File content as of revision 11:82d8768d7351:

#include "mbed.h"
#include "FastPWM.h"

// pwm 
#define PIN_V       PB_7
#define PIN_W       PB_6
//#define PWM_ARR 0x465         // loop 80k, pwm 40k 
//#define PWM_ARR     0x8CA       // loop 40k, pwm 20k
#define PWM_ARR     0x1194      // loop 20k, pwm 10k
//#define PWM_ARR     0x2328    // loop 10k, pwm 5k
#define TMR3_COUNT  0x4650      // loop 5k

#define FREQ_5k     5000.0
#define FREQ_10k    10000.0
#define FREQ_20k    20000.0
#define FREQ_40k    40000.0
#define DT_5k       0.0002
#define DT_10k      0.0001
#define DT_20k      0.00005
#define DT_40k      0.000025

extern DigitalOut check;
extern DigitalOut check_2;
extern AnalogOut dac_1;
extern AnalogOut dac_2;

extern double dtc_v;
extern double dtc_w;

// I2C
extern I2C i2c; // SDA, SCL (for K22F)
extern const int i2c_slave_addr1; 
extern unsigned int value; // 10bit output of reading sensor AS5510

// SPI
extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
extern DigitalOut eeprom_cs;
extern SPI enc;
extern DigitalOut enc_cs;

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

// CAN
extern CAN can;
extern CANMessage msg;

// Board Information 


// User Function 

void CurrentControl();
void ValveControl(unsigned int ControlMode);


/*******************************************************************************
 * COMMON Settings
 ******************************************************************************/
#define             LATEST_VERSION      19032



/*******************************************************************************
 * COMMON CONSTANTS
 ******************************************************************************/
#define             RAD_30              0.523598775598299
#define             RAD_60              1.047197551196598
#define             RAD_120             2.094395102393195
#define             RAD_180             3.141592653589793
#define             RAD_240             4.188790204786391
#define             RAD_300             5.235987755982989
#define             RAD_360             6.283185307179586

#define             SYSFREQ             200000000
#define             PBCLK               100000000

//#define             TMR_FREQ_10k       10000
#define             TMR_FREQ_5k       5000

#define             FALSE               0
#define             TRUE                1
#define             OUTPUT              0
#define             INPUT               1
#define             LOW                 0
#define             HIGH                1
#define             DIGITAL             0
#define             ANALOG              1

#define             PI                  3.141592653589793
#define             D2R                 0.017453292519943
#define             R2D                 57.295779513082323


/*******************************************************************************
 * HEADER INCLUDE
 ******************************************************************************/

/*******************************************************************************
 * VARIABLE
 ******************************************************************************/

// Board Information 
extern uint8_t BNO;
extern uint8_t CONTROL_MODE;
extern uint8_t OPERATING_MODE;
extern uint8_t SETTING_SWITCH;
extern uint8_t SETTING_SWITCH_OLD;
extern uint8_t REFERENCE_MODE;
extern uint16_t CAN_FREQ;
extern uint8_t DIR_JOINT_ENC;
extern uint8_t DIR_VALVE;
extern uint8_t DIR_VALVE_ENC;

extern double SUPPLY_VOLTAGE;
extern double VALVE_VOLTAGE_LIMIT;

extern double P_GAIN_VALVE_POSITION;
extern double I_GAIN_VALVE_POSITION;
extern double D_GAIN_VALVE_POSITION;
extern double P_GAIN_JOINT_POSITION;
extern double I_GAIN_JOINT_POSITION;
extern double D_GAIN_JOINT_POSITION;
extern double P_GAIN_JOINT_TORQUE;
extern double I_GAIN_JOINT_TORQUE;
extern double D_GAIN_JOINT_TORQUE;

extern int16_t VALVE_DEADZONE_PLUS;
extern int16_t VALVE_DEADZONE_MINUS;

extern int16_t VELOCITY_COMP_GAIN;
extern int16_t COMPLIANCE_GAIN;

extern int16_t VALVE_CENTER;

extern int16_t VALVE_FF;

extern int16_t BULK_MODULUS;

extern int16_t CHAMBER_VOLUME_A;
extern int16_t CHAMBER_VOLUME_B;

extern int16_t PISTON_AREA_A;
extern int16_t PISTON_AREA_B;
extern double PISTON_AREA_alpha;


extern int16_t PRES_SUPPLY;
extern int16_t PRES_RETURN;

extern int16_t ENC_LIMIT_PLUS;
extern int16_t ENC_LIMIT_MINUS;

extern int16_t STROKE;


extern int16_t VALVE_LIMIT_PLUS;
extern int16_t VALVE_LIMIT_MINUS;

extern int16_t ENC_PULSE_PER_POSITION;
extern int16_t TORQUE_SENSOR_PULSE_PER_TORQUE;
extern double PRES_SENSOR_A_PULSE_PER_BAR;
extern double PRES_SENSOR_B_PULSE_PER_BAR;

extern int HOMEPOS_OFFSET;
extern int HOMEPOS_VALVE_OPENING;

extern double FRICTION;
extern double REF_PERIOD;
extern double REF_MAG;
extern int REF_NUM;


extern double DAC_REF;
extern double DAC_RESOL;
extern double PWM_RESOL;

extern int REF_POSITION;
extern int REF_VELOCITY;
extern int16_t REF_TORQUE;
extern int16_t REF_PRES_DIFF;
extern int16_t REF_PWM;
extern int16_t REF_VALVE_POSITION;

extern int REF_MOVE_TIME_5k;
extern int INIT_REF_PWM;
extern int INIT_REF_VALVE_POS;
extern int INIT_REF_POS;
extern int INIT_REF_VEL;
extern int INIT_REF_TORQUE;
extern int INIT_REF_PRES_DIFF;

extern int CUR_POSITION;
extern int CUR_VELOCITY;
extern double CUR_TORQUE;
extern double CUR_PRES_A;
extern double CUR_PRES_B;
extern int CUR_PWM;
extern int CUR_VALVE_POSITION;

extern unsigned int    TMR2_COUNT_LED1;
extern unsigned int    TMR2_COUNT_LED2;
extern unsigned int    TMR2_COUNT_CAN_TX;

extern int num_err;
extern int flag_err[8];
extern int flag_err_old[8];
extern int flag_err_rt;

extern int flag_ref_enable;

extern int flag_data_request[5];

////////////////////////////////////////////////////////////////////////////////
////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
////////////////////////////////////////////////////////////////////////////////

extern double CUR_PRES_A_BAR;
extern double CUR_PRES_B_BAR;
extern double CUR_TORQUE_NM;
extern double CUR_TORQUE_NM_PRESS;

extern double PRES_A_VREF;
extern double PRES_B_VREF;
extern double TORQUE_VREF;

extern double VALVE_PWM_RAW;
extern double VALVE_PWM_RAW_FB;
extern double VALVE_PWM_RAW_FF;
extern int VALVE_PWM_VALVE_DZ;
extern int VALVE_INPUT_PWM;

extern double VALVE_GAIN_LPM_PER_V[10];
extern double VALVE_POS_VS_PWM[18];
extern long JOINT_VEL[100];

extern int VALVE_MAX_POS;
extern int VALVE_MIN_POS;
extern int DDV_CENTER;
extern int VALVE_POS_NUM;

extern int TMR2_COUNT_FINDHOME;
extern int TMR2_COUNT_FLOWRATE;
extern int TMR2_COUNT_DEADZONE;
extern int TMR2_COUNT_PRES_NULL;
extern int TMR2_COUNT_TORQUE_NULL;
extern int TMR2_COUNT_PRES_CALIB;
extern int TMR2_COUNT_REFERENCE;
extern int TMR2_COUNT_JOINT;
extern int TMR2_COUNT_ROTARY_FRIC_TUNE;

extern bool FLAG_REFERENCE_VALVE_PWM;
extern bool FLAG_REFERENCE_VALVE_POSITION;
extern bool FLAG_REFERENCE_JOINT_POSITION;
extern bool FLAG_REFERENCE_JOINT_TORQUE;
extern bool FLAG_REFERENCE_PRES_DIFF;

extern double TUNING_TIME;

extern double REFERENCE_FREQ;
extern double REFERENCE_MAG;

extern bool FLAG_FIND_HOME;

extern int MODE_JUMP_STATUS;