Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_LIGHT

For LIGHT

Dependencies:   mbed FastPWM

function_utilities/function_utilities.cpp@52:8ea76864368a, 2020-02-19 (annotated)

Committer:
Lightvalve
Date:
Wed Feb 19 05:48:57 2020 +0000
Revision:
52:8ea76864368a
Parent:
50:3c630b5eba9f
Child:
53:4d66fb1c5dd9
Child:
54:647072f5307a
200219_2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 11:82d8768d7351 1 #include "setting.h"
Lightvalve 11:82d8768d7351 2 #include "SPI_EEP_ENC.h"
Lightvalve 11:82d8768d7351 3 #include "function_utilities.h"
Lightvalve 14:8e7590227d22 4 #include "function_CAN.h"
Lightvalve 16:903b5a4433b4 5 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 6 #include "FlashWriter.h"
Lightvalve 16:903b5a4433b4 7
Lightvalve 16:903b5a4433b4 8 int Rom_Sector = 6;
Lightvalve 16:903b5a4433b4 9 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
Lightvalve 16:903b5a4433b4 10
Lightvalve 11:82d8768d7351 11 /*******************************************************************************
Lightvalve 11:82d8768d7351 12 * VARIABLE
Lightvalve 11:82d8768d7351 13 ******************************************************************************/
Lightvalve 11:82d8768d7351 14
Lightvalve 34:bb2ca2fc2a8e 15 // Board Information
Lightvalve 11:82d8768d7351 16 uint8_t BNO = 0;
Lightvalve 11:82d8768d7351 17 uint8_t CONTROL_MODE = 0;
Lightvalve 52:8ea76864368a 18 uint8_t OPERATING_MODE = 0; // (00 : Moog & Rot, 01 : Moog & Lin, 10 : KNR & Rot, 11 : KNR & Lin)
Lightvalve 52:8ea76864368a 19 uint8_t SENSING_MODE = 0; // (0 : torque, 1: pressure)
Lightvalve 52:8ea76864368a 20 uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control)
Lightvalve 52:8ea76864368a 21 uint8_t FLAG_VALVE_DEADZONE = 0;
Lightvalve 11:82d8768d7351 22 uint8_t SETTING_SWITCH = 0;
Lightvalve 11:82d8768d7351 23 uint8_t SETTING_SWITCH_OLD = 0;
Lightvalve 11:82d8768d7351 24 uint8_t REFERENCE_MODE = 0;
Lightvalve 14:8e7590227d22 25 uint16_t CAN_FREQ = 500;
Lightvalve 17:1865016ca2e7 26 int16_t DIR_JOINT_ENC = 0;
Lightvalve 17:1865016ca2e7 27 int16_t DIR_VALVE = 0;
Lightvalve 17:1865016ca2e7 28 int16_t DIR_VALVE_ENC = 0;
Lightvalve 11:82d8768d7351 29
Lightvalve 49:e7bcfc244d40 30 float SUPPLY_VOLTAGE = 12.0f;
Lightvalve 49:e7bcfc244d40 31 float VALVE_VOLTAGE_LIMIT = 12.0f; //v
Lightvalve 11:82d8768d7351 32
Lightvalve 30:8d561f16383b 33 float P_GAIN_VALVE_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 34 float I_GAIN_VALVE_POSITION= 0.0f;
Lightvalve 30:8d561f16383b 35 float D_GAIN_VALVE_POSITION= 0.0f;
Lightvalve 30:8d561f16383b 36 float P_GAIN_JOINT_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 37 float I_GAIN_JOINT_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 38 float D_GAIN_JOINT_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 39 float P_GAIN_JOINT_TORQUE = 0.0f;
Lightvalve 30:8d561f16383b 40 float I_GAIN_JOINT_TORQUE = 0.0;
Lightvalve 30:8d561f16383b 41 float D_GAIN_JOINT_TORQUE = 0.0;
Lightvalve 11:82d8768d7351 42
Lightvalve 46:2694daea349b 43 int16_t K_SPRING = 0.0;
Lightvalve 46:2694daea349b 44 int16_t D_DAMPER = 0.0;
Lightvalve 46:2694daea349b 45
Lightvalve 36:a46e63505ed8 46 //float P_GAIN_VALVE_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 47 //float I_GAIN_VALVE_POSITION_OPP= 0.0f;
Lightvalve 36:a46e63505ed8 48 //float D_GAIN_VALVE_POSITION_OPP= 0.0f;
Lightvalve 36:a46e63505ed8 49 //float P_GAIN_JOINT_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 50 //float I_GAIN_JOINT_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 51 //float D_GAIN_JOINT_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 52 //float P_GAIN_JOINT_TORQUE_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 53 //float I_GAIN_JOINT_TORQUE_OPP = 0.0;
Lightvalve 36:a46e63505ed8 54 //float D_GAIN_JOINT_TORQUE_OPP = 0.0;
Lightvalve 36:a46e63505ed8 55
Lightvalve 33:91b17819ec30 56 float VALVE_DEADZONE_PLUS;
Lightvalve 33:91b17819ec30 57 float VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 58
Lightvalve 11:82d8768d7351 59 int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 60 int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 61
Lightvalve 11:82d8768d7351 62 int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 63
Lightvalve 11:82d8768d7351 64 int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 65
Lightvalve 11:82d8768d7351 66 int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 67
Lightvalve 11:82d8768d7351 68 int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 69 int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 70
Lightvalve 11:82d8768d7351 71 int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 72 int16_t PISTON_AREA_B;
Lightvalve 30:8d561f16383b 73 float PISTON_AREA_alpha;
Lightvalve 11:82d8768d7351 74
Lightvalve 11:82d8768d7351 75
Lightvalve 11:82d8768d7351 76 int16_t PRES_SUPPLY;
Lightvalve 11:82d8768d7351 77 int16_t PRES_RETURN;
Lightvalve 11:82d8768d7351 78
Lightvalve 11:82d8768d7351 79 int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 80 int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 81
Lightvalve 11:82d8768d7351 82 int16_t STROKE;
Lightvalve 11:82d8768d7351 83
Lightvalve 11:82d8768d7351 84
Lightvalve 11:82d8768d7351 85 int16_t VALVE_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 86 int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 87
Lightvalve 48:889798ff9329 88 float ENC_PULSE_PER_POSITION;
Lightvalve 48:889798ff9329 89 float TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 30:8d561f16383b 90 float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 30:8d561f16383b 91 float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 11:82d8768d7351 92
Lightvalve 11:82d8768d7351 93 int HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 94 int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 95
Lightvalve 30:8d561f16383b 96 float FRICTION;
Lightvalve 30:8d561f16383b 97 float REF_PERIOD;
Lightvalve 30:8d561f16383b 98 float REF_MAG;
Lightvalve 11:82d8768d7351 99 int REF_NUM;
Lightvalve 11:82d8768d7351 100
Lightvalve 11:82d8768d7351 101
Lightvalve 30:8d561f16383b 102 float DAC_REF;
Lightvalve 30:8d561f16383b 103 float DAC_RESOL;
Lightvalve 11:82d8768d7351 104
Lightvalve 11:82d8768d7351 105 int REF_POSITION;
Lightvalve 11:82d8768d7351 106 int REF_VELOCITY;
Lightvalve 11:82d8768d7351 107 int16_t REF_TORQUE;
Lightvalve 11:82d8768d7351 108 int16_t REF_PRES_DIFF;
Lightvalve 11:82d8768d7351 109 int16_t REF_PWM;
Lightvalve 11:82d8768d7351 110 int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 111 int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 112
Lightvalve 11:82d8768d7351 113 int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 114 int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 115 int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 116 int INIT_REF_POS;
Lightvalve 11:82d8768d7351 117 int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 118 int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 119 int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 120 int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 121
Lightvalve 11:82d8768d7351 122 int CUR_POSITION;
Lightvalve 11:82d8768d7351 123 int CUR_VELOCITY;
Lightvalve 30:8d561f16383b 124 float CUR_TORQUE;
Lightvalve 30:8d561f16383b 125 float CUR_PRES_A;
Lightvalve 30:8d561f16383b 126 float CUR_PRES_B;
Lightvalve 11:82d8768d7351 127 int CUR_PWM;
Lightvalve 11:82d8768d7351 128 int CUR_VALVE_POSITION;
Lightvalve 11:82d8768d7351 129
Lightvalve 11:82d8768d7351 130 unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 131 unsigned int TMR2_COUNT_LED2;
Lightvalve 11:82d8768d7351 132 unsigned int TMR2_COUNT_CAN_TX;
Lightvalve 11:82d8768d7351 133
Lightvalve 11:82d8768d7351 134 int num_err;
Lightvalve 11:82d8768d7351 135 int flag_err[8];
Lightvalve 11:82d8768d7351 136 int flag_err_old[8];
Lightvalve 11:82d8768d7351 137 int flag_err_rt;
Lightvalve 11:82d8768d7351 138
Lightvalve 11:82d8768d7351 139 int flag_ref_enable;
Lightvalve 11:82d8768d7351 140
Lightvalve 11:82d8768d7351 141 int flag_data_request[5];
Lightvalve 11:82d8768d7351 142
Lightvalve 45:35fa6884d0c6 143 int MODE_POS_FT_TRANS = 0;
Lightvalve 45:35fa6884d0c6 144
Lightvalve 11:82d8768d7351 145 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 146 ////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
Lightvalve 11:82d8768d7351 147 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 148
Lightvalve 30:8d561f16383b 149 float CUR_PRES_A_BAR;
Lightvalve 30:8d561f16383b 150 float CUR_PRES_B_BAR;
Lightvalve 30:8d561f16383b 151 float CUR_TORQUE_NM;
Lightvalve 30:8d561f16383b 152 float CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 153
Lightvalve 30:8d561f16383b 154 float PRES_A_VREF;
Lightvalve 30:8d561f16383b 155 float PRES_A_VREF_TEST;
Lightvalve 30:8d561f16383b 156 float PRES_B_VREF;
Lightvalve 30:8d561f16383b 157 float PRES_B_VREF_TEST;
Lightvalve 30:8d561f16383b 158 float TORQUE_VREF;
Lightvalve 11:82d8768d7351 159
Lightvalve 30:8d561f16383b 160 float VALVE_PWM_RAW_FB;
Lightvalve 30:8d561f16383b 161 float VALVE_PWM_RAW_FF;
Lightvalve 11:82d8768d7351 162 int VALVE_PWM_VALVE_DZ;
Lightvalve 11:82d8768d7351 163 int VALVE_INPUT_PWM;
Lightvalve 11:82d8768d7351 164
Lightvalve 30:8d561f16383b 165 float VALVE_GAIN_LPM_PER_V[10];
Lightvalve 30:8d561f16383b 166 float VALVE_POS_VS_PWM[25];
Lightvalve 11:82d8768d7351 167 long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 168
Lightvalve 11:82d8768d7351 169 int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 170 int VALVE_MIN_POS;
Lightvalve 33:91b17819ec30 171 float DDV_CENTER;
Lightvalve 11:82d8768d7351 172 int VALVE_POS_NUM;
Lightvalve 32:4b8c0fedaf2c 173 float VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 174 float VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 175 float VALVE_DZ_PLUS_OFFSET;
Lightvalve 32:4b8c0fedaf2c 176 int VALVE_CENTER_OFFSET_times10;
Lightvalve 11:82d8768d7351 177
Lightvalve 14:8e7590227d22 178 int TMR3_COUNT_FINDHOME;
Lightvalve 14:8e7590227d22 179 int TMR3_COUNT_FLOWRATE;
Lightvalve 14:8e7590227d22 180 int TMR3_COUNT_DEADZONE;
Lightvalve 14:8e7590227d22 181 int TMR3_COUNT_PRES_NULL;
Lightvalve 14:8e7590227d22 182 int TMR3_COUNT_TORQUE_NULL;
Lightvalve 14:8e7590227d22 183 int TMR3_COUNT_PRES_CALIB;
Lightvalve 14:8e7590227d22 184 int TMR3_COUNT_REFERENCE;
Lightvalve 14:8e7590227d22 185 int TMR3_COUNT_JOINT;
Lightvalve 14:8e7590227d22 186 int TMR3_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 187
Lightvalve 11:82d8768d7351 188 bool FLAG_REFERENCE_VALVE_PWM;
Lightvalve 11:82d8768d7351 189 bool FLAG_REFERENCE_VALVE_POSITION;
Lightvalve 11:82d8768d7351 190 bool FLAG_REFERENCE_JOINT_POSITION;
Lightvalve 11:82d8768d7351 191 bool FLAG_REFERENCE_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 192 bool FLAG_REFERENCE_PRES_DIFF;
Lightvalve 14:8e7590227d22 193 bool FLAG_REFERENCE_CURRENT;
Lightvalve 11:82d8768d7351 194
Lightvalve 30:8d561f16383b 195 float TUNING_TIME;
Lightvalve 11:82d8768d7351 196
Lightvalve 30:8d561f16383b 197 float REFERENCE_FREQ;
Lightvalve 30:8d561f16383b 198 float REFERENCE_MAG;
Lightvalve 11:82d8768d7351 199
Lightvalve 11:82d8768d7351 200 bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 201
Lightvalve 11:82d8768d7351 202 int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 203 enum _JUMP_STATUS {
Lightvalve 11:82d8768d7351 204 JUMP_NO_ACT = 0, //0
Lightvalve 11:82d8768d7351 205 JUMP_START, //1
Lightvalve 11:82d8768d7351 206 JUMP_TAKEOFF, //2
Lightvalve 11:82d8768d7351 207 JUMP_FLYING, //3
Lightvalve 11:82d8768d7351 208 JUMP_LANDING, //4
Lightvalve 11:82d8768d7351 209 };
Lightvalve 11:82d8768d7351 210
Lightvalve 30:8d561f16383b 211 float CUR_PRES_DIFF_BAR = 0.0f;
Lightvalve 30:8d561f16383b 212 float CUR_PRES_A_sum = 0.0f;
Lightvalve 30:8d561f16383b 213 float CUR_PRES_B_sum = 0.0f;
Lightvalve 30:8d561f16383b 214 float CUR_PRES_A_mean = 0.0f;
Lightvalve 30:8d561f16383b 215 float CUR_PRES_B_mean = 0.0f;
Lightvalve 30:8d561f16383b 216 float CUR_TORQUE_sum = 0.0f;
Lightvalve 30:8d561f16383b 217 float CUR_TORQUE_mean = 0.0f;
Lightvalve 38:118df027d851 218 float PRES_A_NULL = 2048.0f;
Lightvalve 30:8d561f16383b 219 float PRES_B_NULL = 1.0f;
Lightvalve 30:8d561f16383b 220 float TORQUE_NULL = 3900.0f;
Lightvalve 11:82d8768d7351 221
Lightvalve 30:8d561f16383b 222 float Ref_Valve_Pos_Old = 0.0f;
Lightvalve 11:82d8768d7351 223
Lightvalve 13:747daba9cf59 224 int VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 225 int VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 226 int VALVE_FR_timer = 0;
Lightvalve 35:34ce7b0347b8 227 //int VALVE_HPL_timer = 0;
Lightvalve 13:747daba9cf59 228 int VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 229 int JOINT_VEL_TMP = 0;
Lightvalve 13:747daba9cf59 230 int DDV_POS_AVG = 0;
Lightvalve 19:23b7c1ad8683 231 int VALVE_POS_AVG[50] = {0};
Lightvalve 13:747daba9cf59 232 int VALVE_POS_AVG_OLD = 0;
Lightvalve 13:747daba9cf59 233 int data_num = 0;
Lightvalve 13:747daba9cf59 234 int ID_index = 0;
Lightvalve 13:747daba9cf59 235 int DZ_index = 1;
Lightvalve 19:23b7c1ad8683 236 int ID_index_array[50] = {0};
Lightvalve 13:747daba9cf59 237 int first_check = 0;
Lightvalve 30:8d561f16383b 238 float init_time = 0.0f;
Lightvalve 13:747daba9cf59 239 int VEL_POINT = 0;
Lightvalve 13:747daba9cf59 240 int DZ_case = 0;
Lightvalve 13:747daba9cf59 241 int START_POS = 0;
Lightvalve 13:747daba9cf59 242 int FINAL_POS = 0;
Lightvalve 13:747daba9cf59 243 int DZ_DIRECTION = 0;
Lightvalve 13:747daba9cf59 244 int FIRST_DZ = 0;
Lightvalve 13:747daba9cf59 245 int SECOND_DZ = 0;
Lightvalve 13:747daba9cf59 246 int DZ_NUM = 0;
Lightvalve 13:747daba9cf59 247 int one_period_end = 0;
Lightvalve 30:8d561f16383b 248 float Ref_Vel_Test = 0.0f;
Lightvalve 13:747daba9cf59 249 long TMR2_FOR_SLOW_LOGGING = 0;
Lightvalve 19:23b7c1ad8683 250 //int velcount = 0;
Lightvalve 13:747daba9cf59 251 char max_check = 0;
Lightvalve 34:bb2ca2fc2a8e 252 char min_check = 0;
Lightvalve 13:747daba9cf59 253
Lightvalve 30:8d561f16383b 254 float valve_pos_err = 0.0f, valve_pos_err_old = 0.0f, valve_pos_err_diff = 0.0f, valve_pos_err_sum = 0.0f;
Lightvalve 30:8d561f16383b 255 float joint_pos_err = 0.0f, joint_pos_err_old = 0.0f, joint_pos_err_diff = 0.0f, joint_pos_err_diff_fil = 0.0f, joint_pos_err_sum = 0.0f;
Lightvalve 30:8d561f16383b 256 float joint_torq_err = 0.0f, joint_torq_err_old = 0.0f, joint_torq_err_diff = 0.0f, joint_torq_err_sum = 0.0f;
Lightvalve 30:8d561f16383b 257 float VALVE_PWM_RAW_POS = 0.0f, VALVE_PWM_RAW_TORQ = 0.0f;
Lightvalve 13:747daba9cf59 258
Lightvalve 30:8d561f16383b 259 float CUR_FLOWRATE = 0.0f;
Lightvalve 30:8d561f16383b 260 float VALVE_FF_VOLTAGE = 0.0f;
Lightvalve 13:747daba9cf59 261
Lightvalve 13:747daba9cf59 262 int pos_plus_end = 0;
Lightvalve 13:747daba9cf59 263 int pos_minus_end = 0;
Lightvalve 13:747daba9cf59 264
Lightvalve 13:747daba9cf59 265 bool need_enc_init = false;
Lightvalve 13:747daba9cf59 266
Lightvalve 13:747daba9cf59 267 int temp_time = 0;
Lightvalve 13:747daba9cf59 268
Lightvalve 30:8d561f16383b 269 float CUR_VELOCITY_sum = 0.0f;
Lightvalve 30:8d561f16383b 270 float temp_vel_sum = 0.0f;
Lightvalve 13:747daba9cf59 271
Lightvalve 13:747daba9cf59 272 int DZ_dir = 0;
Lightvalve 13:747daba9cf59 273 int DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 274 int DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 275 int DZ_end = 2;
Lightvalve 13:747daba9cf59 276 int flag_flowrate = 0;
Lightvalve 13:747daba9cf59 277 int fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 278 int fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 279 int cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 280
Lightvalve 13:747daba9cf59 281 // find home
Lightvalve 13:747daba9cf59 282 int CUR_VELOCITY_OLD = 0;
Lightvalve 13:747daba9cf59 283 int cnt_findhome = 0;
Lightvalve 13:747daba9cf59 284 int cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 285 int FINDHOME_VELOCITY = 0;
Lightvalve 13:747daba9cf59 286 int FINDHOME_VELOCITY_OLD = 0;
Lightvalve 13:747daba9cf59 287 int FINDHOME_POSITION = 0;
Lightvalve 13:747daba9cf59 288 int FINDHOME_POSITION_OLD = 0;
Lightvalve 13:747daba9cf59 289
Lightvalve 13:747daba9cf59 290 // valve gain
Lightvalve 13:747daba9cf59 291 int check_vel_pos_init = 0;
Lightvalve 13:747daba9cf59 292 int check_vel_pos_fin = 0;
Lightvalve 13:747daba9cf59 293 int check_vel_pos_interv = 0;
Lightvalve 13:747daba9cf59 294 int valve_gain_repeat_cnt = 0;
Lightvalve 30:8d561f16383b 295 float VALVE_VOLTAGE = 0.0f;
Lightvalve 13:747daba9cf59 296
Lightvalve 30:8d561f16383b 297 float freq_fric_tune = 1.0f;
Lightvalve 13:747daba9cf59 298
Lightvalve 13:747daba9cf59 299 bool FLAG_VALVE_OUTPUT_CALIB = false;
Lightvalve 11:82d8768d7351 300
Lightvalve 14:8e7590227d22 301 uint32_t TMR3_COUNT_CAN_TX = 0;
Lightvalve 14:8e7590227d22 302
Lightvalve 30:8d561f16383b 303 float I_REF = 0.0f;
Lightvalve 14:8e7590227d22 304 int TMR3_COUNT_IREF = 0;
Lightvalve 30:8d561f16383b 305 float CUR_CURRENT = 0.0f;
Lightvalve 30:8d561f16383b 306 float u_CUR[3] = {0.0f,0.0f,0.0f};
Lightvalve 29:69f3f5445d6d 307 int FINDHOME_STAGE = 0;
Lightvalve 29:69f3f5445d6d 308 int FINDHOME_INIT = 0;
Lightvalve 30:8d561f16383b 309 int FINDHOME_GOTOLIMIT = 1;
Lightvalve 30:8d561f16383b 310 int FINDHOME_ZEROPOSE = 2;
Lightvalve 14:8e7590227d22 311
Lightvalve 45:35fa6884d0c6 312 float alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 313
Lightvalve 23:59218d4a256d 314 //int h1, h2, h3, h4, h5, h6;
Lightvalve 23:59218d4a256d 315
Lightvalve 11:82d8768d7351 316 /*******************************************************************************
Lightvalve 11:82d8768d7351 317 * General math functions
Lightvalve 11:82d8768d7351 318 ******************************************************************************/
Lightvalve 11:82d8768d7351 319
Lightvalve 11:82d8768d7351 320
Lightvalve 34:bb2ca2fc2a8e 321 float dabs(float tx)
Lightvalve 34:bb2ca2fc2a8e 322 {
Lightvalve 30:8d561f16383b 323 if (tx >= 0.0f)
Lightvalve 11:82d8768d7351 324 return tx;
Lightvalve 11:82d8768d7351 325 else
Lightvalve 11:82d8768d7351 326 return -tx;
Lightvalve 11:82d8768d7351 327 }
Lightvalve 11:82d8768d7351 328
Lightvalve 34:bb2ca2fc2a8e 329 float change_int_to_efloat(int input)
Lightvalve 34:bb2ca2fc2a8e 330 {
Lightvalve 11:82d8768d7351 331 int i = 0;
Lightvalve 11:82d8768d7351 332
Lightvalve 30:8d561f16383b 333 float output = 0;
Lightvalve 48:889798ff9329 334 int vn = (int) ((float) input / 10.0f);
Lightvalve 11:82d8768d7351 335 int en = input % 10;
Lightvalve 11:82d8768d7351 336
Lightvalve 30:8d561f16383b 337 float temp = 1.;
Lightvalve 11:82d8768d7351 338 for (i = 0; i < en; i++)
Lightvalve 30:8d561f16383b 339 temp *= 0.1f;
Lightvalve 11:82d8768d7351 340
Lightvalve 30:8d561f16383b 341 output = (float) vn*temp;
Lightvalve 11:82d8768d7351 342 return output;
Lightvalve 11:82d8768d7351 343 }
Lightvalve 11:82d8768d7351 344
Lightvalve 34:bb2ca2fc2a8e 345 void make_delay(void)
Lightvalve 34:bb2ca2fc2a8e 346 {
Lightvalve 11:82d8768d7351 347 int i = 0;
Lightvalve 11:82d8768d7351 348
Lightvalve 11:82d8768d7351 349 for (i = 0; i < 100000; i++) {
Lightvalve 11:82d8768d7351 350 ;
Lightvalve 11:82d8768d7351 351 }
Lightvalve 11:82d8768d7351 352
Lightvalve 11:82d8768d7351 353 }
Lightvalve 11:82d8768d7351 354
Lightvalve 11:82d8768d7351 355
Lightvalve 11:82d8768d7351 356 /*******************************************************************************
Lightvalve 11:82d8768d7351 357 * ROM functions
Lightvalve 11:82d8768d7351 358 ******************************************************************************/
Lightvalve 34:bb2ca2fc2a8e 359 void ROM_RESET_DATA(void)
Lightvalve 34:bb2ca2fc2a8e 360 {
Lightvalve 16:903b5a4433b4 361 FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
Lightvalve 16:903b5a4433b4 362 if (!writer.ready()) writer.open();
Lightvalve 34:bb2ca2fc2a8e 363
Lightvalve 16:903b5a4433b4 364 writer.write(RID_BNO,(int) BNO); // write at address, 쓸때도 4byte씩 씀
Lightvalve 16:903b5a4433b4 365 writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE);
Lightvalve 52:8ea76864368a 366 writer.write(RID_SENSING_MODE, (int) SENSING_MODE);
Lightvalve 52:8ea76864368a 367 writer.write(RID_CURRENT_CONTROL_MODE, (int) CURRENT_CONTROL_MODE);
Lightvalve 52:8ea76864368a 368 writer.write(RID_FLAG_VALVE_DEADZONE, (int) FLAG_VALVE_DEADZONE);
Lightvalve 16:903b5a4433b4 369 writer.write(RID_CAN_FREQ,(int) CAN_FREQ);
Lightvalve 16:903b5a4433b4 370 writer.write(RID_JOINT_ENC_DIR,(int) DIR_JOINT_ENC);
Lightvalve 16:903b5a4433b4 371 writer.write(RID_VALVE_DIR,(int) DIR_VALVE);
Lightvalve 16:903b5a4433b4 372 writer.write(RID_VALVE_ENC_DIR,(int) DIR_VALVE_ENC);
Lightvalve 30:8d561f16383b 373 writer.write(RID_VOLATGE_SUPPLY,(int) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve 30:8d561f16383b 374 writer.write(RID_VOLTAGE_VALVE,(int) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve 16:903b5a4433b4 375 writer.write(RID_P_GAIN_VALVE_POSITION,(int) P_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 376 writer.write(RID_I_GAIN_VALVE_POSITION,(int) I_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 377 writer.write(RID_D_GAIN_VALVE_POSITION,(int) D_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 378 writer.write(RID_P_GAIN_JOINT_POSITION,(int) P_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 379 writer.write(RID_I_GAIN_JOINT_POSITION,(int) I_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 380 writer.write(RID_D_GAIN_JOINT_POSITION,(int) D_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 381 writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 382 writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 383 writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE);
Lightvalve 33:91b17819ec30 384 writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS * 10.0f));
Lightvalve 33:91b17819ec30 385 writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS * 10.0f));
Lightvalve 16:903b5a4433b4 386 writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN);
Lightvalve 16:903b5a4433b4 387 writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN);
Lightvalve 16:903b5a4433b4 388 writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER);
Lightvalve 16:903b5a4433b4 389 writer.write(RID_VALVE_FF,(int) VALVE_FF);
Lightvalve 16:903b5a4433b4 390 writer.write(RID_BULK_MODULUS,(int) BNO);
Lightvalve 16:903b5a4433b4 391 writer.write(RID_CHAMBER_VOLUME_A,(int) CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 392 writer.write(RID_CHAMBER_VOLUME_B,(int) CHAMBER_VOLUME_B);
Lightvalve 16:903b5a4433b4 393 writer.write(RID_PISTON_AREA_A,(int) PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 394 writer.write(RID_PISTON_AREA_B,(int) PISTON_AREA_B);
Lightvalve 16:903b5a4433b4 395 writer.write(RID_PRES_SUPPLY,(int) PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 396 writer.write(RID_PRES_RETURN,(int) PRES_RETURN);
Lightvalve 16:903b5a4433b4 397 writer.write(RID_ENC_LIMIT_MINUS,(int) ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 398 writer.write(RID_ENC_LIMIT_PLUS,(int) ENC_LIMIT_PLUS);
Lightvalve 16:903b5a4433b4 399 writer.write(RID_STROKE,(int) STROKE);
Lightvalve 16:903b5a4433b4 400 writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 401 writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS);
Lightvalve 48:889798ff9329 402 writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION*10.0f));
Lightvalve 48:889798ff9329 403 writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f));
Lightvalve 30:8d561f16383b 404 writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 30:8d561f16383b 405 writer.write(RID_PRES_SENSOR_B_PULSE_PER_BAR,(int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 406 writer.write(RID_FRICTION,(int) (FRICTION * 10.0f));
Lightvalve 34:bb2ca2fc2a8e 407 writer.write(RID_HOMEPOS_OFFSET,(int) HOMEPOS_OFFSET);
Lightvalve 34:bb2ca2fc2a8e 408 writer.write(RID_HOMEPOS_VALVE_OPENING,(int) HOMEPOS_VALVE_OPENING);
Lightvalve 34:bb2ca2fc2a8e 409 writer.write(RID_TORQUE_SENSOR_VREF,(int) (TORQUE_VREF * 1000.0f));
Lightvalve 30:8d561f16383b 410 writer.write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0f));
Lightvalve 30:8d561f16383b 411 writer.write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0f));
Lightvalve 34:bb2ca2fc2a8e 412 writer.write(RID_VALVE_GAIN_PLUS_1,(int) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 413 writer.write(RID_VALVE_GAIN_PLUS_2,(int) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 414 writer.write(RID_VALVE_GAIN_PLUS_3,(int) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 415 writer.write(RID_VALVE_GAIN_PLUS_4,(int) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 416 writer.write(RID_VALVE_GAIN_PLUS_5,(int) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 417 writer.write(RID_VALVE_GAIN_MINUS_1,(int) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 418 writer.write(RID_VALVE_GAIN_MINUS_2,(int) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 419 writer.write(RID_VALVE_GAIN_MINUS_3,(int) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 420 writer.write(RID_VALVE_GAIN_MINUS_4,(int) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 30:8d561f16383b 421 writer.write(RID_VALVE_GAIN_MINUS_5,(int) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 422 for(int i=0; i<25; i++) {
Lightvalve 18:b8adf1582ea3 423 writer.write(RID_VALVE_POS_VS_PWM_0 + i, (int) VALVE_POS_VS_PWM[i]);
Lightvalve 18:b8adf1582ea3 424 }
Lightvalve 34:bb2ca2fc2a8e 425 for(int i=0; i<100; i++) {
Lightvalve 19:23b7c1ad8683 426 writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 19:23b7c1ad8683 427 writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 18:b8adf1582ea3 428 }
Lightvalve 18:b8adf1582ea3 429 writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS);
Lightvalve 18:b8adf1582ea3 430 writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS);
Lightvalve 33:91b17819ec30 431 writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f));
Lightvalve 18:b8adf1582ea3 432 writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM);
Lightvalve 46:2694daea349b 433
Lightvalve 46:2694daea349b 434 writer.write(RID_K_SPRING, (int) K_SPRING);
Lightvalve 46:2694daea349b 435 writer.write(RID_D_DAMPER, (int) D_DAMPER);
Lightvalve 11:82d8768d7351 436
Lightvalve 34:bb2ca2fc2a8e 437 writer.close();
Lightvalve 34:bb2ca2fc2a8e 438
Lightvalve 11:82d8768d7351 439 }
Lightvalve 11:82d8768d7351 440
Lightvalve 34:bb2ca2fc2a8e 441 void ROM_CALL_DATA(void)
Lightvalve 34:bb2ca2fc2a8e 442 {
Lightvalve 16:903b5a4433b4 443 BNO = flashReadInt(Rom_Sector, RID_BNO);
Lightvalve 16:903b5a4433b4 444 OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
Lightvalve 52:8ea76864368a 445 SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE);
Lightvalve 52:8ea76864368a 446 CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE);
Lightvalve 52:8ea76864368a 447 FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE);
Lightvalve 16:903b5a4433b4 448 CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
Lightvalve 16:903b5a4433b4 449 DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR);
Lightvalve 16:903b5a4433b4 450 DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR);
Lightvalve 16:903b5a4433b4 451 DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR);
Lightvalve 30:8d561f16383b 452 SUPPLY_VOLTAGE = (float) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1f;
Lightvalve 30:8d561f16383b 453 VALVE_VOLTAGE_LIMIT = (float) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1f;
Lightvalve 16:903b5a4433b4 454 P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 455 I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 456 D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 457 P_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 458 I_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 459 D_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 460 P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 461 I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 462 D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE);
Lightvalve 33:91b17819ec30 463 VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f;
Lightvalve 33:91b17819ec30 464 VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f;
Lightvalve 16:903b5a4433b4 465 VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN);
Lightvalve 16:903b5a4433b4 466 COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN);
Lightvalve 16:903b5a4433b4 467 VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER);
Lightvalve 16:903b5a4433b4 468 VALVE_FF = flashReadInt(Rom_Sector, RID_VALVE_FF);
Lightvalve 16:903b5a4433b4 469 BULK_MODULUS = flashReadInt(Rom_Sector, RID_BULK_MODULUS);
Lightvalve 16:903b5a4433b4 470 CHAMBER_VOLUME_A = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 471 CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B);
Lightvalve 16:903b5a4433b4 472 PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 473 PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B);
Lightvalve 30:8d561f16383b 474 PISTON_AREA_alpha = (float)PISTON_AREA_B/(float)PISTON_AREA_A;
Lightvalve 16:903b5a4433b4 475 PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 476 PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN);
Lightvalve 16:903b5a4433b4 477 ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 478 ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS);
Lightvalve 16:903b5a4433b4 479 STROKE = flashReadInt(Rom_Sector, RID_STROKE);
Lightvalve 16:903b5a4433b4 480 VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 481 VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS);
Lightvalve 48:889798ff9329 482 ENC_PULSE_PER_POSITION = (float) (flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION)) * 0.1f;
Lightvalve 48:889798ff9329 483 // ENC_PULSE_PER_POSITION = (float) 1024.0f;
Lightvalve 48:889798ff9329 484 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.01f;
Lightvalve 48:889798ff9329 485 //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle
Lightvalve 48:889798ff9329 486 // TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee
Lightvalve 30:8d561f16383b 487 PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f;
Lightvalve 48:889798ff9329 488 // PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 30:8d561f16383b 489 PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f;
Lightvalve 48:889798ff9329 490 // PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 30:8d561f16383b 491 FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f;
Lightvalve 16:903b5a4433b4 492 HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET);
Lightvalve 16:903b5a4433b4 493 HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING);
Lightvalve 30:8d561f16383b 494 TORQUE_VREF = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_VREF)) *0.001f;
Lightvalve 32:4b8c0fedaf2c 495 PRES_A_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_A_SENSOR_VREF) * 0.001f;
Lightvalve 32:4b8c0fedaf2c 496 PRES_B_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_B_SENSOR_VREF) * 0.001f;
Lightvalve 30:8d561f16383b 497 VALVE_GAIN_LPM_PER_V[0] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_1)) * 0.01f;
Lightvalve 30:8d561f16383b 498 VALVE_GAIN_LPM_PER_V[2] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_2)) * 0.01f;
Lightvalve 30:8d561f16383b 499 VALVE_GAIN_LPM_PER_V[4] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_3)) * 0.01f;
Lightvalve 30:8d561f16383b 500 VALVE_GAIN_LPM_PER_V[6] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_4)) * 0.01f;
Lightvalve 30:8d561f16383b 501 VALVE_GAIN_LPM_PER_V[8] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_5)) * 0.01f;
Lightvalve 30:8d561f16383b 502 VALVE_GAIN_LPM_PER_V[1] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_1)) * 0.01f;
Lightvalve 30:8d561f16383b 503 VALVE_GAIN_LPM_PER_V[3] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_2)) * 0.01f;
Lightvalve 30:8d561f16383b 504 VALVE_GAIN_LPM_PER_V[5] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01f;
Lightvalve 30:8d561f16383b 505 VALVE_GAIN_LPM_PER_V[7] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01f;
Lightvalve 30:8d561f16383b 506 VALVE_GAIN_LPM_PER_V[9] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01f;
Lightvalve 34:bb2ca2fc2a8e 507 for(int i=0; i<25; i++) {
Lightvalve 30:8d561f16383b 508 VALVE_POS_VS_PWM[i] = (float) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i));
Lightvalve 16:903b5a4433b4 509 }
Lightvalve 34:bb2ca2fc2a8e 510 for(int i=0; i<100; i++) {
Lightvalve 16:903b5a4433b4 511 JOINT_VEL[i] = ( ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ;
Lightvalve 16:903b5a4433b4 512 }
Lightvalve 16:903b5a4433b4 513 VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS);
Lightvalve 16:903b5a4433b4 514 VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS);
Lightvalve 33:91b17819ec30 515 DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
Lightvalve 16:903b5a4433b4 516 VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM);
Lightvalve 46:2694daea349b 517
Lightvalve 46:2694daea349b 518 K_SPRING = flashReadInt(Rom_Sector, RID_K_SPRING);
Lightvalve 46:2694daea349b 519 D_DAMPER = flashReadInt(Rom_Sector, RID_D_DAMPER);
Lightvalve 48:889798ff9329 520
Lightvalve 11:82d8768d7351 521 }
Lightvalve 11:82d8768d7351 522
Lightvalve 11:82d8768d7351 523 /*******************************************************************************
Lightvalve 11:82d8768d7351 524 * ENCODER functions
Lightvalve 11:82d8768d7351 525 ******************************************************************************/
Lightvalve 11:82d8768d7351 526 // A-KHA
Lightvalve 30:8d561f16383b 527 #define KF_G1_11 0.083920206005350f
Lightvalve 30:8d561f16383b 528 #define KF_G1_12 0.000013905329560f
Lightvalve 30:8d561f16383b 529 #define KF_G1_21 -0.000575742328210f
Lightvalve 30:8d561f16383b 530 #define KF_G1_22 0.799999939711725f
Lightvalve 11:82d8768d7351 531 // K
Lightvalve 30:8d561f16383b 532 #define KF_G2_11 0.916079793994650f
Lightvalve 30:8d561f16383b 533 #define KF_G2_12 0.000002878711641f
Lightvalve 30:8d561f16383b 534 #define KF_G2_21 0.000575742328210f
Lightvalve 30:8d561f16383b 535 #define KF_G2_22 0.199999945139809f
Lightvalve 11:82d8768d7351 536
Lightvalve 30:8d561f16383b 537 float KF_Y_11 = 0.0f;
Lightvalve 30:8d561f16383b 538 float KF_Y_21 = 0.0f;
Lightvalve 30:8d561f16383b 539 float KF_X_11 = 0.0f;
Lightvalve 30:8d561f16383b 540 float KF_X_21 = 0.0f;
Lightvalve 11:82d8768d7351 541
Lightvalve 11:82d8768d7351 542 long ENC_pos_old = 0, ENC_pos_cur = 0, ENC_pos_diff = 0;
Lightvalve 11:82d8768d7351 543 long ENC_RAW = 0, ENC_VEL_RAW = 0, ENC_VEL_KF = 0;
Lightvalve 11:82d8768d7351 544 long enc_offset = 0;
Lightvalve 11:82d8768d7351 545
Lightvalve 34:bb2ca2fc2a8e 546 void ENC_UPDATE(void)
Lightvalve 34:bb2ca2fc2a8e 547 {
Lightvalve 11:82d8768d7351 548
Lightvalve 11:82d8768d7351 549 ENC_pos_cur = spi_enc_read();
Lightvalve 11:82d8768d7351 550 ENC_pos_diff = ENC_pos_cur - ENC_pos_old;
Lightvalve 11:82d8768d7351 551
Lightvalve 11:82d8768d7351 552 if (ENC_pos_diff > 1300 || ENC_pos_diff<-1300) {
Lightvalve 11:82d8768d7351 553 //MOT_E_STOP(0);
Lightvalve 11:82d8768d7351 554 }
Lightvalve 11:82d8768d7351 555
Lightvalve 12:6f2531038ea4 556 ENC_VEL_RAW = (int32_t) (ENC_pos_diff * TMR_FREQ_5k);
Lightvalve 11:82d8768d7351 557
Lightvalve 11:82d8768d7351 558 KF_Y_11 = ENC_pos_cur;
Lightvalve 11:82d8768d7351 559 KF_Y_21 = ENC_VEL_RAW;
Lightvalve 11:82d8768d7351 560 KF_X_11 = KF_G1_11 * KF_X_11 + KF_G1_12 * KF_X_21 + KF_G2_11 * KF_Y_11 + KF_G2_12*KF_Y_21;
Lightvalve 11:82d8768d7351 561 KF_X_21 = KF_G1_21 * KF_X_11 + KF_G1_22 * KF_X_21 + KF_G2_21 * KF_Y_11 + KF_G2_22*KF_Y_21;
Lightvalve 12:6f2531038ea4 562 ENC_VEL_KF = (int32_t) KF_X_21;
Lightvalve 11:82d8768d7351 563
Lightvalve 14:8e7590227d22 564 pos.sen = (DIR_JOINT_ENC) * ENC_pos_cur + enc_offset;
Lightvalve 11:82d8768d7351 565 // CUR_POSITION = (DIR_JOINT_ENC) * ENC_pos_cur;
Lightvalve 14:8e7590227d22 566 vel.sen = (DIR_JOINT_ENC) * ENC_VEL_KF;
Lightvalve 11:82d8768d7351 567
Lightvalve 11:82d8768d7351 568 // CUR_POSITION = ENC_pos_cur;
Lightvalve 11:82d8768d7351 569 // CUR_VELOCITY = ENC_VEL_KF;
Lightvalve 11:82d8768d7351 570
Lightvalve 11:82d8768d7351 571 ENC_pos_old = ENC_pos_cur;
Lightvalve 11:82d8768d7351 572 }
Lightvalve 11:82d8768d7351 573
Lightvalve 34:bb2ca2fc2a8e 574 void ENC_SET_ZERO(void)
Lightvalve 34:bb2ca2fc2a8e 575 {
Lightvalve 11:82d8768d7351 576
Lightvalve 11:82d8768d7351 577 spi_enc_set_clear();
Lightvalve 11:82d8768d7351 578 CUR_POSITION = 0;
Lightvalve 11:82d8768d7351 579 ENC_pos_old = ENC_pos_cur = 0;
Lightvalve 11:82d8768d7351 580
Lightvalve 11:82d8768d7351 581 }
Lightvalve 11:82d8768d7351 582
Lightvalve 34:bb2ca2fc2a8e 583 void ENC_SET(int32_t value_e)
Lightvalve 34:bb2ca2fc2a8e 584 {
Lightvalve 11:82d8768d7351 585 spi_enc_set_clear();
Lightvalve 13:747daba9cf59 586 enc_offset = value_e;
Lightvalve 13:747daba9cf59 587 CUR_POSITION = value_e;
Lightvalve 13:747daba9cf59 588 ENC_pos_old = ENC_pos_cur = value_e;
Lightvalve 11:82d8768d7351 589
Lightvalve 11:82d8768d7351 590 }
Lightvalve 18:b8adf1582ea3 591
Lightvalve 19:23b7c1ad8683 592
Lightvalve 30:8d561f16383b 593