Sungwoo Kim
distribution-201229
main.cpp
- Committer:
- Lightvalve
- Date:
- 2020-04-14
- Revision:
- 65:a2d7c63419c2
- Parent:
- 64:6f1caa0993d0
- Child:
- 66:a8e6799dbce3
File content as of revision 65:a2d7c63419c2:
#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();
}
}
const float input[22] = { 0.052414f, 0.066907f, 0.085407f, 0.109023f,
0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f,
0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f,
0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f };
const float h1[22][32] = { { -0.02454003319144249f, 0.13071660697460175f,
0.08675816655158997f, 0.1402530074119568f, -0.24982963502407074f,
0.12202739715576172f, -0.13030944764614105f, -0.11353740841150284f,
-0.2542628347873688f, -0.04588286578655243f, -0.14282149076461792f,
-0.2201535552740097f, -0.18691661953926086f, 0.30389177799224854f,
-0.1729012429714203f, -0.12240276485681534f, -0.11355798691511154f,
0.2349482625722885f, -0.24878336489200592f, 0.07184267044067383f,
-0.3221011161804199f, 0.08763179183006287f, -0.27257153391838074f,
-0.06490874290466309f, -0.06682667881250381f, 0.1505383551120758f,
-0.14478006958961487f, -0.07367490231990814f, 0.23569869995117188f,
-0.1539779156446457f, -0.1400003880262375f, 0.051764924079179764f }, {
-0.19842876493930817f, 0.18337926268577576f, 0.24467620253562927f,
-0.29177823662757874f, -0.08481606096029282f, 0.09983056783676147f,
0.17972804605960846f, -0.07474377751350403f, -0.1711931675672531f,
0.12607872486114502f, -0.21832025051116943f, -0.1755477339029312f,
-0.010855759494006634f, 0.2378554791212082f, 0.03758585453033447f,
-0.13797838985919952f, -0.15582887828350067f, 0.08006728440523148f,
0.280606746673584f, 0.28338202834129333f, -0.06711727380752563f,
-0.09894979000091553f, -0.07788881659507751f, 0.22705963253974915f,
-0.0012174372095614672f, 0.240607351064682f, 0.1039358377456665f,
0.18501906096935272f, -0.03155122324824333f, 0.08036407828330994f,
-0.20284514129161835f, 0.06699042022228241f }, { 0.14068114757537842f,
0.13828633725643158f, -0.0034593045711517334f, 0.1392701119184494f,
0.01057615876197815f, -0.007689331658184528f, 0.07328304648399353f,
-0.14162643253803253f, -0.04415355995297432f, 0.09164466708898544f,
0.24845272302627563f, -0.05588914453983307f, -0.054479751735925674f,
0.24456734955310822f, -0.2598671317100525f, -0.15801946818828583f,
0.2817283868789673f, -0.19191598892211914f, 0.15788163244724274f,
0.28144943714141846f, 0.14735294878482819f, -0.12544888257980347f,
0.11103320121765137f, -0.20203278958797455f, 0.0017974432557821274f,
0.1191059947013855f, -0.12710560858249664f, 0.1702873408794403f,
-0.09684925526380539f, 0.2480504810810089f, -0.28676652908325195f,
-0.17398564517498016f }, { 0.04844924807548523f, -0.06973694264888763f,
-0.1682211458683014f, -0.3513043522834778f, -0.22794683277606964f,
0.08840374648571014f, 0.026485737413167953f, -0.3492684066295624f,
0.1813228577375412f, 0.06481858342885971f, 0.11471711844205856f,
0.1854662299156189f, -0.12381665408611298f, 0.35136616230010986f,
-0.10501053929328918f, -0.016016438603401184f, 0.03148011490702629f,
-0.17074286937713623f, -0.1689852625131607f, 0.1171770691871643f,
-0.23076696693897247f, -0.07204706966876984f, -0.12052477896213531f,
-0.23881052434444427f, -0.004284285008907318f, 0.11600598692893982f,
0.10962119698524475f, -0.012203623540699482f, 0.33345603942871094f,
0.1084047257900238f, 0.015447823330760002f, 0.1315833479166031f }, {
0.12315890938043594f, 0.16742177307605743f, 0.0689031183719635f,
-0.29923000931739807f, -0.10478553920984268f, 0.0034702986013144255f,
-0.06286507844924927f, -0.3965417146682739f, -0.24317654967308044f,
0.2535353899002075f, -0.18702425062656403f, 0.2042631357908249f,
0.14613179862499237f, 0.2476590871810913f, -0.20543844997882843f,
0.15613335371017456f, -0.024847690016031265f, -0.12820857763290405f,
0.13289833068847656f, -0.033144671469926834f, 0.09313736855983734f,
0.19325080513954163f, -0.20106908679008484f, -0.061102136969566345f,
-0.028910696506500244f, -0.2806609869003296f, 0.033241331577301025f,
-0.26521533727645874f, 0.33587634563446045f, -0.13370811939239502f,
0.21700626611709595f, 0.008141759783029556f }, { 0.3156174421310425f,
0.033245913684368134f, 0.24999621510505676f, 0.14565978944301605f,
0.02309553697705269f, -0.05169738829135895f, -0.15119729936122894f,
-0.10350330173969269f, -0.3457512855529785f, 0.03809545189142227f,
0.25342249870300293f, -0.19578632712364197f, -0.05333413928747177f,
0.09492939710617065f, 0.17943906784057617f, -0.21144242584705353f,
-0.1867227405309677f, -0.23938390612602234f, -0.2632395327091217f,
0.06656297296285629f, 0.0961865782737732f, -0.00792744755744934f,
0.10312435030937195f, 0.27112916111946106f, -0.12544961273670197f,
0.17053177952766418f, -0.23970040678977966f, 0.16830605268478394f,
0.18481910228729248f, -0.0010759234428405762f, 0.049939122051000595f,
-0.059725455939769745f }, { 0.021065108478069305f,
-0.17225059866905212f, 0.1334478259086609f, 0.09036531299352646f,
0.22687482833862305f, 0.03710803762078285f, -0.1765347123146057f,
0.0036233423743396997f, -0.17170532047748566f, -0.11777474731206894f,
-0.054618652909994125f, -0.17656885087490082f, 0.052830975502729416f,
0.10441931337118149f, -0.14971962571144104f, -0.24781031906604767f,
-0.023929525166749954f, -0.04490154981613159f, 0.2847473621368408f,
0.014796234667301178f, -0.14429597556591034f, -0.14511936902999878f,
-0.21516084671020508f, -0.20089882612228394f, -0.10562898963689804f,
-0.12727710604667664f, -0.09228193759918213f, -0.08893769234418869f,
-0.12074583023786545f, -0.028564512729644775f, 0.008117200806736946f,
0.08297917991876602f }, { 0.19532811641693115f, -0.05014912784099579f,
0.13636812567710876f, 0.048916492611169815f, 0.26100409030914307f,
-0.17881926894187927f, 0.012918300926685333f, 0.06905974447727203f,
0.16022373735904694f, 0.06287040561437607f, -0.1698886901140213f,
-0.3164767324924469f, 0.06106283515691757f, 0.05603136122226715f,
0.04491907358169556f, 0.16258767247200012f, 0.06191227212548256f,
-0.2078513652086258f, -0.26503077149391174f, 0.019191648811101913f,
-0.06990422308444977f, 0.018576622009277344f, -0.10467308759689331f,
-0.023303329944610596f, 0.11910765618085861f, 0.014545410871505737f,
-0.2797531187534332f, -0.014093500562012196f, -0.09087783098220825f,
0.003536820411682129f, -0.08422576636075974f, 0.20006318390369415f }, {
0.03522654250264168f, -0.15291047096252441f, 0.11232474446296692f,
0.08317171782255173f, 0.01103570032864809f, -0.23718038201332092f,
-0.043577663600444794f, -0.10673496872186661f, -0.08802048116922379f,
0.06057487800717354f, -0.2207462638616562f, 0.21330848336219788f,
0.06867198646068573f, 0.31874582171440125f, 0.19785529375076294f,
0.11854913830757141f, 0.0048002502880990505f, 0.07107115536928177f,
0.1471722573041916f, -0.021459000185132027f, -0.25434109568595886f,
-0.01829427480697632f, -0.2427632212638855f, 0.06919881701469421f,
-0.2938772141933441f, -0.06733335554599762f, -0.07296852767467499f,
0.21985474228858948f, 0.27857765555381775f, -0.09769320487976074f,
-0.2202656865119934f, 0.06659334897994995f }, { -0.18176554143428802f,
0.05808980390429497f, -0.2002866566181183f, 0.2209930419921875f,
0.22003944218158722f, -0.12194468080997467f, 0.16832226514816284f,
-0.32419517636299133f, -0.31987497210502625f, 0.020202845335006714f,
-0.2701215445995331f, 0.15670055150985718f, 0.04660305753350258f,
0.2134874314069748f, -0.21944394707679749f, -0.25474902987480164f,
0.27780312299728394f, 0.28777045011520386f, 0.10909196734428406f,
-0.06471110135316849f, -0.1670646369457245f, 0.13422733545303345f,
-0.09569443762302399f, -0.2635143995285034f, -0.14163701236248016f,
0.04615262150764465f, 0.11132439970970154f, 0.23280498385429382f,
0.23840151727199554f, 0.24882283806800842f, 0.0529453419148922f,
0.13884255290031433f }, { -0.10154614597558975f, -0.21454781293869019f,
-0.05455450713634491f, 0.2060181051492691f, -0.24331730604171753f,
-0.18322165310382843f, 0.08804970234632492f, -0.09168499708175659f,
-0.3127654492855072f, -0.20708662271499634f, -0.26258623600006104f,
-0.2734098434448242f, -0.1649116575717926f, 0.33747056126594543f,
0.014040976762771606f, 0.23592090606689453f, -0.13581429421901703f,
-0.1899891048669815f, 0.19671878218650818f, -0.23027168214321136f,
0.14086498320102692f, -0.20761027932167053f, 0.19642561674118042f,
0.00928562879562378f, -0.07803404331207275f, 0.08413159847259521f,
0.06599533557891846f, -0.2540142834186554f, 0.209262415766716f,
0.0242612361907959f, -0.008453809656202793f, 0.13509076833724976f }, {
0.19965791702270508f, 0.15909932553768158f, -0.2523933947086334f,
-0.024008844047784805f, -0.3288625478744507f, -0.3593894839286804f,
-0.10659854859113693f, -0.09668480604887009f, -0.25964510440826416f,
0.24553023278713226f, 0.2584691643714905f, -0.13047806918621063f,
-0.045685749500989914f, -0.027066625654697418f, -0.24520277976989746f,
0.2635043263435364f, 0.06614753603935242f, -0.14302769303321838f,
-0.22128811478614807f, -0.2489294409751892f, 0.2430250197649002f,
0.1864563524723053f, -0.19150227308273315f, 0.26879218220710754f,
-0.3449307382106781f, 0.1727219521999359f, 0.2771519124507904f,
0.08954040706157684f, 0.2631568908691406f, 0.12126106023788452f,
0.12375504523515701f, -0.054388467222452164f }, { 0.19592446088790894f,
-0.34142163395881653f, 0.15802547335624695f, 0.18388450145721436f,
0.031184343621134758f, -0.08831250667572021f, -0.20661622285842896f,
0.06958860903978348f, -0.161506786942482f, 0.25045934319496155f,
-0.10389973968267441f, 0.21004287898540497f, -0.2358747273683548f,
-0.1947477161884308f, 0.05316495895385742f, -0.0015946561470627785f,
-0.15815018117427826f, 0.1855827420949936f, 0.01572786457836628f,
-0.2823503911495209f, -0.19912849366664886f, 0.022287487983703613f,
0.01019778847694397f, -0.002432197332382202f, 0.1125744953751564f,
0.024761438369750977f, 0.28052565455436707f, 0.06848252564668655f,
0.07588296383619308f, -0.2828674018383026f, -0.1949537843465805f,
0.0682394951581955f }, { -0.06400725990533829f, -0.039301756769418716f,
0.05148342251777649f, 0.15645751357078552f, -0.015306415967643261f,
-0.027875764295458794f, 0.19478058815002441f, -0.1143186166882515f,
-0.11950938403606415f, 0.21234765648841858f, 0.2555554211139679f,
-0.05989915132522583f, 0.014815526083111763f, 0.12010202556848526f,
0.08785843849182129f, 0.0018573424313217402f, -0.014310447499155998f,
0.08359912782907486f, -0.05963675677776337f, 0.08984222263097763f,
-0.17661209404468536f, -0.01255887746810913f, 0.09742525219917297f,
-0.2715410590171814f, 0.019773131236433983f, -0.12170138955116272f,
0.21204951405525208f, -0.0392717681825161f, 0.22050541639328003f,
0.1981203556060791f, -0.12718753516674042f, 0.18615314364433289f }, {
0.207803875207901f, -0.10612393915653229f, 0.2099064588546753f,
0.048610176891088486f, -0.18356028199195862f, 0.05922550708055496f,
0.09807947278022766f, 0.05448151379823685f, 0.00759892538189888f,
0.008583632297813892f, -0.02326703630387783f, 0.03895118832588196f,
0.142264261841774f, -0.17807096242904663f, 0.03243169188499451f,
0.29156458377838135f, 0.16580337285995483f, -0.04512497037649155f,
0.24243946373462677f, 0.19388025999069214f, 0.2613176107406616f,
0.21572408080101013f, 0.021654754877090454f, 0.19459950923919678f,
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const float h3[32][32] = { { -0.13349971175193787f, -0.10295046865940094f,
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0.11457142233848572f, 0.2876913249492645f, -0.24802550673484802f,
0.14089101552963257f, -0.06842575967311859f, -0.10107968747615814f,
0.06239110231399536f, -0.2528536915779114f, -0.27538973093032837f,
0.15457189083099365f, -0.15549622476100922f, 0.20245882868766785f,
0.08544808626174927f, 0.22650876641273499f, -0.05268847942352295f,
0.20387354493141174f, 0.24724552035331726f, 0.21444126963615417f,
0.05186706781387329f, -0.11084021627902985f }, { -0.19810965657234192f,
0.2745245397090912f, 0.1767616868019104f, 0.19752147793769836f,
0.0650932788848877f, 0.29138168692588806f, -0.29061684012413025f,
0.010446667671203613f, 0.025284886360168457f, -0.10202452540397644f,
-0.10358673334121704f, 0.14746251702308655f, 0.15136101841926575f,
0.04500553011894226f, -0.2497977316379547f, -0.29277902841567993f,
0.02556520700454712f, -0.09509801864624023f, 0.16731274127960205f,
-0.25266408920288086f, -0.3004688322544098f, -0.19769597053527832f,
-0.14847496151924133f, 0.3053832948207855f, 0.07563886046409607f,
-0.10258816182613373f, -0.060128673911094666f, 0.0016401112079620361f,
-0.29647189378738403f, -0.18869297206401825f, 0.05497395992279053f,
0.16092956066131592f }, { -0.011267274618148804f, -0.25281068682670593f,
-0.10565309226512909f, -0.10787995159626007f, 0.23997481167316437f,
0.011940985918045044f, 0.10584557056427002f, -0.22430141270160675f,
-0.06814777851104736f, -0.24531681835651398f, -0.07618588954210281f,
0.12015970051288605f, 0.0185067281126976f, 0.002306112553924322f,
0.17718534171581268f, 0.3006735146045685f, 0.1760181039571762f,
0.04417389631271362f, 0.20160885155200958f, 0.16602091491222382f,
0.2585296034812927f, -0.027029002085328102f, -0.2520882785320282f,
0.29521048069000244f, 0.25318053364753723f, 0.05056742578744888f,
0.22924767434597015f, -0.03404907137155533f, -0.18211489915847778f,
-0.15127526223659515f, 0.18461528420448303f, 0.2534249424934387f }, {
-0.10580866038799286f, -0.17215237021446228f, -0.01352420449256897f,
-0.13443149626255035f, -0.10265451669692993f, -0.2169143706560135f,
0.30098411440849304f, -0.2986297905445099f, 0.07908004522323608f,
-0.30061498284339905f, 0.10424068570137024f, -0.018799901008605957f,
-0.18665757775306702f, 0.005998075008392334f, -0.2969498336315155f,
0.18525955080986023f, 0.2379322350025177f, 0.15184926986694336f,
0.215760737657547f, -0.19088758528232574f, 0.08620095252990723f,
0.019999295473098755f, -0.0752219706773758f, 0.11181813478469849f,
0.1881926953792572f, 0.2210972011089325f, 0.13236162066459656f,
-0.06690356135368347f, -0.18345263600349426f, -0.14861416816711426f,
0.08577704429626465f, -0.09683996438980103f }, { 0.03951254487037659f,
0.23604217171669006f, 0.012746036052703857f, -0.12561996281147003f,
-0.1283164620399475f, 0.25823846459388733f, 0.10610169172286987f,
0.22718152403831482f, 0.1749366819858551f, 0.007794857025146484f,
0.11289489269256592f, 0.2725127637386322f, -0.13616766035556793f,
-0.03546282649040222f, -0.1685536652803421f, -0.24492129683494568f,
0.15760570764541626f, 0.017505377531051636f, -0.273531436920166f,
-0.005667984485626221f, 0.18370777368545532f, -0.023328542709350586f,
0.2379932701587677f, -0.048420339822769165f, 0.10376441478729248f,
-0.295401930809021f, -0.20498433709144592f, 0.22346952557563782f,
-0.26649031043052673f, -0.08466874063014984f, 0.23347875475883484f,
-0.03380200266838074f }, { 0.3014208972454071f, -0.11652402579784393f,
0.24921879172325134f, 0.16919833421707153f, -0.33012309670448303f,
-0.19414515793323517f, -0.031346261501312256f, -0.11968852579593658f,
0.23963233828544617f, 0.21321198344230652f, -0.04236738383769989f,
-0.04909612983465195f, -0.15507397055625916f, 0.041283149272203445f,
-0.0798816904425621f, -0.16132454574108124f, -0.22342979907989502f,
0.2487291395664215f, -0.275277704000473f, -0.1761859953403473f,
-0.1089298352599144f, 0.14958830177783966f, -0.09928475320339203f,
-0.18516667187213898f, -0.11554347723722458f, 0.2378307580947876f,
0.042566750198602676f, -0.09927814453840256f, -0.03476092219352722f,
0.2736774981021881f, 0.01615159772336483f, -0.08927445858716965f }, {
-0.17075178027153015f, 0.009595632553100586f, 0.2466227114200592f,
0.033388618379831314f, -0.34659287333488464f, -0.2819134294986725f,
-0.07840541750192642f, -0.15331926941871643f, -0.2516406178474426f,
0.012286126613616943f, 0.20758569240570068f, -0.2048848569393158f,
-0.12051127851009369f, 0.10427423566579819f, 0.0999673530459404f,
0.028271911665797234f, -0.24087269604206085f, -0.048499464988708496f,
-0.20961162447929382f, 0.10103815048933029f, -0.2312844693660736f,
-0.22412340342998505f, -0.031352698802948f, 0.27904242277145386f,
-0.11300363391637802f, -0.16207841038703918f, -0.33752813935279846f,
0.3786945641040802f, -0.07090267539024353f, -0.23986908793449402f,
-0.30680611729621887f, -0.0811222642660141f }, { -0.01348048448562622f,
0.08233943581581116f, 0.18838337063789368f, 0.21852442622184753f,
-0.04740855097770691f, 0.19177213311195374f, -0.0060100555419921875f,
0.20933791995048523f, 0.06356173753738403f, 0.063028484582901f,
0.09440034627914429f, 0.29559019207954407f, -0.2545689642429352f,
-0.09652335941791534f, -0.2841038703918457f, -0.03553757071495056f,
0.02329021692276001f, -0.08720272779464722f, -0.0750999003648758f,
-0.10468094050884247f, -0.03761094808578491f, -0.030853450298309326f,
0.2112145721912384f, 0.2599640190601349f, -0.2969062626361847f,
-0.13667742908000946f, 0.24173608422279358f, 0.09566575288772583f,
0.021116197109222412f, -0.005982398986816406f, -0.26417285203933716f,
0.1879688799381256f }, { -0.1763739138841629f, -0.17203155159950256f,
0.0620841383934021f, -0.04815051332116127f, -0.08886270225048065f,
-0.19284456968307495f, 0.09443464875221252f, 0.1472807228565216f,
-0.21029016375541687f, 0.2210421860218048f, -0.26095423102378845f,
0.23557153344154358f, -0.07677116990089417f, -0.16641905903816223f,
-0.16725768148899078f, -0.2004043012857437f, 0.08218716084957123f,
-0.29308468103408813f, -0.057871971279382706f, -0.07429885864257812f,
0.2029605507850647f, -0.19719278812408447f, -0.22302524745464325f,
0.2192145586013794f, -0.13908077776432037f, 0.2019682675600052f,
-0.028201768174767494f, 0.08898906409740448f, 0.17976179718971252f,
-0.22928372025489807f, 0.3000858724117279f, 0.08501409739255905f }, {
-0.09888127446174622f, -0.22750279307365417f, -0.22503364086151123f,
-0.0014225258491933346f, -0.012498408555984497f, -0.24329537153244019f,
-0.09442851692438126f, 0.08175003528594971f, -0.016126900911331177f,
0.06972584128379822f, 0.05360379442572594f, 0.22432491183280945f,
-0.031845152378082275f, -0.2877633273601532f, 0.18349257111549377f,
0.19327174127101898f, -0.09216172993183136f, 0.04617339372634888f,
-0.09483018517494202f, -0.07904840260744095f, -0.035641368478536606f,
-0.2887636721134186f, -0.06047184765338898f, -0.3070217967033386f,
4.397468364913948e-05f, -0.19100867211818695f, 0.28239238262176514f,
-0.2758784890174866f, -0.16326025128364563f, 0.11664235591888428f,
-0.03823475539684296f, 0.11660117655992508f },
};
const float hout[32] = { 0.3285340666770935f, 0.2858171761035919f,
-0.36366742849349976f, -0.2632009983062744f, -0.25631460547447205f,
0.33468252420425415f, 0.002162247896194458f, 0.1081397533416748f,
-0.19566167891025543f, -0.007266071625053883f, 0.1744336485862732f,
-0.19491273164749146f, -0.16939763724803925f, 0.1573415994644165f,
0.2356991171836853f, -0.1462659239768982f, 0.09851181507110596f,
-0.21499931812286377f, -0.013007339090108871f, -0.26934152841567993f,
-0.10125408321619034f, 0.16949352622032166f, -0.2570975124835968f,
-0.21437735855579376f, 0.2278641164302826f, 0.2520971894264221f,
-0.38587644696235657f, -0.3990364372730255f, 0.24998146295547485f,
-0.3257754445075989f, -0.41329723596572876f, -0.26551106572151184f };
const float b1[32] = { 0.6920363306999207f, 0.9509658217430115f,
-1.7145336866378784f, 0.4119643270969391f, 1.0741286277770996f,
0.8546265363693237f, -0.07467586547136307f, 0.93145751953125f,
0.5193935036659241f, -0.8871728777885437f, 0.593039333820343f,
1.6031073331832886f, -0.33494266867637634f, -0.8010779023170471f,
-1.087764859199524f, 1.1554406881332397f, 0.6632958650588989f,
-0.224932461977005f, 0.26702749729156494f, 0.5859951972961426f,
-0.31409698724746704f, -1.1118980646133423f, -1.6770726442337036f,
-1.2263047695159912f, 2.018333911895752f, -2.0880801677703857f,
-1.0489267110824585f, 0.7445360422134399f, 0.4031659960746765f,
-1.0887231826782227f, 1.5438745021820068f, -0.4563482999801636f };
const float b2[32] = { -0.10466054826974869f, -0.7642630338668823f,
-1.4564176797866821f, -0.528777003288269f, -0.7297643423080444f,
0.2625555098056793f, 0.389851450920105f, -0.33048292994499207f,
-1.20063054561615f, -1.912178635597229f, 0.31253743171691895f,
0.6883504390716553f, -0.04988760128617287f, 2.26581072807312f,
0.13501279056072235f, 1.132785677909851f, -1.8237234354019165f,
-1.5844906568527222f, 0.26375624537467957f, -0.23789723217487335f,
0.17283980548381805f, 0.3692796230316162f, 0.09335066378116608f,
-1.0231001377105713f, 1.2738454341888428f, 1.44853675365448f,
0.9071134924888611f, 8.9274239144288e-05f, -0.6323830485343933f,
-0.4208582937717438f, -1.1864360570907593f, -1.3916414976119995f };
const float b3[32] = { -1.963319182395935f, -0.4028509557247162f,
0.3184174597263336f, 0.1579766422510147f, 0.1897633820772171f,
0.866980791091919f, -0.45353031158447266f, -0.6562485098838806f,
0.5865635275840759f, 0.5033581852912903f, -0.14371006190776825f,
0.050810977816581726f, -0.5131177306175232f, 0.5688209533691406f,
-1.1428403854370117f, -0.3598397970199585f, -1.3594286441802979f,
-1.0192245244979858f, -0.2365882694721222f, 0.5294732451438904f,
1.530857801437378f, 1.2039998769760132f, -1.0573883056640625f,
-0.7962622046470642f, 0.7248114347457886f, -0.36519983410835266f,
-0.07752024382352829f, 0.767806887626648f, 0.2635451555252075f,
-2.3236680030822754f, 0.06150589883327484f, 1.0375205278396606f };
const float bout[1] = { -0.3124803602695465f };
int main()
{
//F401_init84 myinit(0);
//F401_init84 SystemClock_Config_84MHz_internal();
HAL_Init();
SystemClock_Config();
__HAL_RCC_SYSCFG_CLK_ENABLE();
__HAL_RCC_PWR_CLK_ENABLE();
HAL_IncTick();
/*********************************
*** Initialization
*********************************/
LED = 1;
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;
}
float output1[32] = { 0.0f };
float output2[32] = { 0.0f };
float output3[32] = { 0.0f };
float output = 0.0f;
timer_while ++;
// t.reset();
// t.start();
for (int index2 = 0; index2 < 32; index2++) {
for (int index1 = 0; index1 < 22; index1++) {
output1[index2] = output1[index2]
+ h1[index1][index2] * input[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[index2] * output3[index1];
}
output = output + bout[index2];
output = 1.0f/(1.0f+exp(-output));
}
// t.stop();
//printf("NNoutput : %f\n", NNoutput);
//printf("time : %f\n", t.read());
//wait(1);
//if(timer_while%10000==0)
if(LED==1) {
LED=0;
} else
LED = 1;
// CAN_TX_PWM((int16_t) (t.read() * 1000000.0f)); //1500
// PWM_out = NNoutput * 24000.0f - 12000.0f;
//
//
// 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);
}
}
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 = REF_VALVE_POS - value;
valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
valve_pos_err_old = valve_pos_err;
valve_pos_err_sum += valve_pos_err;
if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
for(i=0; i<24; i++) {
if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
if(i==0) {
VALVE_PWM_RAW_FF = (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] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
-196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
-156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
}; // 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();
}
// for(int i=0; i<10; i++){
// position_array[i] = position_array[i+1];
// }
// position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
//
// for(int i=0; i<5; i++){
// input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
// }
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;
} 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 += 0.0003f * (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/500);
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 + 2.0f;
else pos.ref = pos.ref - 2.0f;
// 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);
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;
}
} 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;
vel.ref = 0.0f;
// input for position control
CONTROL_MODE = MODE_JOINT_CONTROL;
alpha_trans = 0.0f;
// 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&0b110)>>1) == 0) { //Moog Valve
I_REF = valve_pos.ref;
} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
V_out = valve_pos.ref;
} else { //SW Valve
VALVE_POS_CONTROL(valve_pos.ref);
V_out = Vout.ref;
}
break;
}
case MODE_JOINT_CONTROL: {
double torq_ref = 0.0f;
pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
// torque feedback
torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - 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);
} else {
float VALVE_POS_RAW_FORCE_FB = 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));
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;
}
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;
}
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 + TMR_FREQ_5k / (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) * DT_TMR3;
// Moog Valve Current Control Gain
double R_model = 539.0f; // 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 * I_ERR + KI_I * 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 * TMR_FREQ_5k); // Unit : mV
double V_MAX = 12000.; // 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 * DT_TMR3;
} 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 * DT_TMR3;
}
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);
// Dead Zone Cancellation (Electrical dead-zone)
if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
else V_out = CUR_PWM_lin;
}
/*******************************************************
*** PWM
********************************************************/
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) (pres_A.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/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
} else if (SENSING_MODE == 1) {
CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
}
}
}
if (flag_data_request[1] == HIGH) {
//valve position
double t_value = 0;
// if(value>=(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);
// }
if(OPERATING_MODE==5) {
t_value = (double) value;
} else if(CURRENT_CONTROL_MODE==1) {
t_value = cur.sen;
} else {
t_value = V_out;
}
CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
}
if (flag_data_request[2] == HIGH) {
//pressure A and B
CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //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) cur.sen); //1500
}
if (flag_data_request[3] == LOW) {
//PWM
CAN_TX_PWM((int16_t) 79); //1500
}
//for (i = 0; i < 10000; i++) {
// ;
// }
if (flag_data_request[4] == HIGH) {
//valve position
CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //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
}