263877869f,-0.8369379639625549f,-0.6938261985778809f,-0.09400374442338943f,-0.14996914565563202f,0.10029953718185425f,0.02721080556511879f,0.43922027945518494f,-0.2712918817996979f,0.1616479754447937f,-0.5210545659065247f,-0.32401105761528015f},
{-0.17396044731140137f,-0.2784900963306427f,-1.1768723726272583f,-0.046097531914711f,-0.025720056146383286f,-0.18957148492336273f,-0.25938647985458374f,-0.1761629432439804f,-0.3817882835865021f,-0.5976799130439758f,0.0671951025724411f,-0.38622695207595825f,0.7638773322105408f,0.6625755429267883f,-0.19851773977279663f,-0.10762731730937958f,0.06343308091163635f,0.10370296239852905f,-0.03213166445493698f,-0.4327969253063202f,-0.14362405240535736f,-1.094070315361023f,0.3622768521308899f,-0.3478490114212036f,0.477831095457077f,-0.2665709853172302f,0.46150633692741394f,-0.02370193414390087f,-0.25181710720062256f,-0.1200934648513794f,-0.42438045144081116f,-0.5009611248970032f},
{-0.12546227872371674f,-0.20327019691467285f,-0.7674700021743774f,0.0025170135777443647f,-0.37905335426330566f,0.7628586888313293f,-0.550694465637207f,-0.16460397839546204f,-1.1577268838882446f,-0.1461954414844513f,-0.19499319791793823f,-0.17696864902973175f,-0.7150746583938599f,-0.6856591701507568f,-0.0649729073047638f,0.09420866519212723f,0.060016900300979614f,-0.3138718008995056f,0.03891023248434067f,-0.25645461678504944f,0.5847378969192505f,0.3709615170955658f,-0.08535157144069672f,0.12858858704566956f,-0.40651488304138184f,0.020356476306915283f,-0.19646024703979492f,0.6749417781829834f,-0.019949205219745636f,-0.000007510185241699219f,-0.01171192992478609f,-0.2876005470752716f},
{0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
{0.06582912802696228f,0.2796666920185089f,-0.29963746666908264f,0.0023079216480255127f,0.20337024331092834f,-0.040642574429512024f,0.06556430459022522f,0.29767414927482605f,0.2994321286678314f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.0017087480518966913f,0.010199399664998055f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2962717115879059f,0.33884453773498535f,0.0014916976215317845f,-0.0016991444863379002f,-0.11559568345546722f,-0.21842041611671448f,0.21069613099098206f,-0.12274213880300522f,-0.08704576641321182f,-0.043134164065122604f,-0.2712400257587433f,-0.2183205485343933f,-0.23200613260269165f},
{-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
{0.07638216018676758f,0.05467941612005234f,-0.30802446603775024f,-0.27756384015083313f,0.5089954137802124f,-0.06644360721111298f,0.2795381247997284f,-0.25668495893478394f,-0.2516498565673828f,0.1293344497680664f,-0.026776641607284546f,0.02524423599243164f,0.13684697449207306f,-0.3884730935096741f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.13049617409706116f,0.2874086797237396f,-0.12349185347557068f,0.06480025500059128f,-0.26355814933776855f,-0.17324526607990265f,0.19932076334953308f,0.1901901364326477f,-0.11465026438236237f,0.02828008309006691f,0.4518930912017822f,0.22636333107948303f,-0.21769236028194427f,0.23630231618881226f},
};

const float hout[32] = { 0.3285340666770935f,0.22330839931964874f,-0.10449632257223129f,-0.1374182254076004f,0.3813384771347046f,0.2709670960903168f,-0.05697903409600258f,-0.004911948926746845f,0.20332930982112885f,0.0904858261346817f,0.10222318768501282f,-0.10788039118051529f,-0.1989477574825287f,0.16702288389205933f,0.2356991171836853f,-0.09116881340742111f,0.028592372313141823f,-0.18687331676483154f,0.04106204956769943f,-0.021804936230182648f,0.12847422063350677f,0.007278922479599714f,-0.32173553109169006f,-0.059601761400699615f,0.20722047984600067f,0.2520971894264221f,-0.18482191860675812f,-0.12838873267173767f,-0.15306447446346283f,-0.3257754445075989f,-0.028646055608987808f,-0.07700809091329575f };

const float b1[32] = { 0.5617112517356873f,0.6938236951828003f,-1.7145336866378784f,0.20102094113826752f,1.4396305084228516f,0.8273231983184814f,-0.08430472016334534f,0.9584340453147888f,0.4917953610420227f,-1.3999191522598267f,0.7650651335716248f,1.7081613540649414f,-0.41735661029815674f,-1.2265903949737549f,-1.087764859199524f,1.7399324178695679f,0.5774160623550415f,-0.3081972897052765f,0.22525261342525482f,0.5787962675094604f,-0.34984177350997925f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.4478845596313477f,-2.0880801677703857f,-1.0489267110824585f,1.045495629310608f,-0.21264487504959106f,-1.0887231826782227f,2.5014867782592773f,-0.4925138056278229f };

const float b2[32] = { -0.22199000418186188f,-0.7642630338668823f,-1.4564176797866821f,-0.5784978270530701f,-0.6939148902893066f,0.021013928577303886f,0.2593429982662201f,-0.48615601658821106f,-1.20063054561615f,-1.912178635597229f,-0.37001925706863403f,0.7015834450721741f,-0.21979756653308868f,2.167783498764038f,-0.1734119951725006f,0.34847232699394226f,-1.798204779624939f,-1.5844906568527222f,0.7723733186721802f,-0.49491411447525024f,-0.9785985946655273f,0.25206300616264343f,-0.06040634959936142f,-1.3003190755844116f,0.913925290107727f,1.1008470058441162f,0.4028688073158264f,0.26332706212997437f,-0.6323830485343933f,-0.6440863013267517f,-1.178520679473877f,-1.4038468599319458f };

const float b3[32] = { -1.963319182395935f,-0.5200377702713013f,-0.3375231921672821f,-0.13412702083587646f,-0.7709776163101196f,1.1072574853897095f,-0.6176732778549194f,-0.789782702922821f,-0.26726576685905457f,0.1519104242324829f,-0.34401074051856995f,-0.2394605576992035f,-0.4662231504917145f,0.7806915640830994f,-1.1428403854370117f,-0.5101396441459656f,-1.4363644123077393f,-1.1631749868392944f,-0.3078002333641052f,0.14698919653892517f,1.1502156257629395f,0.757956326007843f,-1.0361347198486328f,-0.9573707580566406f,1.1927686929702759f,-0.36519983410835266f,-0.1531694531440735f,0.20401786267757416f,0.691188395023346f,-2.3236680030822754f,-0.22575858235359192f,0.4017392098903656f };

const float bout[1] = { -0.14703667163848877f };


float VALVE_POS_RAW_NN = 0.0f;
float DDV_JOINT_POS_FF(float REF_JOINT_VEL);

int main()
{

    HAL_Init();
    SystemClock_Config();
    
    /*********************************
    ***     Initialization
    *********************************/
    LED = 0;
    pc.baud(9600);

    // i2c init
    i2c.frequency(400 * 1000);          // 0.4 mHz
    wait_ms(2);                         // Power Up wait
    look_for_hardware_i2c();            // Hardware present
    init_as5510(i2c_slave_addr1);
    make_delay();

//    // spi init
    //eeprom.format(8,3);
    //eeprom.frequency(5000000); //5M
    enc.format(8,0);
    enc.frequency(5000000); //5M
    make_delay();

    //rom
    ROM_CALL_DATA();
    make_delay();

    // ADC init
    Init_ADC();
    make_delay();

    // Pwm init
    Init_PWM();
    TIM4->CR1 ^= TIM_CR1_UDIS;
    make_delay();

    // TMR3 init
    Init_TMR3();
    TIM3->CR1 ^= TIM_CR1_UDIS;
    make_delay();

    // TMR2 init
//    Init_TMR2();
//    TIM2->CR1 ^= TIM_CR1_UDIS;
//    make_delay();

    // CAN
    can.attach(&CAN_RX_HANDLER);
    CAN_ID_INIT();
    make_delay();

    //Timer priority
    NVIC_SetPriority(TIM3_IRQn, 2);
    //NVIC_SetPriority(TIM2_IRQn, 3);
    NVIC_SetPriority(TIM4_IRQn, 3);

    //can.reset();
    can.filter(msg.id, 0xFFFFF000, CANStandard);

    // spi _ enc
    spi_enc_set_init();
    make_delay();

    //DAC init
    if (SENSING_MODE == 0) {
        dac_1 = TORQUE_VREF / 3.3f;
        dac_2 = 0.0f;
    } else if (SENSING_MODE == 1) {
        dac_1 = PRES_A_VREF / 3.3f;
        dac_2 = PRES_B_VREF / 3.3f;
    }
    make_delay();

    for (int i=0; i<50; i++) {
        if(i%2==0)
            ID_index_array[i] = - i * 0.5f;
        else
            ID_index_array[i] =  (i+1) * 0.5f;
    }
    

    /************************************
    ***     Program is operating!
    *************************************/
    while(1) {
//        if(timer_while==1000 && OPERATING_MODE==5) {
        //if(timer_while==1000) {
            //i2c
            
            read_field(i2c_slave_addr1);
            if(DIR_VALVE_ENC < 0) value = 1023 - value;
            //            if(LED==1) {
            //                LED=0;
            //            } else
            //                LED = 1;
            timer_while = 0;
        //}
        
        timer_while ++;
        
        //LED = 0;
        
        if(NN_Control_Flag == 0) {
            LED = 0;
        }
        
        else if(NN_Control_Flag == 1) {
            float output1[32] = { 0.0f };
            float output2[32] = { 0.0f };
            float output3[32] = { 0.0f };
            float output = 0.0f;

            for (int index2 = 0; index2 < 32; index2++) {
                for (int index1 = 0; index1 < num_input; index1++) {
                    output1[index2] = output1[index2]
                                      + h1[index1][index2] * input_NN[index1];
                }
                output1[index2] = output1[index2] + b1[index2];
                if (output1[index2] < 0) {
                    output1[index2] = 0;
                }
            }

            for (int index2 = 0; index2 < 32; index2++) {
                for (int index1 = 0; index1 < 32; index1++) {
                    output2[index2] = output2[index2]
                                      + h2[index1][index2] * output1[index1];
                }
                output2[index2] = output2[index2] + b2[index2];
                if (output2[index2] < 0) {
                    output2[index2] = 0;
                }
            }

            for (int index2 = 0; index2 < 32; index2++) {
                for (int index1 = 0; index1 < 32; index1++) {
                    output3[index2] = output3[index2]
                                      + h3[index1][index2] * output2[index1];
                }
                output3[index2] = output3[index2] + b3[index2];
                if (output3[index2] < 0) {
                    output3[index2] = 0;
                }
            }

            for (int index2 = 0; index2 < 1; index2++) {
                for (int index1 = 0; index1 < 32; index1++) {
                    output = output + hout[index1] * output3[index1];
                }
                output = output + bout[index2];
                
            }
            output = 1.0f/(1.0f+exp(-output));
            output_normalized = output;
            output = output * 20000.0f - 10000.0f;
            
            if(output>=0) {
                valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
            } else {
                valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
            }

//            // torque feedback
//            torq.err = f_past[0] - torq.sen; //[N]
////            torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
//            torq.err_sum += torq.err/(float) 1500.0f; //[N]
//    
//
//            valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
//
//            if(I_GAIN_JOINT_TORQUE != 0) {
//                double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
//                if(valve_pos.ref>VALVE_MAX_POS) {
//                    double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
//                    valve_pos_rem = valve_pos_rem * Ka;
//                    valve_pos.ref = VALVE_MAX_POS;
//                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
//                } else if(valve_pos.ref < VALVE_MIN_POS) {
//                    double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
//                    valve_pos_rem = valve_pos_rem * Ka;
//                    valve_pos.ref = VALVE_MIN_POS;
//                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
//                }
//            }
            
            
            if(LED==1) {
                LED=0;
            } else
                LED = 1;
            
        }
        
        //LED = 1;
        

    }
}

float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
{

    int i = 0;
    float Ref_Valve_Pos_FF = 0.0f;
    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) {
                if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
                    Ref_Valve_Pos_FF = (float) VALVE_CENTER;
                } else {
                    Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
                }
            } else {
                if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
                    Ref_Valve_Pos_FF = (float) VALVE_CENTER;
                } else {
                    Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
                }
            }
            break;
        }
    }
    if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
        Ref_Valve_Pos_FF = (float) 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 = (float) VALVE_MIN_POS;
    }

    Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
    return Ref_Valve_Pos_FF;

}


void VALVE_POS_CONTROL(float REF_VALVE_POS)
{
    int i = 0;

    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;
    }

    valve_pos_err = (float) (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 > 1000.0f) valve_pos_err_sum = 1000.0f;
    if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;

    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;

    for(i=0; i<24; i++) {
        if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <=  max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
            if(i==0) {
                VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
            } else {
                VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
            }
            break;
        }
    }
    Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}

#define LT_MAX_IDX  57
float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
                                 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
                                 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
                                 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
                                 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
                                 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
                                };  // duty
float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
                                       -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
                                       -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
                                       7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
                                       105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
                                       155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
                                      }; // mV

float PWM_duty_byLT(float Ref_V)
{
    float PWM_duty = 0.0f;
    if(Ref_V<LT_Voltage_Output[0]) {
        PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+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])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
    } else {
        int idx = 0;
        for(idx=0; idx<LT_MAX_IDX-1; idx++) {
            float ini_x = LT_Voltage_Output[idx];
            float fin_x = LT_Voltage_Output[idx+1];
            float ini_y = LT_PWM_duty[idx];
            float 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
*******************************************************************************/

float FREQ_TMR4 = (float)FREQ_20k;
float DT_TMR4 = (float)DT_20k;
long  CNT_TMR4 = 0;
int   TMR4_FREQ_10k = (int)FREQ_10k;
extern "C" void TIM4_IRQHandler(void)
{
    if (TIM4->SR & TIM_SR_UIF ) {

        /*******************************************************
        ***     Sensor Read & Data Handling
        ********************************************************/

        //Encoder
        if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
            ENC_UPDATE();
        }

        ADC1->CR2  |= 0x40000000;
        if (SENSING_MODE == 0) {
            // Torque Sensing (0~210)bar =============================================
            float pres_A_new = (((float) ADC1->DR) - 2047.5f);
            double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
            pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
            torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;


//        float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
////        float pres_A_new = ((float)ADC1->DR - PRES_A_NULL)  / PRES_SENSOR_A_PULSE_PER_BAR;
//        float pres_A_new = ((float)ADC1->DR);
//        pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
//        torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047


        } else if (SENSING_MODE == 1) {
            // Pressure Sensing (0~210)bar =============================================
            float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
            float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
            double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
            pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
            pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
            CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
            CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;

            if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
                torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
            } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
                torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
            }
        }

//        //Pressure sensor A
//        ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
//        //while((ADC1->SR & 0b10));
//        float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
//        float pres_A_new = ((float)ADC1->DR);
//        pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
//        torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047    //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
//
//
//        //Pressure sensor B
//        float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
//        float pres_B_new = ((float)ADC2->DR);
//        pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
//        //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;


        //Current
        //ADC3->CR2  |= 0x40000000;                        // adc _ 12bit
        //int raw_cur = ADC3->DR;
        //while((ADC3->SR & 0b10));
        float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
        float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
        cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
        //cur.sen = raw_cur;

        CNT_TMR4++;
    }
    TIM4->SR = 0x0;  // reset the status register
}


int j =0;
float FREQ_TMR3 = (float)FREQ_5k;
float DT_TMR3 = (float)DT_5k;
int cnt_trans = 0;
double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
int can_rest =0;

extern "C" void TIM3_IRQHandler(void)
{
    if (TIM3->SR & TIM_SR_UIF ) {

        if (((OPERATING_MODE&0b110)>>1) == 0) {
            K_v = 0.4f; // Moog (LPM >> mA) , 100bar
            mV_PER_mA = 500.0f; // 5000mV/10mA
            mV_PER_pulse = 0.5f; // 5000mV/10000pulse
            mA_PER_pulse = 0.001f; // 10mA/10000pulse
        } else if (((OPERATING_MODE&0b110)>>1) == 1) {
            K_v = 0.5f; // KNR (LPM >> mA) , 100bar
            mV_PER_mA = 166.6666f; // 5000mV/30mA
            mV_PER_pulse = 0.5f; // 5000mV/10000pulse
            mA_PER_pulse = 0.003f; // 30mA/10000pulse
        }

        if(MODE_POS_FT_TRANS == 1) {
            alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
            cnt_trans++;
            torq.err_sum = 0;
            if((float)cnt_trans * DT_TMR3 > 3.0f)
                MODE_POS_FT_TRANS = 2;
        } else if(MODE_POS_FT_TRANS == 3) {
            alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
            cnt_trans++;
            torq.err_sum = 0;
            if((float) cnt_trans * DT_TMR3 > 3.0f )
                MODE_POS_FT_TRANS = 0;
        } else if(MODE_POS_FT_TRANS == 2) {
            alpha_trans = 1.0f;
            cnt_trans = 0;
        } else {
            alpha_trans = 0.0f;
            cnt_trans = 0;
        }


        int UTILITY_MODE = 0;
        int CONTROL_MODE = 0;

        if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
            UTILITY_MODE = CONTROL_UTILITY_MODE;
            CONTROL_MODE = MODE_NO_ACT;
        } else {
            CONTROL_MODE = CONTROL_UTILITY_MODE;
            UTILITY_MODE = MODE_NO_ACT;
        }



        // UTILITY MODE ------------------------------------------------------------

        switch (UTILITY_MODE) {
            case MODE_NO_ACT: {
                break;
            }

            case MODE_TORQUE_SENSOR_NULLING: {
                // DAC Voltage reference set
                if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
                    CUR_TORQUE_sum += torq.sen;

                    if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
                        CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
                        CUR_TORQUE_sum = 0;

                        TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);

                        if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
                        if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;

                        //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
                        dac_1 = TORQUE_VREF / 3.3f;
                    }
                } else {
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                    TMR3_COUNT_TORQUE_NULL = 0;
                    CUR_TORQUE_sum = 0;
                    CUR_TORQUE_mean = 0;

                    ROM_RESET_DATA();

                    dac_1 = TORQUE_VREF / 3.3f;

                }
                TMR3_COUNT_TORQUE_NULL++;
                break;
            }

//            case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
//                if (TMR3_COUNT_DEADZONE == 0) {
//                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
//                    else temp_time = 0;
//                }
//                if (need_enc_init) {
//                    if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
//                        V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_plus_end = pos.sen;
//                    } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_minus_end = pos.sen;
//                    } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
//                    temp_time = TMR_FREQ_5k;
//                }
//
//                if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
//                    V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
//                    VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
//
//                } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
//                    V_out = 0;
//                    CUR_VELOCITY_sum += CUR_VELOCITY;
//                } else if (TMR3_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 (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
//                    if (TMR3_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 (TMR3_COUNT_DEADZONE % 20 != 0) {
//                            CUR_VELOCITY_sum += CUR_VELOCITY;
//                        } else {
//                            V_out -= 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) V_out;
//                            else VALVE_DEADZONE_PLUS = (int16_t) V_out;
//                            DZ_dir = -DZ_dir;
//                            DZ_temp_cnt = 0;
//                            DZ_temp_cnt2++;
//                        }
//                    } else {
//                        TMR3_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;
//                        }
//                        V_out = 0;
//
//                        ROM_RESET_DATA();
//
//                        //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;
//                    }
//                }
//                TMR3_COUNT_DEADZONE++;
//                break;
//            }

            case MODE_FIND_HOME: {
                if (FINDHOME_STAGE == FINDHOME_INIT) {
                    cnt_findhome = 0;
                    cnt_vel_findhome = 0;
                    //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
                    pos.ref = pos.sen;
                    vel.ref = 0.0f;
                    FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
                } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
                    int cnt_check_enc = (TMR_FREQ_5k/20);
                    if(cnt_findhome%cnt_check_enc == 0) {
                        FINDHOME_POSITION = pos.sen;
                        FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
                        FINDHOME_POSITION_OLD = FINDHOME_POSITION;
                    }
                    cnt_findhome++;

                    if (abs(FINDHOME_VELOCITY) <= 1) {
                        cnt_vel_findhome = cnt_vel_findhome + 1;
                    } else {
                        cnt_vel_findhome = 0;
                    }

                    if ((cnt_vel_findhome < 3*TMR_FREQ_5k) &&  cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
                        //REFERENCE_MODE = MODE_REF_NO_ACT;
                        if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
                        else pos.ref = pos.ref - 12.0f;

//                        pos.err = pos.ref_home_pos - pos.sen;
//                        float VALVE_POS_RAW_POS_FB = 0.0f;
//                        VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
//                        valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
//                        VALVE_POS_CONTROL(valve_pos.ref);

                        CONTROL_MODE = MODE_JOINT_CONTROL;
                        alpha_trans = 0.0f;


                    } else {
                        ENC_SET(HOMEPOS_OFFSET);
//                        ENC_SET_ZERO();
                        INIT_REF_POS = HOMEPOS_OFFSET;
                        REF_POSITION = 0;
                        REF_VELOCITY = 0;
                        FINDHOME_POSITION = 0;
                        FINDHOME_POSITION_OLD = 0;
                        FINDHOME_VELOCITY = 0;
                        cnt_findhome = 0;
                        cnt_vel_findhome = 0;
                        FINDHOME_STAGE = FINDHOME_ZEROPOSE;


                        cnt_findhome = 0;
                        pos.ref = 0.0f;
                        vel.ref = 0.0f;
                        pos.ref_home_pos = 0.0f;
                        vel.ref_home_pos = 0.0f;
                        //FINDHOME_STAGE = FINDHOME_INIT;
                        //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
                        
                        
                    }
                } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
                    int T_move = 2*TMR_FREQ_5k;
                    pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
                    //pos.ref = 0.0f;
                    vel.ref = 0.0f;
                    
                    // input for position control
                
//                    CONTROL_MODE = MODE_JOINT_CONTROL;
                    alpha_trans = 0.0f;

                    double torq_ref = 0.0f;
                    pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
                    vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
                    pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]

                    if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {

                        double I_REF_POS = 0.0f;
                        double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
                        double I_REF_VC = 0.0f; // I_REF for velocity compensation

                        double temp_vel_pos = 0.0f;
                        double temp_vel_torq = 0.0f;
                        double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control

                        if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                            temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
                            //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                        } else if ((OPERATING_MODE & 0x01) == 1) {
                            temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
                            //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                        }
                        if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
                        else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));

                        I_REF = I_REF_POS;



                    } else {
                        float VALVE_POS_RAW_FORCE_FB = 0.0f;
                        VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));

                        if (VALVE_POS_RAW_FORCE_FB >= 0) {
                            valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
                        } else {
                            valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
                        }

                        VALVE_POS_CONTROL(valve_pos.ref);

                        V_out = (float) Vout.ref;

                    }


                    
                    
//                    pos.err = pos.ref - (float)pos.sen;
//                    float VALVE_POS_RAW_POS_FB = 0.0f;
//                    VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
//                    valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
//                    VALVE_POS_CONTROL(valve_pos.ref);

                    cnt_findhome++;
                    if (cnt_findhome >= T_move) {
                        //REFERENCE_MODE = MODE_REF_DIRECT;
                        cnt_findhome = 0;
                        pos.ref = 0.0f;
                        vel.ref = 0.0f;
                        pos.ref_home_pos = 0.0f;
                        vel.ref_home_pos = 0.0f;
                        FINDHOME_STAGE = FINDHOME_INIT;
                        CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
                    }
                }

                break;
            }

//            case MODE_VALVE_GAIN_SETTING: {
//                if (TMR3_COUNT_FLOWRATE == 0) {
//                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
//                    else {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
//                    }
//                }
//                if (need_enc_init) {
//                    if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
//                        V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_plus_end = pos.sen;
//                    } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_minus_end = pos.sen;
//                    } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
//                        need_enc_init = false;
//                        check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
//                        check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
//                        check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
//                    }
//                    temp_time = TMR_FREQ_5k;
//                }
//                TMR3_COUNT_FLOWRATE++;
//                if (TMR3_COUNT_FLOWRATE > temp_time) {
//                    if (flag_flowrate % 2 == 0) { // (+)
//                        VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
//                        V_out = VALVE_VOLTAGE;
//                        if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
//                            fl_temp_cnt++;
//                        } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
//                            VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
//                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
//                            fl_temp_cnt2++;
//                        }
//                    } else if (flag_flowrate % 2 == 1) { // (-)
//                        VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
//                        V_out = VALVE_VOLTAGE;
//                        if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
//                            fl_temp_cnt++;
//                        } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
//                            VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
//                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
//                            fl_temp_cnt2++;
//                        }
//                    }
//                    if (fl_temp_cnt2 == 100) {
//
//                        ROM_RESET_DATA();
//
//                        //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
//                        cur_vel_sum = 0;
//                        fl_temp_cnt = 0;
//                        fl_temp_cnt2 = 0;
//                        flag_flowrate++;
//                    }
//                    if (flag_flowrate == 10) {
//                        V_out = 0;
//                        flag_flowrate = 0;
//                        TMR3_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 (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
                    CUR_PRES_A_sum += pres_A.sen;
                    CUR_PRES_B_sum += pres_B.sen;

                    if (TMR3_COUNT_PRES_NULL % 10 == 0) {
                        CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
                        CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
                        CUR_PRES_A_sum = 0;
                        CUR_PRES_B_sum = 0;

                        float VREF_NullingGain = 0.0003f;
                        PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
                        PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;

                        if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
                        if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
                        if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
                        if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;

                        dac_1 = PRES_A_VREF / 3.3f;
                        dac_2 = PRES_B_VREF / 3.3f;
                    }
                } else {
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                    TMR3_COUNT_PRES_NULL = 0;
                    CUR_PRES_A_sum = 0;
                    CUR_PRES_B_sum = 0;
                    CUR_PRES_A_mean = 0;
                    CUR_PRES_B_mean = 0;

                    ROM_RESET_DATA();

                    dac_1 = PRES_A_VREF / 3.3f;
                    dac_2 = PRES_B_VREF / 3.3f;
                    //pc.printf("nulling end");
                }
                TMR3_COUNT_PRES_NULL++;
                break;
            }

//            case MODE_PRESSURE_SENSOR_CALIB: {
//                if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
//                    V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                    if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
//                        CUR_PRES_A_sum += CUR_PRES_A;
//                    }
//                } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
//                    V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                    if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
//                        CUR_PRES_B_sum += CUR_PRES_B;
//                    }
//                } else {
//                    CONTROL_MODE = MODE_NO_ACT;
//                    TMR3_COUNT_PRES_CALIB = 0;
//                    V_out = 0;
//                    PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
//                    PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
//                    PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
//                    PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
//                    CUR_PRES_A_sum = 0;
//                    CUR_PRES_B_sum = 0;
//                    CUR_PRES_A_mean = 0;
//                    CUR_PRES_B_mean = 0;
//
//                    ROM_RESET_DATA();
//
//                    //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
//                    //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
//                }
//                TMR3_COUNT_PRES_CALIB++;
//                break;
//            }

//            case MODE_ROTARY_FRICTION_TUNING: {
//                if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
//                V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
//                if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                TMR3_COUNT_ROTARY_FRIC_TUNE++;
//                if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
//                    TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
//                    V_out = 0.0f;
//                    CONTROL_MODE = MODE_NO_ACT;
//                }
//                break;
//            }

            case MODE_DDV_POS_VS_PWM_ID: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_ID_timer = VALVE_ID_timer + 1;

                if(VALVE_ID_timer < TMR_FREQ_5k*1) {
                    Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
                } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
                    Vout.ref = 1000.0f*(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) {
                    Vout.ref = 0.0f;
                } else {
                    VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
                    VALVE_ID_timer = 0;
                    ID_index= ID_index +1;
                }

                if(ID_index>=25) {
                    int i;
                    VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
                    for(i=0; i<25; i++) {
                        VALVE_POS_VS_PWM[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;
                        }
                    }
                    ROM_RESET_DATA();
                    ID_index = 0;
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                }


                break;
            }

            case MODE_DDV_DEADZONE_AND_CENTER: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_DZ_timer = VALVE_DZ_timer + 1;
                if(first_check == 0) {
                    if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_plus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_minus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                    } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                        data_num = data_num + 1;
                        VALVE_POS_TMP = VALVE_POS_TMP + value;
                    } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                        DDV_POS_AVG = VALVE_POS_TMP / data_num;
                        START_POS = pos.sen;
                        VALVE_POS_TMP = 0;
                        data_num = 0;

                    } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);

                    } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);

                    } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        FINAL_POS = pos.sen;

                        if((FINAL_POS - START_POS)>200) {
                            DZ_case = 1;
                        } else if((FINAL_POS - START_POS)<-200) {
                            DZ_case = -1;
                        } else {
                            DZ_case = 0;
                        }

                        CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));

                        first_check = 1;
                        DZ_DIRECTION = 1;
                        VALVE_DZ_timer = 0;
                        Ref_Valve_Pos_Old = DDV_POS_AVG;
                        DZ_NUM = 1;
                        DZ_index = 1;

                    }
                } else {
                    if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
                        if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            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;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }
                        }
                    } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = 0.0f;
                        } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            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;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index * 2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
                                first_check = 0;
                                VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                VALVE_DEADZONE_PLUS = (float) SECOND_DZ;

                                ROM_RESET_DATA();

                                CONTROL_UTILITY_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }
                        }
                    } else if(DZ_case == 0 && DZ_NUM ==1) {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1;
                            } else {
                                DZ_DIRECTION = 1;
                            }
                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }
                        }
                    } else {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  + DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref > VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS - 1;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = 0.0f;
                        } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1;
                            } else {
                                DZ_DIRECTION = 1;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
                                first_check = 0;
                                VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                VALVE_DEADZONE_PLUS = (float) SECOND_DZ;

                                ROM_RESET_DATA();

                                CONTROL_UTILITY_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }
                        }
                    }
                }
                break;
            }

            case MODE_DDV_POS_VS_FLOWRATE: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_FR_timer = VALVE_FR_timer + 1;
                if(first_check == 0) {
                    if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                    } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_plus_end = pos.sen;
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
                    } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_minus_end = pos.sen;
                        first_check = 1;
                        VALVE_FR_timer = 0;
                        valve_pos.ref = (float) VALVE_CENTER;
                        ID_index = 0;
                        max_check = 0;
                        min_check = 0;
                    }
                } else {
                    if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                        pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                        CONTROL_MODE = MODE_JOINT_CONTROL;
                    } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        data_num = 0;
                        valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;

                        VALVE_POS_CONTROL(valve_pos.ref);
                        START_POS = pos.sen;
                    } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        data_num = data_num + 1;
                        if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
                            FINAL_POS = pos.sen;
                            one_period_end = 1;
                        }
                    } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
                        FINAL_POS = pos.sen;
                        one_period_end = 1;
                        V_out = 0.0f;
                    }

                    if(one_period_end == 1) {
                        if(valve_pos.ref > VALVE_MAX_POS) {
                            max_check = 1;
                        } else if(valve_pos.ref < VALVE_MIN_POS) {
                            min_check = 1;
                        }
                        JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k;   //  pulse/sec

                        VALVE_FR_timer = 0;
                        one_period_end = 0;
                        ID_index= ID_index +1;
                        V_out = 0.0f;
                    }

                    if(max_check == 1 && min_check == 1) {

                        VALVE_POS_NUM = ID_index;
                        ROM_RESET_DATA();
                        ID_index = 0;
                        first_check = 0;
                        VALVE_FR_timer = 0;
                        CONTROL_UTILITY_MODE = MODE_NO_ACT;
//                        CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                    }
                }
                break;
            }

            case MODE_SYSTEM_ID: {
                freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
                valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                cnt_sysid++;
                if (freq_sysid_Iref >= 300) {
                    cnt_sysid = 0;
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                }
                break;
            }



            default:
                break;
        }

        // CONTROL MODE ------------------------------------------------------------

        switch (CONTROL_MODE) {
            case MODE_NO_ACT: {
                V_out = 0.0f;
                break;
            }

            case MODE_VALVE_POSITION_CONTROL: {
                if (OPERATING_MODE == 5) { //SW Valve
                    VALVE_POS_CONTROL(valve_pos.ref);
                    V_out = Vout.ref;
                } else if (CURRENT_CONTROL_MODE == 0) { //PWM
                    V_out = valve_pos.ref;
                } else { 
                    I_REF = valve_pos.ref * 0.001f;
                }

                break;
            }

            case MODE_JOINT_CONTROL: {
                double torq_ref = 0.0f;
                pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
                vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
                pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
                
                //K & D Low Pass Filter
                float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
                K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
                D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
                
                torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]

                // torque feedback
                torq.err = torq_ref - torq.sen; //[N]
                torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]

                if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {

                    double I_REF_POS = 0.0f;
                    double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
                    double I_REF_VC = 0.0f; // I_REF for velocity compensation

                    double temp_vel_pos = 0.0f;
                    double temp_vel_torq = 0.0f;
                    double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control

                    if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                        temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
                        //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                    } else if ((OPERATING_MODE & 0x01) == 1) {
                        temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
                        //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                    }
                    if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
                    else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));

                    // velocity compensation for torque control
                    if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                        I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
                        //                temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
                        temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
                        //                                                          L feedforward velocity
                    } else if ((OPERATING_MODE & 0x01) == 1) {
                        I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
                        //                temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
                        temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
                        //                                                          L feedforward velocity
                    }
                    if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
                    else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
                    //                                                  L   velocity(rad/s or mm/s) >> I_ref(mA)
                    //            Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
                    //            Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;

                    I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
                    
                    // Anti-windup for FT
                    if (I_GAIN_JOINT_TORQUE != 0) {
                        double I_MAX = 10.0f; // Maximum Current : 10mV
                        double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
                        if (I_REF > I_MAX) {
                            double I_rem = I_REF - I_MAX;
                            I_rem = Ka*I_rem;
                            I_REF = I_MAX;
                            torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
                        } else if (I_REF < -I_MAX) {
                            double I_rem = I_REF - (-I_MAX);
                            I_rem = Ka*I_rem;
                            I_REF = -I_MAX;
                            torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
                        }
                    }

                } else {
                    float VALVE_POS_RAW_FORCE_FB = 0.0f;
                    float VALVE_POS_RAW_FORCE_FF = 0.0f;
                    float VALVE_POS_RAW = 0.0f;
                    
                    VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
                                                          + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));

                    VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
                    
                    VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
                    
                    
                    if (VALVE_POS_RAW >= 0) {
                        valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
                    } else {
                        valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
                    }

                    if(I_GAIN_JOINT_TORQUE != 0) {
                        double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
                        if(valve_pos.ref>VALVE_MAX_POS) {
                            double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
                            valve_pos_rem = valve_pos_rem * Ka;
                            valve_pos.ref = VALVE_MAX_POS;
                            torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
                        } else if(valve_pos.ref < VALVE_MIN_POS) {
                            double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
                            valve_pos_rem = valve_pos_rem * Ka;
                            valve_pos.ref = VALVE_MIN_POS;
                            torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
                        }
                    }

                    VALVE_POS_CONTROL(valve_pos.ref);

//                    Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
                    V_out = (float) Vout.ref;

                }
                
                torq_ref_past = torq_ref;

                break;
            }

            case MODE_VALVE_OPEN_LOOP: {
                V_out = (float) Vout.ref;
                break;
            }

            default:
                break;
        }


        if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve

            ////////////////////////////////////////////////////////////////////////////
            ////////////////////////////  CURRENT CONTROL //////////////////////////////
            ////////////////////////////////////////////////////////////////////////////
            if (CURRENT_CONTROL_MODE) {
                double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
                I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;

                I_ERR = I_REF_fil - cur.sen;
                I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;


                // Moog Valve Current Control Gain
                double R_model = 500.0f; // ohm
                double L_model = 1.2f;
                double w0 = 2.0f * 3.14f * 150.0f;
                double KP_I = 0.1f * L_model*w0;
                double KI_I = 0.1f * R_model*w0;

                // KNR Valve Current Control Gain
                if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
                    R_model = 163.0f; // ohm
                    L_model = 1.0f;
                    w0 = 2.0f * 3.14f * 80.0f;
                    KP_I = 1.0f * L_model*w0;
                    KI_I = 0.08f * R_model*w0;
                }

                double FF_gain = 1.0f;

                VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
                //        VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
                I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
                I_REF_fil_old = I_REF_fil;
//                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
                double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV

                double Ka = 3.0f / KP_I;
                if (VALVE_PWM_RAW > V_MAX) {
                    V_rem = VALVE_PWM_RAW - V_MAX;
                    V_rem = Ka*V_rem;
                    VALVE_PWM_RAW = V_MAX;
                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
                } else if (VALVE_PWM_RAW < -V_MAX) {
                    V_rem = VALVE_PWM_RAW - (-V_MAX);
                    V_rem = Ka*V_rem;
                    VALVE_PWM_RAW = -V_MAX;
                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
                }
                Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
            } else {
                VALVE_PWM_RAW = I_REF * mV_PER_mA;
                Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
            }

            ////////////////////////////////////////////////////////////////////////////
            /////////////////  Dead Zone Cancellation & Linearization //////////////////
            ////////////////////////////////////////////////////////////////////////////
            // Dead Zone Cancellation (Mechanical Valve dead-zone)
            if (FLAG_VALVE_DEADZONE) {
                if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
                else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV

                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV

            } else {
                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
            }

            // Output Voltage Linearization
            double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);  // -8000~8000

            // Dead Zone Cancellation (Electrical dead-zone)
            if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
            else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
            else V_out = (float) (CUR_PWM_lin);
        }
        else {              //////////////////////////sw valve
            // Output Voltage Linearization
            double CUR_PWM_nonlin = V_out; // Unit : mV
            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);  // -8000~8000

            // Dead Zone Cancellation (Electrical dead-zone)
            if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
            else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
            else V_out = (float) (CUR_PWM_lin);
        }
        
//        if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
//        else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
//        else V_out = V_out;
    
        /*******************************************************
        ***     PWM
        ********************************************************/
        if(DIR_VALVE<0){
            V_out = -V_out;
        }
        
        if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
            V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
        } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
            V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
        }
        PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV

        // Saturation of output voltage to 12.0V
        if(PWM_out > 1.0f) PWM_out=1.0f;
        else if (PWM_out < -1.0f) PWM_out=-1.0f;

        if (PWM_out>0.0f) {
            dtc_v=0.0f;
            dtc_w=PWM_out;
        } else {
            dtc_v=-PWM_out;
            dtc_w=0.0f;
        }

        //pwm
        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);


        if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {

            // Position, Velocity, and Torque (ID:1200)
            if (flag_data_request[0] == HIGH) {
                if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
                    if (SENSING_MODE == 0) {
                        CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
                    } else if (SENSING_MODE == 1) {
                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
                    }
                } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
                    if (SENSING_MODE == 0) {
                        CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
                    } else if (SENSING_MODE == 1) {
                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
                    }
                }
            }
            if (flag_data_request[1] == HIGH) {
                //valve position
                double t_value = 0;
                if(valve_pos.ref>=(float) VALVE_CENTER) {
                    t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
                } else {
                    t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
                }
//                if(OPERATING_MODE==5) {
//                    if(valve_pos.ref>=(float) VALVE_CENTER) {
//                        t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
//                    } else {
//                        t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
//                    }
                    //t_value = (double) value;
//                } else if(CURRENT_CONTROL_MODE==1) {
//                    t_value = cur.sen * 1000.0f;
//                } else {
//                    t_value = V_out;
//                }
                CAN_TX_TORQUE((int16_t) (t_value)); //1300
                //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
                //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
            }


            if (flag_data_request[2] == HIGH) {
                //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
                double t_value = 0;
                if(valve_pos.ref>=(float) VALVE_CENTER) {
                    t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
                } else {
                    t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
                }
                CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
            }

            //If it doesn't rest, below can can not work.
            for (can_rest = 0; can_rest < 10000; can_rest++) {
                ;
            }

            if (flag_data_request[3] == HIGH) {
                //PWM
                //CAN_TX_PWM((int16_t) value); //1500
                CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
            }
            //for (i = 0; i < 10000; i++) {
//                ;
//            }
            if (flag_data_request[4] == HIGH) {
                //valve position
                CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
            }

            // Others : Reference position, Reference FT, PWM, Current  (ID:1300)
//        if (flag_data_request[1] == HIGH) {
//            CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
//        }
            //if (flag_delay_test == 1){
            //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
            //}

            TMR2_COUNT_CAN_TX = 0;
        }
        TMR2_COUNT_CAN_TX++;

    }
    TIM3->SR = 0x0;  // reset the status register

}