Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@126:146cf8e5540b, 2020-09-16 (annotated)

Committer:
Lightvalve
Date:
Wed Sep 16 06:53:36 2020 +0000
Revision:
126:146cf8e5540b
Parent:
125:2397bee14630
Child:
127:15751f2bad9b
200916-3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 126:146cf8e5540b 1 //200916-3
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 99:7bbcb3c0fb06 187 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 112:8dcb1600cb90 195 const float h1[num_input][16] = {
Lightvalve 126:146cf8e5540b 196 {2.2660818099975586f,-0.5446878671646118f,0.11869695782661438f,1.0644947290420532f,-0.42345622181892395f,-1.0027719736099243f,-0.1607273668050766f,-0.35696759819984436f,-0.2629825472831726f,-0.05417454242706299f,-0.19686724245548248f,-3.1223154067993164f,-0.3275544345378876f,1.5543668270111084f,-0.23655231297016144f,0.6058546304702759f},
Lightvalve 126:146cf8e5540b 197 {-0.3340113162994385f,0.9344584941864014f,-0.36131036281585693f,1.2413338422775269f,-0.3508710265159607f,0.5410084128379822f,-0.37291479110717773f,-0.1955154538154602f,-0.0795474648475647f,0.13506563007831573f,-0.23348858952522278f,-1.5765979290008545f,-0.8627661466598511f,-0.8677172660827637f,-0.1928754448890686f,-0.176744744181633f},
Lightvalve 126:146cf8e5540b 198 {-0.2980824410915375f,0.5311776995658875f,0.3347502052783966f,0.27214208245277405f,-0.13615036010742188f,0.36307936906814575f,0.26419779658317566f,-0.05752198025584221f,-0.15463246405124664f,0.13771727681159973f,-0.3014680743217468f,-0.9091013073921204f,-0.4446467161178589f,-0.1481391042470932f,0.051422566175460815f,-0.20611926913261414f},
Lightvalve 126:146cf8e5540b 199 {-0.1946468949317932f,-0.04022150859236717f,0.3655742108821869f,0.27840369939804077f,-0.10159263014793396f,-0.24385257065296173f,-0.10656246542930603f,0.1560303419828415f,0.014389928430318832f,0.2599664628505707f,0.10678590834140778f,0.12142544239759445f,0.01254330761730671f,-0.027686966583132744f,-0.2724146544933319f,0.21722380816936493f},
Lightvalve 126:146cf8e5540b 200 {0.22439630329608917f,-0.05050037428736687f,-0.0047328174114227295f,-0.08864273130893707f,-0.06066639721393585f,-0.08039072901010513f,0.11903384327888489f,-0.19345282018184662f,0.02024240978062153f,0.08817192167043686f,0.33854761719703674f,0.27467113733291626f,0.43208783864974976f,0.15765900909900665f,-0.3555334210395813f,-0.07255319505929947f},
Lightvalve 126:146cf8e5540b 201 {0.3829791843891144f,-0.797376811504364f,0.20028522610664368f,-0.4065952003002167f,0.16118185222148895f,-0.4696034789085388f,0.1519084870815277f,-0.4536861777305603f,0.02322372980415821f,0.09475096315145493f,-0.20924794673919678f,0.9529430866241455f,0.6464860439300537f,0.37877801060676575f,-0.3801653981208801f,-0.03540924936532974f},
Lightvalve 126:146cf8e5540b 202 {0.10477444529533386f,-0.6684889197349548f,-0.2301493138074875f,-1.2617266178131104f,-0.3768823444843292f,-0.12981663644313812f,0.05532243847846985f,-0.4961535930633545f,0.3287629187107086f,0.04749613255262375f,0.15671561658382416f,1.2736989259719849f,0.8550129532814026f,0.46973884105682373f,-0.14366863667964935f,0.22389616072177887f},
Lightvalve 126:146cf8e5540b 203 {-0.5132301449775696f,-0.2958914041519165f,-0.2448660284280777f,-0.7688301205635071f,-0.3952694237232208f,0.05504896119236946f,-0.1648942232131958f,-0.36137551069259644f,0.004650638438761234f,0.09257475286722183f,0.11364307999610901f,0.7861748337745667f,1.500432014465332f,0.004925147630274296f,0.03958237171173096f,-0.004430731292814016f},
Lightvalve 126:146cf8e5540b 204 {-0.007323102559894323f,0.3751943111419678f,0.09426882863044739f,-0.8429116606712341f,-0.38943925499916077f,0.2605385184288025f,-0.06666257977485657f,-0.5055236220359802f,-0.2679147720336914f,0.30622756481170654f,-0.25688356161117554f,0.3165963590145111f,0.955748438835144f,0.1579241007566452f,-0.2810676395893097f,-0.0451207272708416f},
Lightvalve 126:146cf8e5540b 205 {0.23219193518161774f,-0.3416672945022583f,0.16983172297477722f,-0.9100035429000854f,-0.2867138683795929f,0.16819216310977936f,-0.27508974075317383f,-0.28675082325935364f,-0.025955498218536377f,-0.4465029239654541f,0.008790715597569942f,-0.7600748538970947f,1.2755160331726074f,0.03601758927106857f,0.320571631193161f,-0.2019282728433609f},
Lightvalve 126:146cf8e5540b 206 {1.1059352159500122f,-0.1302625983953476f,0.3420287072658539f,-0.48925524950027466f,-0.4248512089252472f,-0.18703703582286835f,-0.1870943307876587f,-0.2316165715456009f,-0.41093647480010986f,0.010892712511122227f,0.33672773838043213f,-1.0168510675430298f,0.5908714532852173f,0.4048658013343811f,0.2454969584941864f,-0.4645782709121704f},
Lightvalve 126:146cf8e5540b 207 {0.8743252754211426f,-1.2937406301498413f,-0.3708900809288025f,-1.3262850046157837f,-0.22890035808086395f,-0.8532453179359436f,0.1410880982875824f,0.16530188918113708f,-0.15566834807395935f,0.1674504280090332f,-0.3646964132785797f,0.3105885088443756f,1.1087874174118042f,0.9595321416854858f,0.0965304970741272f,0.3706308901309967f},
Lightvalve 126:146cf8e5540b 208 {-1.1250561475753784f,1.3527560234069824f,0.18257471919059753f,1.9253339767456055f,0.42921411991119385f,1.8764876127243042f,-0.22116509079933167f,0.0782991424202919f,-0.17554795742034912f,-0.21159234642982483f,-0.08385176956653595f,-1.8764336109161377f,-1.7386224269866943f,-1.515416145324707f,-0.20483672618865967f,-2.307525634765625f},
Lightvalve 126:146cf8e5540b 209 {-0.8271458148956299f,1.0128202438354492f,0.3797040283679962f,1.822304606437683f,-0.14876097440719604f,0.7276181578636169f,-0.2943691909313202f,-0.3184182047843933f,-0.11459491401910782f,-0.2354682981967926f,-0.16216588020324707f,-1.3817857503890991f,-2.0736887454986572f,-0.8372222185134888f,0.04412442445755005f,-0.8550829291343689f},
Lightvalve 126:146cf8e5540b 210 {-0.2759566307067871f,-0.14272060990333557f,0.18657007813453674f,0.43931838870048523f,0.4162310063838959f,-0.1770905703306198f,0.03866097331047058f,0.2568913400173187f,0.2898373603820801f,0.044508397579193115f,-0.2393093854188919f,1.2000733613967896f,-0.03205568715929985f,-0.001288468251004815f,0.061455368995666504f,-0.004366652108728886f},
Lightvalve 126:146cf8e5540b 211 {-0.30321362614631653f,-0.9920729994773865f,-0.3719911277294159f,-0.5087084770202637f,-0.10874176770448685f,-0.5181922912597656f,-0.14320695400238037f,-0.0033372845500707626f,0.19780538976192474f,-0.03908044844865799f,-0.4176109731197357f,2.504629373550415f,0.4539322853088379f,0.4648798406124115f,-0.07585105299949646f,0.45601406693458557f},
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Lightvalve 65:a2d7c63419c2 219 };
Lightvalve 65:a2d7c63419c2 220
Lightvalve 112:8dcb1600cb90 221 const float h2[16][16] = {
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Lightvalve 126:146cf8e5540b 229 {0.12986847758293152f,0.27203619480133057f,0.33083590865135193f,-0.25850799679756165f,-0.14358049631118774f,-0.31704509258270264f,-0.09043094515800476f,-0.3300655782222748f,0.2600560486316681f,-0.37898191809654236f,0.36908823251724243f,-0.3198593854904175f,-0.409888356924057f,0.38091862201690674f,0.03372413292527199f,0.07647655159235f},
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Lightvalve 126:146cf8e5540b 235 {-0.4565339982509613f,0.5560159087181091f,-0.2018718123435974f,-0.18104422092437744f,0.07545611262321472f,-0.020896825939416885f,-0.2275303304195404f,-0.3963051438331604f,-0.24509364366531372f,0.19522181153297424f,1.0363281965255737f,-0.7779356241226196f,-0.48935624957084656f,-1.1848509311676025f,-1.1435903310775757f,0.07298077642917633f},
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Lightvalve 65:a2d7c63419c2 238 };
Lightvalve 65:a2d7c63419c2 239
Lightvalve 112:8dcb1600cb90 240 const float h3[16][16] = {
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Lightvalve 115:f41863b95e6f 243 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 126:146cf8e5540b 244 {-0.30922991037368774f,-0.15589675307273865f,0.34225794672966003f,-0.3719671964645386f,-0.11995722353458405f,0.001689257798716426f,0.20021501183509827f,0.002378920093178749f,-0.23928304016590118f,-0.365601509809494f,0.13192829489707947f,0.35806775093078613f,0.019505009055137634f,0.049362268298864365f,0.12382330745458603f,0.057659976184368134f},
Lightvalve 125:2397bee14630 245 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
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Lightvalve 126:146cf8e5540b 247 {0.4110594093799591f,0.21534739434719086f,-0.23537102341651917f,0.28398624062538147f,0.18285103142261505f,-0.13844221830368042f,-0.08670487999916077f,-0.4278556704521179f,-0.030661463737487793f,-0.06259563565254211f,-0.15624940395355225f,0.35313835740089417f,0.24638794362545013f,0.00968971662223339f,0.26019975543022156f,-0.3391006588935852f},
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Lightvalve 126:146cf8e5540b 251 {0.15459725260734558f,0.7163918614387512f,-0.6403118968009949f,-0.1639547049999237f,-0.5444389581680298f,0.5002370476722717f,-0.1983482986688614f,0.3064975142478943f,-0.08360356092453003f,-0.48247990012168884f,0.09057217836380005f,-0.4818568527698517f,-0.30963262915611267f,-0.6078660488128662f,0.7347269058227539f,-1.6883602142333984f},
Lightvalve 126:146cf8e5540b 252 {-0.408692330121994f,0.2943980097770691f,-0.06173360347747803f,0.1156122162938118f,-0.14173220098018646f,-0.024785175919532776f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.6756531000137329f,0.24639484286308289f,-0.10867234319448471f,0.36541664600372314f},
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Lightvalve 126:146cf8e5540b 255 {-0.015470266342163086f,0.5419120788574219f,0.1470305472612381f,-0.15800152719020844f,1.5208746194839478f,0.40400007367134094f,-0.024477755650877953f,0.4607020318508148f,-0.516078531742096f,-0.5644939541816711f,-0.48454344272613525f,-0.32996994256973267f,0.1927938610315323f,0.37666407227516174f,0.6253973841667175f,0.823915421962738f},
Lightvalve 126:146cf8e5540b 256 {0.1863725483417511f,0.40191102027893066f,0.14646016061306f,-1.9016780853271484f,0.20119011402130127f,0.2791161835193634f,-0.06154642254114151f,0.2495824545621872f,-0.07567248493432999f,0.07917626947164536f,-0.6304593682289124f,0.028020502999424934f,0.03420177102088928f,-0.6877672076225281f,-0.11548148840665817f,-0.42344602942466736f},
Lightvalve 66:a8e6799dbce3 257 };
Lightvalve 65:a2d7c63419c2 258
Lightvalve 126:146cf8e5540b 259 const float hout[16] = { 0.45773375034332275f,0.09332532435655594f,-0.1844533234834671f,-0.28953805565834045f,-0.2272268384695053f,0.23726938664913177f,-0.08956165611743927f,0.27231523394584656f,0.11530358344316483f,-0.036525070667266846f,0.1618582010269165f,-0.10062330216169357f,-0.1317339986562729f,0.1727394461631775f,0.19315701723098755f,-0.17882952094078064f };
Lightvalve 66:a8e6799dbce3 260
Lightvalve 126:146cf8e5540b 261 const float b1[16] = { 0.5832811594009399f,1.0798215866088867f,-1.7145336866378784f,0.5966213345527649f,0.9764465689659119f,0.9771834015846252f,-0.058932315558195114f,0.7898977398872375f,0.5242074728012085f,-0.9275254607200623f,0.5938812494277954f,1.2476818561553955f,-0.7679874897003174f,-0.7304303050041199f,-1.087764859199524f,1.0959287881851196f };
Lightvalve 87:471334725012 262
Lightvalve 126:146cf8e5540b 263 const float b2[16] = { 0.43903544545173645f,-1.229790210723877f,-1.4564176797866821f,-0.7689498066902161f,-0.6939148902893066f,0.1927376389503479f,0.3919122517108917f,-0.49416452646255493f,-1.20063054561615f,-1.912178635597229f,0.15161100029945374f,0.3247258961200714f,-0.35111621022224426f,1.9910045862197876f,0.18655620515346527f,1.0135984420776367f };
Lightvalve 65:a2d7c63419c2 264
Lightvalve 126:146cf8e5540b 265 const float b3[16] = { -1.963319182395935f,-0.26877960562705994f,0.621764063835144f,-1.049706220626831f,0.016289880499243736f,0.7925111651420593f,-0.5585779547691345f,-1.7759090662002563f,0.43397989869117737f,0.2718099355697632f,-0.7883687019348145f,-0.12879030406475067f,-0.7222028970718384f,-0.009602507576346397f,-0.6739954352378845f,-0.9298136830329895f };
Lightvalve 87:471334725012 266
Lightvalve 126:146cf8e5540b 267 const float bout[1] = { -0.22867871820926666f };
Lightvalve 65:a2d7c63419c2 268
Lightvalve 66:a8e6799dbce3 269
Lightvalve 87:471334725012 270 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 271 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 272
GiJeongKim 0:51c43836c1d7 273 int main()
GiJeongKim 0:51c43836c1d7 274 {
Lightvalve 66:a8e6799dbce3 275
Lightvalve 65:a2d7c63419c2 276 HAL_Init();
Lightvalve 65:a2d7c63419c2 277 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 278
jobuuu 6:df07d3491e3a 279 /*********************************
jobuuu 1:e04e563be5ce 280 *** Initialization
jobuuu 6:df07d3491e3a 281 *********************************/
Lightvalve 69:3995ffeaa786 282 LED = 0;
Lightvalve 61:bc8c8270f0ab 283 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 284
GiJeongKim 0:51c43836c1d7 285 // i2c init
Lightvalve 8:5d2eebdad025 286 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 287 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 288 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 289 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 290 make_delay();
jobuuu 2:a1c0a37df760 291
GiJeongKim 0:51c43836c1d7 292 // // spi init
Lightvalve 16:903b5a4433b4 293 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 294 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 295 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 296 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 297 make_delay();
Lightvalve 21:e5f1a43ea6f9 298
Lightvalve 16:903b5a4433b4 299 //rom
Lightvalve 19:23b7c1ad8683 300 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 301 make_delay();
Lightvalve 13:747daba9cf59 302
GiJeongKim 0:51c43836c1d7 303 // ADC init
jobuuu 5:a4319f79457b 304 Init_ADC();
Lightvalve 11:82d8768d7351 305 make_delay();
jobuuu 2:a1c0a37df760 306
GiJeongKim 0:51c43836c1d7 307 // Pwm init
GiJeongKim 0:51c43836c1d7 308 Init_PWM();
GiJeongKim 0:51c43836c1d7 309 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 310 make_delay();
Lightvalve 13:747daba9cf59 311
Lightvalve 11:82d8768d7351 312 // TMR3 init
Lightvalve 11:82d8768d7351 313 Init_TMR3();
Lightvalve 11:82d8768d7351 314 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 315 make_delay();
Lightvalve 21:e5f1a43ea6f9 316
Lightvalve 50:3c630b5eba9f 317 // TMR2 init
Lightvalve 56:6f50d9d3bfee 318 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 319 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 320 // make_delay();
Lightvalve 21:e5f1a43ea6f9 321
GiJeongKim 0:51c43836c1d7 322 // CAN
jobuuu 2:a1c0a37df760 323 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 324 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 325 make_delay();
Lightvalve 34:bb2ca2fc2a8e 326
Lightvalve 23:59218d4a256d 327 //Timer priority
Lightvalve 23:59218d4a256d 328 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 329 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 330 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 331
Lightvalve 23:59218d4a256d 332 //can.reset();
Lightvalve 19:23b7c1ad8683 333 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 334
GiJeongKim 0:51c43836c1d7 335 // spi _ enc
GiJeongKim 0:51c43836c1d7 336 spi_enc_set_init();
Lightvalve 11:82d8768d7351 337 make_delay();
Lightvalve 13:747daba9cf59 338
Lightvalve 11:82d8768d7351 339 //DAC init
Lightvalve 58:2eade98630e2 340 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 341 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 342 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 343 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 344 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 345 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 346 }
Lightvalve 11:82d8768d7351 347 make_delay();
Lightvalve 13:747daba9cf59 348
Lightvalve 19:23b7c1ad8683 349 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 350 if(i%2==0)
Lightvalve 38:118df027d851 351 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 352 else
Lightvalve 38:118df027d851 353 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 354 }
Lightvalve 61:bc8c8270f0ab 355
Lightvalve 61:bc8c8270f0ab 356
jobuuu 6:df07d3491e3a 357 /************************************
jobuuu 1:e04e563be5ce 358 *** Program is operating!
jobuuu 6:df07d3491e3a 359 *************************************/
GiJeongKim 0:51c43836c1d7 360 while(1) {
Lightvalve 66:a8e6799dbce3 361 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 362 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 363 //i2c
Lightvalve 66:a8e6799dbce3 364
Lightvalve 65:a2d7c63419c2 365 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 366 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 367 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 368 // LED=0;
Lightvalve 65:a2d7c63419c2 369 // } else
Lightvalve 65:a2d7c63419c2 370 // LED = 1;
Lightvalve 65:a2d7c63419c2 371 timer_while = 0;
Lightvalve 66:a8e6799dbce3 372 //}
Lightvalve 66:a8e6799dbce3 373
Lightvalve 66:a8e6799dbce3 374 timer_while ++;
Lightvalve 66:a8e6799dbce3 375
Lightvalve 87:471334725012 376 //LED = 0;
Lightvalve 87:471334725012 377
Lightvalve 73:f80dc3970c99 378 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 379 LED = 0;
Lightvalve 73:f80dc3970c99 380 }
Lightvalve 66:a8e6799dbce3 381
Lightvalve 73:f80dc3970c99 382 else if(NN_Control_Flag == 1) {
Lightvalve 117:7141c0517b82 383
Lightvalve 117:7141c0517b82 384 int ind = 0;
Lightvalve 117:7141c0517b82 385 for(int i=0; i<numpast_u; i++) {
Lightvalve 118:af86e883dcb4 386 input_NN[ind] = u_past[time_interval*i];
Lightvalve 117:7141c0517b82 387 ind = ind + 1;
Lightvalve 117:7141c0517b82 388 }
Lightvalve 117:7141c0517b82 389
Lightvalve 117:7141c0517b82 390 for(int i=0; i<numpast_x; i++) {
Lightvalve 118:af86e883dcb4 391 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 117:7141c0517b82 392 ind = ind + 1;
Lightvalve 117:7141c0517b82 393 }
Lightvalve 117:7141c0517b82 394 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 117:7141c0517b82 395 ind = ind + 1;
Lightvalve 121:89396c37b03e 396
Lightvalve 122:dcb3ce3056a0 397 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 122:dcb3ce3056a0 398 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 399 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 400 // }
Lightvalve 117:7141c0517b82 401
Lightvalve 117:7141c0517b82 402 for(int i=0; i<numpast_f; i++) {
Lightvalve 118:af86e883dcb4 403 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 404 ind = ind + 1;
Lightvalve 117:7141c0517b82 405 }
Lightvalve 117:7141c0517b82 406 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 407 ind = ind + 1;
Lightvalve 117:7141c0517b82 408 for(int i=0; i<numfuture_f; i++) {
Lightvalve 118:af86e883dcb4 409 input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve 118:af86e883dcb4 410 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve 117:7141c0517b82 411 ind = ind + 1;
Lightvalve 117:7141c0517b82 412 }
Lightvalve 117:7141c0517b82 413
Lightvalve 112:8dcb1600cb90 414 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 415 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 416 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 417 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 418
Lightvalve 112:8dcb1600cb90 419 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 420 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 421 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 422 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 423 }
Lightvalve 66:a8e6799dbce3 424 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 425 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 426 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 427 }
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 65:a2d7c63419c2 429
Lightvalve 112:8dcb1600cb90 430 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 431 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 432 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 433 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 434 }
Lightvalve 66:a8e6799dbce3 435 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 436 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 437 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 438 }
Lightvalve 66:a8e6799dbce3 439 }
Lightvalve 65:a2d7c63419c2 440
Lightvalve 112:8dcb1600cb90 441 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 442 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 443 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 444 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 445 }
Lightvalve 66:a8e6799dbce3 446 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 447 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 448 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 449 }
Lightvalve 65:a2d7c63419c2 450 }
Lightvalve 66:a8e6799dbce3 451
Lightvalve 66:a8e6799dbce3 452 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 453 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 454 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 455 }
Lightvalve 66:a8e6799dbce3 456 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 457
Lightvalve 66:a8e6799dbce3 458 }
Lightvalve 73:f80dc3970c99 459 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 460 output_normalized = output;
Lightvalve 68:328e1be06f5d 461 output = output * 20000.0f - 10000.0f;
Lightvalve 101:50159049a518 462
Lightvalve 66:a8e6799dbce3 463 if(output>=0) {
Lightvalve 66:a8e6799dbce3 464 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 465 } else {
Lightvalve 66:a8e6799dbce3 466 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 467 }
Lightvalve 87:471334725012 468
Lightvalve 88:d6e591bece22 469 // // torque feedback
Lightvalve 88:d6e591bece22 470 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 471 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 472 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 473 //
Lightvalve 88:d6e591bece22 474 //
Lightvalve 88:d6e591bece22 475 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 476 //
Lightvalve 88:d6e591bece22 477 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 478 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 479 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 480 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 481 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 482 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 483 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 484 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 485 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 486 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 487 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 488 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 489 // }
Lightvalve 88:d6e591bece22 490 // }
Lightvalve 87:471334725012 491
Lightvalve 69:3995ffeaa786 492
Lightvalve 69:3995ffeaa786 493 if(LED==1) {
Lightvalve 69:3995ffeaa786 494 LED=0;
Lightvalve 69:3995ffeaa786 495 } else
Lightvalve 69:3995ffeaa786 496 LED = 1;
Lightvalve 69:3995ffeaa786 497
Lightvalve 65:a2d7c63419c2 498 }
Lightvalve 62:b5452adfb2cd 499
Lightvalve 87:471334725012 500 //LED = 1;
Lightvalve 69:3995ffeaa786 501
Lightvalve 66:a8e6799dbce3 502
GiJeongKim 0:51c43836c1d7 503 }
jobuuu 1:e04e563be5ce 504 }
jobuuu 1:e04e563be5ce 505
Lightvalve 33:91b17819ec30 506 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 507 {
Lightvalve 14:8e7590227d22 508
Lightvalve 13:747daba9cf59 509 int i = 0;
Lightvalve 48:889798ff9329 510 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 511 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 512 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 513 if(i==0) {
Lightvalve 50:3c630b5eba9f 514 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 515 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 516 } else {
Lightvalve 57:f4819de54e7a 517 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 518 }
Lightvalve 14:8e7590227d22 519 } else {
Lightvalve 50:3c630b5eba9f 520 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 521 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 522 } else {
Lightvalve 57:f4819de54e7a 523 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]);
Lightvalve 38:118df027d851 524 }
Lightvalve 13:747daba9cf59 525 }
Lightvalve 13:747daba9cf59 526 break;
Lightvalve 13:747daba9cf59 527 }
Lightvalve 13:747daba9cf59 528 }
Lightvalve 14:8e7590227d22 529 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 530 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 531 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 532 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 533 }
Lightvalve 36:a46e63505ed8 534
Lightvalve 57:f4819de54e7a 535 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 536 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 537
Lightvalve 13:747daba9cf59 538 }
jobuuu 6:df07d3491e3a 539
jobuuu 6:df07d3491e3a 540
Lightvalve 30:8d561f16383b 541 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 542 {
Lightvalve 13:747daba9cf59 543 int i = 0;
Lightvalve 13:747daba9cf59 544
Lightvalve 38:118df027d851 545 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 546 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 547 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 548 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 549 }
Lightvalve 38:118df027d851 550
Lightvalve 89:a7b45368ea0f 551 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 552 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 553 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 554 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 555 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 556 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 557
Lightvalve 13:747daba9cf59 558 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;
Lightvalve 14:8e7590227d22 559
Lightvalve 18:b8adf1582ea3 560 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 561 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 562 if(i==0) {
Lightvalve 48:889798ff9329 563 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]);
Lightvalve 14:8e7590227d22 564 } else {
Lightvalve 48:889798ff9329 565 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];
Lightvalve 13:747daba9cf59 566 }
Lightvalve 13:747daba9cf59 567 break;
Lightvalve 13:747daba9cf59 568 }
Lightvalve 13:747daba9cf59 569 }
Lightvalve 59:f308b1656d9c 570 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 571 }
Lightvalve 13:747daba9cf59 572
Lightvalve 14:8e7590227d22 573 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 574 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,
Lightvalve 34:bb2ca2fc2a8e 575 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 576 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 577 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 578 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 579 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 580 }; // duty
Lightvalve 67:c2812cf26c38 581 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 582 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 583 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 584 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 585 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 586 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 587 }; // mV
Lightvalve 13:747daba9cf59 588
Lightvalve 30:8d561f16383b 589 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 590 {
Lightvalve 30:8d561f16383b 591 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 592 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 593 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 594 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 595 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 596 } else {
Lightvalve 13:747daba9cf59 597 int idx = 0;
Lightvalve 13:747daba9cf59 598 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 599 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 600 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 601 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 602 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 603 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 604 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 605 break;
Lightvalve 13:747daba9cf59 606 }
Lightvalve 13:747daba9cf59 607 }
Lightvalve 13:747daba9cf59 608 }
Lightvalve 14:8e7590227d22 609
Lightvalve 13:747daba9cf59 610 return PWM_duty;
Lightvalve 13:747daba9cf59 611 }
jobuuu 6:df07d3491e3a 612
Lightvalve 57:f4819de54e7a 613
Lightvalve 57:f4819de54e7a 614
Lightvalve 57:f4819de54e7a 615
Lightvalve 57:f4819de54e7a 616
jobuuu 2:a1c0a37df760 617 /*******************************************************************************
jobuuu 2:a1c0a37df760 618 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 619 *******************************************************************************/
jobuuu 2:a1c0a37df760 620
Lightvalve 51:b46bed7fec80 621 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 622 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 623 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 624 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 625 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 626 {
Lightvalve 19:23b7c1ad8683 627 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 628
Lightvalve 21:e5f1a43ea6f9 629 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 630 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 631 ********************************************************/
Lightvalve 13:747daba9cf59 632
Lightvalve 57:f4819de54e7a 633 //Encoder
Lightvalve 57:f4819de54e7a 634 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 635 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 636 }
Lightvalve 61:bc8c8270f0ab 637
Lightvalve 61:bc8c8270f0ab 638 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 639 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 640 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 641 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 642 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 643 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 644 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 645
Lightvalve 67:c2812cf26c38 646
Lightvalve 67:c2812cf26c38 647 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 648 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 649 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 650 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 651 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 652
Lightvalve 17:1865016ca2e7 653
Lightvalve 58:2eade98630e2 654 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 655 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 656 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 657 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 658 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 659 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 660 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 661 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 662 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 663
Lightvalve 58:2eade98630e2 664 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 665 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 666 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 667 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 668 }
Lightvalve 58:2eade98630e2 669 }
Lightvalve 61:bc8c8270f0ab 670
Lightvalve 58:2eade98630e2 671 // //Pressure sensor A
Lightvalve 58:2eade98630e2 672 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 673 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 674 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 675 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 676 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 677 // 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.
Lightvalve 58:2eade98630e2 678 //
Lightvalve 58:2eade98630e2 679 //
Lightvalve 58:2eade98630e2 680 // //Pressure sensor B
Lightvalve 58:2eade98630e2 681 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 682 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 683 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 684 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 685
Lightvalve 17:1865016ca2e7 686
Lightvalve 21:e5f1a43ea6f9 687 //Current
Lightvalve 21:e5f1a43ea6f9 688 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 689 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 690 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 691 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 692 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 693 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 694 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 695
Lightvalve 57:f4819de54e7a 696 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 697 }
Lightvalve 11:82d8768d7351 698 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 699 }
Lightvalve 19:23b7c1ad8683 700
Lightvalve 19:23b7c1ad8683 701
Lightvalve 18:b8adf1582ea3 702 int j =0;
Lightvalve 54:647072f5307a 703 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 704 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 705 int cnt_trans = 0;
Lightvalve 48:889798ff9329 706 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 707 int can_rest =0;
Lightvalve 48:889798ff9329 708
Lightvalve 11:82d8768d7351 709 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 710 {
Lightvalve 19:23b7c1ad8683 711 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 712
Lightvalve 57:f4819de54e7a 713 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 714 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 715 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 716 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 717 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 718 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 719 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 720 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 721 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 722 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 723 }
Lightvalve 50:3c630b5eba9f 724
Lightvalve 50:3c630b5eba9f 725 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 726 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 727 cnt_trans++;
Lightvalve 46:2694daea349b 728 torq.err_sum = 0;
Lightvalve 48:889798ff9329 729 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 730 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 731 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 732 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 733 cnt_trans++;
Lightvalve 46:2694daea349b 734 torq.err_sum = 0;
Lightvalve 48:889798ff9329 735 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 736 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 737 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 738 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 739 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 740 } else {
Lightvalve 58:2eade98630e2 741 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 742 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 743 }
Lightvalve 45:35fa6884d0c6 744
Lightvalve 50:3c630b5eba9f 745
Lightvalve 57:f4819de54e7a 746 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 747 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 748
Lightvalve 57:f4819de54e7a 749 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 750 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 751 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 752 } else {
Lightvalve 57:f4819de54e7a 753 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 754 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 755 }
Lightvalve 56:6f50d9d3bfee 756
Lightvalve 56:6f50d9d3bfee 757
Lightvalve 56:6f50d9d3bfee 758
Lightvalve 57:f4819de54e7a 759 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 760
Lightvalve 57:f4819de54e7a 761 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 762 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 763 break;
Lightvalve 13:747daba9cf59 764 }
Lightvalve 14:8e7590227d22 765
Lightvalve 14:8e7590227d22 766 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 767 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 768 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 769 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 770
Lightvalve 14:8e7590227d22 771 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 772 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 773 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 774
Lightvalve 84:c355d3e52bf1 775 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 776
Lightvalve 30:8d561f16383b 777 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 778 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 779
Lightvalve 16:903b5a4433b4 780 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 781 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 782 }
Lightvalve 13:747daba9cf59 783 } else {
Lightvalve 58:2eade98630e2 784 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 785 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 786 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 787 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 788
Lightvalve 16:903b5a4433b4 789 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 790
Lightvalve 30:8d561f16383b 791 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 792
Lightvalve 13:747daba9cf59 793 }
Lightvalve 14:8e7590227d22 794 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 795 break;
Lightvalve 19:23b7c1ad8683 796 }
Lightvalve 14:8e7590227d22 797
Lightvalve 50:3c630b5eba9f 798 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 799 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 800 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 801 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 802 // }
Lightvalve 50:3c630b5eba9f 803 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 804 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 805 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 806 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 807 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 808 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 809 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 810 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 811 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 812 // }
Lightvalve 50:3c630b5eba9f 813 //
Lightvalve 50:3c630b5eba9f 814 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 815 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 816 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 817 //
Lightvalve 50:3c630b5eba9f 818 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 819 // V_out = 0;
Lightvalve 50:3c630b5eba9f 820 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 821 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 822 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 823 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 824 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 825 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 826 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 827 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 828 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 829 //
Lightvalve 50:3c630b5eba9f 830 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 831 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 832 // // | / | / |/
Lightvalve 50:3c630b5eba9f 833 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 834 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 835 // // /| / | / |
Lightvalve 50:3c630b5eba9f 836 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 837 //
Lightvalve 50:3c630b5eba9f 838 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 839 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 840 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 841 // } else {
Lightvalve 50:3c630b5eba9f 842 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 843 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 844 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 845 // }
Lightvalve 50:3c630b5eba9f 846 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 847 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 848 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 849 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 850 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 851 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 852 // }
Lightvalve 50:3c630b5eba9f 853 // } else {
Lightvalve 50:3c630b5eba9f 854 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 855 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 856 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 857 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 858 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 859 // }
Lightvalve 50:3c630b5eba9f 860 // V_out = 0;
Lightvalve 50:3c630b5eba9f 861 //
Lightvalve 50:3c630b5eba9f 862 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 863 //
Lightvalve 50:3c630b5eba9f 864 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 865 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 866 //
Lightvalve 50:3c630b5eba9f 867 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 868 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 869 // }
Lightvalve 50:3c630b5eba9f 870 // }
Lightvalve 50:3c630b5eba9f 871 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 872 // break;
Lightvalve 50:3c630b5eba9f 873 // }
Lightvalve 14:8e7590227d22 874
Lightvalve 14:8e7590227d22 875 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 876 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 877 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 878 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 879 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 880 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 881 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 882 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 883 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 884 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 885 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 886 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 887 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 888 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 889 }
Lightvalve 29:69f3f5445d6d 890 cnt_findhome++;
Lightvalve 14:8e7590227d22 891
Lightvalve 29:69f3f5445d6d 892 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 893 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 894 } else {
Lightvalve 29:69f3f5445d6d 895 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 896 }
Lightvalve 19:23b7c1ad8683 897
Lightvalve 57:f4819de54e7a 898 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 899 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 900 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 901 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 902
Lightvalve 59:f308b1656d9c 903 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 904 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 905 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 906 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 907 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 908
Lightvalve 59:f308b1656d9c 909 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 910 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 911
Lightvalve 34:bb2ca2fc2a8e 912
Lightvalve 29:69f3f5445d6d 913 } else {
Lightvalve 29:69f3f5445d6d 914 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 915 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 916 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 917 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 918 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 919 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 920 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 921 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 922 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 923 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 924 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 925
Lightvalve 67:c2812cf26c38 926
Lightvalve 67:c2812cf26c38 927 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 928 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 929 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 930 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 931 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 932 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 933 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 934
Lightvalve 67:c2812cf26c38 935
Lightvalve 29:69f3f5445d6d 936 }
Lightvalve 29:69f3f5445d6d 937 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 938 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 939 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;
Lightvalve 67:c2812cf26c38 940 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 941 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 942
Lightvalve 29:69f3f5445d6d 943 // input for position control
Lightvalve 67:c2812cf26c38 944
Lightvalve 67:c2812cf26c38 945 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 946 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 947
Lightvalve 67:c2812cf26c38 948 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 949 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 950 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 951 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 954
Lightvalve 67:c2812cf26c38 955 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 956 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 957 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 958
Lightvalve 67:c2812cf26c38 959 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 960 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 961 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 962
Lightvalve 69:3995ffeaa786 963 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 964 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 965 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 966 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 967 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
Lightvalve 67:c2812cf26c38 968 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 969 }
Lightvalve 67:c2812cf26c38 970 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))));
Lightvalve 67:c2812cf26c38 971 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 972
Lightvalve 67:c2812cf26c38 973 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 974
Lightvalve 67:c2812cf26c38 975
Lightvalve 67:c2812cf26c38 976
Lightvalve 67:c2812cf26c38 977 } else {
Lightvalve 67:c2812cf26c38 978 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 979 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 980
Lightvalve 67:c2812cf26c38 981 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 982 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 983 } else {
Lightvalve 67:c2812cf26c38 984 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 985 }
Lightvalve 67:c2812cf26c38 986
Lightvalve 67:c2812cf26c38 987 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 988
Lightvalve 67:c2812cf26c38 989 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 990
Lightvalve 67:c2812cf26c38 991 }
Lightvalve 67:c2812cf26c38 992
Lightvalve 67:c2812cf26c38 993
Lightvalve 67:c2812cf26c38 994
Lightvalve 67:c2812cf26c38 995
Lightvalve 59:f308b1656d9c 996 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 997 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 998 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 999 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1000 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1001
Lightvalve 29:69f3f5445d6d 1002 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1003 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1004 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1005 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1006 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1007 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1008 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1009 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1010 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1011 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1012 }
Lightvalve 13:747daba9cf59 1013 }
Lightvalve 19:23b7c1ad8683 1014
Lightvalve 13:747daba9cf59 1015 break;
Lightvalve 13:747daba9cf59 1016 }
Lightvalve 14:8e7590227d22 1017
Lightvalve 50:3c630b5eba9f 1018 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1019 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1020 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1021 // else {
Lightvalve 50:3c630b5eba9f 1022 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1023 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1024 // }
Lightvalve 50:3c630b5eba9f 1025 // }
Lightvalve 50:3c630b5eba9f 1026 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1027 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1028 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1029 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1030 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1031 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1032 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1033 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1034 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1035 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1036 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1037 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1038 // }
Lightvalve 50:3c630b5eba9f 1039 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1040 // }
Lightvalve 50:3c630b5eba9f 1041 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1042 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1043 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1044 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1045 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1046 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1047 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1048 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1049 // 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
Lightvalve 50:3c630b5eba9f 1050 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1051 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1052 // }
Lightvalve 50:3c630b5eba9f 1053 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1054 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1055 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1056 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1057 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1058 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1059 // 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);
Lightvalve 50:3c630b5eba9f 1060 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1061 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1062 // }
Lightvalve 50:3c630b5eba9f 1063 // }
Lightvalve 50:3c630b5eba9f 1064 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1065 //
Lightvalve 50:3c630b5eba9f 1066 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1067 //
Lightvalve 50:3c630b5eba9f 1068 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1069 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1070 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1071 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1072 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1073 // }
Lightvalve 50:3c630b5eba9f 1074 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1075 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1076 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1077 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1078 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1079 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1080 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1081 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1082 // }
Lightvalve 50:3c630b5eba9f 1083 //
Lightvalve 50:3c630b5eba9f 1084 // }
Lightvalve 50:3c630b5eba9f 1085 // break;
Lightvalve 50:3c630b5eba9f 1086 // }
Lightvalve 50:3c630b5eba9f 1087 //
Lightvalve 50:3c630b5eba9f 1088 // }
Lightvalve 14:8e7590227d22 1089 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1090 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1091 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1092 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1093 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1094
Lightvalve 14:8e7590227d22 1095 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1096 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1097 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1098 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1099 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1100
Lightvalve 38:118df027d851 1101 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1102 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1103 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1104
Lightvalve 30:8d561f16383b 1105 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1106 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1107 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1108 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1109
Lightvalve 30:8d561f16383b 1110 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1111 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1112 }
Lightvalve 13:747daba9cf59 1113 } else {
Lightvalve 57:f4819de54e7a 1114 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1115 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1116 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1117 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1118 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1119 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1120
Lightvalve 16:903b5a4433b4 1121 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1122
Lightvalve 30:8d561f16383b 1123 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1124 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1125 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1126 }
Lightvalve 14:8e7590227d22 1127 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1128 break;
Lightvalve 13:747daba9cf59 1129 }
Lightvalve 14:8e7590227d22 1130
Lightvalve 50:3c630b5eba9f 1131 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1132 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1133 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1134 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1135 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1136 // }
Lightvalve 50:3c630b5eba9f 1137 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1138 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1139 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1140 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1141 // }
Lightvalve 50:3c630b5eba9f 1142 // } else {
Lightvalve 50:3c630b5eba9f 1143 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1144 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1145 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1146 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1147 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1148 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1149 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1150 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1151 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1152 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1153 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1154 //
Lightvalve 50:3c630b5eba9f 1155 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1156 //
Lightvalve 50:3c630b5eba9f 1157 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1158 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1159 // }
Lightvalve 50:3c630b5eba9f 1160 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1161 // break;
Lightvalve 50:3c630b5eba9f 1162 // }
Lightvalve 19:23b7c1ad8683 1163
Lightvalve 50:3c630b5eba9f 1164 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1165 // 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);
Lightvalve 50:3c630b5eba9f 1166 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1167 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1168 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1169 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1170 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1171 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1172 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1173 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1174 // }
Lightvalve 50:3c630b5eba9f 1175 // break;
Lightvalve 50:3c630b5eba9f 1176 // }
Lightvalve 14:8e7590227d22 1177
Lightvalve 14:8e7590227d22 1178 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1179 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1180 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1181
Lightvalve 14:8e7590227d22 1182 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1183 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1184 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1185 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1186 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1187 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1188 data_num = 0;
Lightvalve 14:8e7590227d22 1189 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1190 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1191 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1192 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1193 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1194 } else {
Lightvalve 13:747daba9cf59 1195 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1196 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1197 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1198 }
Lightvalve 14:8e7590227d22 1199
Lightvalve 17:1865016ca2e7 1200 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1201 int i;
Lightvalve 13:747daba9cf59 1202 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1203 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1204 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1205 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1206 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1207 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1208 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1209 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1210 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1211 }
Lightvalve 13:747daba9cf59 1212 }
Lightvalve 59:f308b1656d9c 1213 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1214 ID_index = 0;
Lightvalve 57:f4819de54e7a 1215 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1216 }
Lightvalve 14:8e7590227d22 1217
Lightvalve 14:8e7590227d22 1218
Lightvalve 13:747daba9cf59 1219 break;
Lightvalve 13:747daba9cf59 1220 }
Lightvalve 14:8e7590227d22 1221
Lightvalve 14:8e7590227d22 1222 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1223 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1224 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1225 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1226 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1227 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1228 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1229 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1230 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1231 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1232 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1233 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1234 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1235 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1236 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1237 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;
Lightvalve 30:8d561f16383b 1238 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1239 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;
Lightvalve 13:747daba9cf59 1240 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1241 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1242 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1243 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;
Lightvalve 13:747daba9cf59 1244 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1245 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1246 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1247 data_num = 0;
Lightvalve 14:8e7590227d22 1248
Lightvalve 30:8d561f16383b 1249 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1250 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1251 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1252
Lightvalve 30:8d561f16383b 1253 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1254 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1255 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1256
Lightvalve 30:8d561f16383b 1257 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1258 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1259 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1260 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1261
Lightvalve 60:64181f1d3e60 1262 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1263 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1264 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1265 DZ_case = -1;
Lightvalve 14:8e7590227d22 1266 } else {
Lightvalve 13:747daba9cf59 1267 DZ_case = 0;
Lightvalve 13:747daba9cf59 1268 }
Lightvalve 61:bc8c8270f0ab 1269
Lightvalve 60:64181f1d3e60 1270 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1271
Lightvalve 13:747daba9cf59 1272 first_check = 1;
Lightvalve 13:747daba9cf59 1273 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1274 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1275 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1276 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1277 DZ_index = 1;
Lightvalve 14:8e7590227d22 1278
Lightvalve 13:747daba9cf59 1279 }
Lightvalve 19:23b7c1ad8683 1280 } else {
Lightvalve 14:8e7590227d22 1281 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1282 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1283 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;
Lightvalve 60:64181f1d3e60 1284 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1285 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1286 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1287 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1288 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1289 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1290 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1291 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1292 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1293 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1294 }
Lightvalve 14:8e7590227d22 1295 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1296
Lightvalve 30:8d561f16383b 1297 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1298 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1299 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1300
Lightvalve 14:8e7590227d22 1301 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1302 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1303 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1304 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1305 } else {
Lightvalve 13:747daba9cf59 1306 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1307 }
Lightvalve 14:8e7590227d22 1308
Lightvalve 13:747daba9cf59 1309 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1310 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1311 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1312 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1313 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1314 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1315 DZ_index = 1;
Lightvalve 13:747daba9cf59 1316 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1317 }
Lightvalve 13:747daba9cf59 1318 }
Lightvalve 14:8e7590227d22 1319 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1320 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1321 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;
Lightvalve 60:64181f1d3e60 1322 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1323 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1324 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1325 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1326 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1327 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1328 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1329 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1330 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1331 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1332 }
Lightvalve 14:8e7590227d22 1333 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1334
Lightvalve 30:8d561f16383b 1335 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1336 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1337 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1338 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1339 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1340
Lightvalve 14:8e7590227d22 1341 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1342 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1343 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1344 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1345 } else {
Lightvalve 60:64181f1d3e60 1346 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1347 }
Lightvalve 14:8e7590227d22 1348
Lightvalve 13:747daba9cf59 1349 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1350 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1351 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1352 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1353 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1354 first_check = 0;
Lightvalve 33:91b17819ec30 1355 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1356 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1357
Lightvalve 16:903b5a4433b4 1358 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1359
Lightvalve 60:64181f1d3e60 1360 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1361 DZ_index = 1;
Lightvalve 13:747daba9cf59 1362 }
Lightvalve 13:747daba9cf59 1363 }
Lightvalve 14:8e7590227d22 1364 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1365 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1366 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;
Lightvalve 60:64181f1d3e60 1367 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1368 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1369 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1370 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1371 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1372 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1373 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1374 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1375 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1376 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1377 }
Lightvalve 14:8e7590227d22 1378 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1379
Lightvalve 30:8d561f16383b 1380 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1381 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1382 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1383
Lightvalve 14:8e7590227d22 1384 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1385 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1386 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1387 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1388 } else {
Lightvalve 13:747daba9cf59 1389 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1390 }
Lightvalve 13:747daba9cf59 1391 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1392 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1393 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1394 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1395 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1396 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1397 DZ_index = 1;
Lightvalve 13:747daba9cf59 1398 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1399 }
Lightvalve 13:747daba9cf59 1400 }
Lightvalve 14:8e7590227d22 1401 } else {
Lightvalve 30:8d561f16383b 1402 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1403 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;
Lightvalve 60:64181f1d3e60 1404 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1405 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1406 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1407 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1408 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1409 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1410 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1411 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1412 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1413 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1414 }
Lightvalve 14:8e7590227d22 1415 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1416
Lightvalve 30:8d561f16383b 1417 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1418 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1419 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1420 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1421 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1422
Lightvalve 60:64181f1d3e60 1423 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1424 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1425 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1426 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1427 } else {
Lightvalve 13:747daba9cf59 1428 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1429 }
Lightvalve 14:8e7590227d22 1430
Lightvalve 13:747daba9cf59 1431 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1432 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1433 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1434 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1435 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1436 first_check = 0;
Lightvalve 33:91b17819ec30 1437 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1438 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1439
Lightvalve 59:f308b1656d9c 1440 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1441
Lightvalve 57:f4819de54e7a 1442 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1443 DZ_index = 1;
Lightvalve 13:747daba9cf59 1444 }
Lightvalve 13:747daba9cf59 1445 }
Lightvalve 13:747daba9cf59 1446 }
Lightvalve 14:8e7590227d22 1447 }
Lightvalve 13:747daba9cf59 1448 break;
Lightvalve 13:747daba9cf59 1449 }
Lightvalve 14:8e7590227d22 1450
Lightvalve 14:8e7590227d22 1451 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1452 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1453 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1454 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1455 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1456 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1457 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1458 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1459 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1460 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1461 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1462 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1463 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1464 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1465 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1466 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1467 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1468 first_check = 1;
Lightvalve 13:747daba9cf59 1469 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1470 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1471 ID_index = 0;
Lightvalve 13:747daba9cf59 1472 max_check = 0;
Lightvalve 13:747daba9cf59 1473 min_check = 0;
Lightvalve 13:747daba9cf59 1474 }
Lightvalve 14:8e7590227d22 1475 } else {
Lightvalve 30:8d561f16383b 1476 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1477 //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;
Lightvalve 59:f308b1656d9c 1478 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1479 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1480 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1481 data_num = 0;
Lightvalve 57:f4819de54e7a 1482 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1483
Lightvalve 14:8e7590227d22 1484 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1485 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1486 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1487 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1488 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1489 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1490 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1491 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1492 one_period_end = 1;
Lightvalve 13:747daba9cf59 1493 }
Lightvalve 30:8d561f16383b 1494 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1495 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1496 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1497 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1498 }
Lightvalve 14:8e7590227d22 1499
Lightvalve 14:8e7590227d22 1500 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1501 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1502 max_check = 1;
Lightvalve 14:8e7590227d22 1503 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1504 min_check = 1;
Lightvalve 13:747daba9cf59 1505 }
Lightvalve 13:747daba9cf59 1506 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1507
Lightvalve 13:747daba9cf59 1508 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1509 one_period_end = 0;
Lightvalve 13:747daba9cf59 1510 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1511 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1512 }
Lightvalve 14:8e7590227d22 1513
Lightvalve 14:8e7590227d22 1514 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1515
Lightvalve 13:747daba9cf59 1516 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1517 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1518 ID_index = 0;
Lightvalve 13:747daba9cf59 1519 first_check = 0;
Lightvalve 13:747daba9cf59 1520 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1521 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1522 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1523 }
Lightvalve 13:747daba9cf59 1524 }
Lightvalve 13:747daba9cf59 1525 break;
Lightvalve 13:747daba9cf59 1526 }
Lightvalve 58:2eade98630e2 1527
Lightvalve 57:f4819de54e7a 1528 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1529 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1530 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1531 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1532 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1533 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1534 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1535 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1536 }
Lightvalve 57:f4819de54e7a 1537 break;
Lightvalve 57:f4819de54e7a 1538 }
Lightvalve 58:2eade98630e2 1539
Lightvalve 58:2eade98630e2 1540
Lightvalve 57:f4819de54e7a 1541
Lightvalve 57:f4819de54e7a 1542 default:
Lightvalve 57:f4819de54e7a 1543 break;
Lightvalve 57:f4819de54e7a 1544 }
Lightvalve 57:f4819de54e7a 1545
Lightvalve 57:f4819de54e7a 1546 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1547
Lightvalve 57:f4819de54e7a 1548 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1549 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1550 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1551 break;
Lightvalve 57:f4819de54e7a 1552 }
Lightvalve 57:f4819de54e7a 1553
Lightvalve 57:f4819de54e7a 1554 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1555 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1556 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1557 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1558 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1559 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1560 } else {
Lightvalve 67:c2812cf26c38 1561 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1562 }
Lightvalve 58:2eade98630e2 1563
Lightvalve 57:f4819de54e7a 1564 break;
Lightvalve 57:f4819de54e7a 1565 }
Lightvalve 57:f4819de54e7a 1566
Lightvalve 57:f4819de54e7a 1567 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1568 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1569 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1570 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1571 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1572
Lightvalve 67:c2812cf26c38 1573 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1574 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1575 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1576 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1577
Lightvalve 67:c2812cf26c38 1578 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1579
Lightvalve 57:f4819de54e7a 1580 // torque feedback
Lightvalve 67:c2812cf26c38 1581 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1582 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1583
Lightvalve 57:f4819de54e7a 1584 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1585
Lightvalve 57:f4819de54e7a 1586 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1587 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1588 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1589
Lightvalve 57:f4819de54e7a 1590 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1591 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1592 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1593
Lightvalve 69:3995ffeaa786 1594 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1595 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
Lightvalve 57:f4819de54e7a 1596 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1597 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1598 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
Lightvalve 57:f4819de54e7a 1599 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1600 }
Lightvalve 57:f4819de54e7a 1601 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))));
Lightvalve 57:f4819de54e7a 1602 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1603
Lightvalve 57:f4819de54e7a 1604 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1605 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1606 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1607 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1608 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1609 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1610 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1611 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.
Lightvalve 57:f4819de54e7a 1612 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1613 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1614 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1615 }
Lightvalve 57:f4819de54e7a 1616 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))));
Lightvalve 57:f4819de54e7a 1617 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1618 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1619 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1620 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1621
Lightvalve 57:f4819de54e7a 1622 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1623
Lightvalve 67:c2812cf26c38 1624 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1625 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1626 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1627 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1628 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1629 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1630 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1631 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1632 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1633 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1634 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1635 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1636 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1637 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1638 }
Lightvalve 67:c2812cf26c38 1639 }
Lightvalve 57:f4819de54e7a 1640
Lightvalve 57:f4819de54e7a 1641 } else {
Lightvalve 57:f4819de54e7a 1642 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1643 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1644 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1645
Lightvalve 57:f4819de54e7a 1646 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1647 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1648
Lightvalve 72:3436ce769b1e 1649 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1650
Lightvalve 72:3436ce769b1e 1651 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1652
Lightvalve 72:3436ce769b1e 1653
Lightvalve 72:3436ce769b1e 1654 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1655 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1656 } else {
Lightvalve 72:3436ce769b1e 1657 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1658 }
Lightvalve 57:f4819de54e7a 1659
Lightvalve 57:f4819de54e7a 1660 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1661 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1662 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1663 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1664 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1665 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1666 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1667 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1668 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1669 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1670 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1671 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1672 }
Lightvalve 57:f4819de54e7a 1673 }
Lightvalve 61:bc8c8270f0ab 1674
Lightvalve 57:f4819de54e7a 1675 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1676
Lightvalve 67:c2812cf26c38 1677 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1678 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1679
Lightvalve 57:f4819de54e7a 1680 }
Lightvalve 72:3436ce769b1e 1681
Lightvalve 72:3436ce769b1e 1682 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1683
Lightvalve 57:f4819de54e7a 1684 break;
Lightvalve 57:f4819de54e7a 1685 }
Lightvalve 58:2eade98630e2 1686
Lightvalve 57:f4819de54e7a 1687 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1688 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1689 break;
Lightvalve 57:f4819de54e7a 1690 }
Lightvalve 14:8e7590227d22 1691
Lightvalve 12:6f2531038ea4 1692 default:
Lightvalve 12:6f2531038ea4 1693 break;
Lightvalve 12:6f2531038ea4 1694 }
Lightvalve 14:8e7590227d22 1695
Lightvalve 57:f4819de54e7a 1696
Lightvalve 57:f4819de54e7a 1697 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1698
Lightvalve 57:f4819de54e7a 1699 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1700 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1701 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1702 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1703 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1704 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1705
Lightvalve 57:f4819de54e7a 1706 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1707 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1708
Lightvalve 57:f4819de54e7a 1709
Lightvalve 57:f4819de54e7a 1710 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1711 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1712 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1713 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1714 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1715 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1716
Lightvalve 57:f4819de54e7a 1717 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1718 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1719 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1720 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1721 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1722 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1723 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1724 }
Lightvalve 57:f4819de54e7a 1725
Lightvalve 57:f4819de54e7a 1726 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1727
Lightvalve 67:c2812cf26c38 1728 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1729 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1730 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1731 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1732 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 67:c2812cf26c38 1733 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1734 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1735
Lightvalve 57:f4819de54e7a 1736 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1737 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1738 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1739 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1740 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1741 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1742 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1743 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1744 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1745 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1746 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1747 }
Lightvalve 57:f4819de54e7a 1748 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1749 } else {
Lightvalve 57:f4819de54e7a 1750 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1751 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1752 }
Lightvalve 57:f4819de54e7a 1753
Lightvalve 57:f4819de54e7a 1754 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1755 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1756 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1757 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1758 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1759 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1760 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1761
Lightvalve 57:f4819de54e7a 1762 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1763
Lightvalve 57:f4819de54e7a 1764 } else {
Lightvalve 57:f4819de54e7a 1765 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1766 }
Lightvalve 57:f4819de54e7a 1767
Lightvalve 57:f4819de54e7a 1768 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1769 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1770 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1771
Lightvalve 57:f4819de54e7a 1772 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1773 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1774 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1775 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1776 }
Lightvalve 89:a7b45368ea0f 1777 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1778 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1779 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1780 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1781
Lightvalve 89:a7b45368ea0f 1782 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1783 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1784 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1785 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1786 }
Lightvalve 67:c2812cf26c38 1787
Lightvalve 67:c2812cf26c38 1788 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1789 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1790 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1791
jobuuu 7:e9086c72bb22 1792 /*******************************************************
jobuuu 7:e9086c72bb22 1793 *** PWM
jobuuu 7:e9086c72bb22 1794 ********************************************************/
Lightvalve 67:c2812cf26c38 1795 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1796 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1797 }
Lightvalve 67:c2812cf26c38 1798
Lightvalve 49:e7bcfc244d40 1799 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1800 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1801 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1802 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1803 }
Lightvalve 49:e7bcfc244d40 1804 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1805
Lightvalve 19:23b7c1ad8683 1806 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1807 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1808 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1809
Lightvalve 30:8d561f16383b 1810 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1811 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1812 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1813 } else {
jobuuu 2:a1c0a37df760 1814 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1815 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1816 }
Lightvalve 13:747daba9cf59 1817
jobuuu 1:e04e563be5ce 1818 //pwm
Lightvalve 30:8d561f16383b 1819 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1820 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1821
Lightvalve 61:bc8c8270f0ab 1822
Lightvalve 57:f4819de54e7a 1823 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1824
Lightvalve 54:647072f5307a 1825 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1826 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1827 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1828 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1829 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1830 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1831 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));
Lightvalve 54:647072f5307a 1832 }
Lightvalve 57:f4819de54e7a 1833 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1834 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1835 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 1836 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1837 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1838 }
Lightvalve 52:8ea76864368a 1839 }
Lightvalve 52:8ea76864368a 1840 }
Lightvalve 56:6f50d9d3bfee 1841 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1842 //valve position
Lightvalve 54:647072f5307a 1843 double t_value = 0;
Lightvalve 97:d71c57e3515e 1844 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1845 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1846 } else {
Lightvalve 97:d71c57e3515e 1847 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1848 }
Lightvalve 97:d71c57e3515e 1849 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1850 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1851 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1852 // } else {
Lightvalve 97:d71c57e3515e 1853 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1854 // }
Lightvalve 97:d71c57e3515e 1855 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1856 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1857 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1858 // } else {
Lightvalve 97:d71c57e3515e 1859 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1860 // }
Lightvalve 67:c2812cf26c38 1861 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1862 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1863 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1864 }
Lightvalve 58:2eade98630e2 1865
Lightvalve 58:2eade98630e2 1866
Lightvalve 98:cd1b2da4704f 1867 if (flag_data_request[2] == HIGH) {
Lightvalve 89:a7b45368ea0f 1868 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1869 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1870 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1871 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1872 } else {
Lightvalve 89:a7b45368ea0f 1873 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1874 }
Lightvalve 89:a7b45368ea0f 1875 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1876 }
Lightvalve 58:2eade98630e2 1877
Lightvalve 57:f4819de54e7a 1878 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1879 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1880 ;
Lightvalve 57:f4819de54e7a 1881 }
Lightvalve 58:2eade98630e2 1882
Lightvalve 56:6f50d9d3bfee 1883 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1884 //PWM
Lightvalve 73:f80dc3970c99 1885 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1886 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1887 }
Lightvalve 57:f4819de54e7a 1888 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1889 // ;
Lightvalve 57:f4819de54e7a 1890 // }
Lightvalve 56:6f50d9d3bfee 1891 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1892 //valve position
Lightvalve 73:f80dc3970c99 1893 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1894 }
Lightvalve 20:806196fda269 1895
Lightvalve 54:647072f5307a 1896 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1897 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1898 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1899 // }
Lightvalve 54:647072f5307a 1900 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1901 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1902 //}
Lightvalve 52:8ea76864368a 1903
Lightvalve 54:647072f5307a 1904 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1905 }
Lightvalve 54:647072f5307a 1906 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1907
Lightvalve 20:806196fda269 1908 }
Lightvalve 52:8ea76864368a 1909 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1910
Lightvalve 58:2eade98630e2 1911 }