Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@125:2397bee14630, 2020-09-16 (annotated)

Committer:
Lightvalve
Date:
Wed Sep 16 03:40:55 2020 +0000
Revision:
125:2397bee14630
Parent:
124:caeba45d7493
Child:
126:146cf8e5540b
200916-2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 125:2397bee14630 1 //200916-2
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 125:2397bee14630 196 {-0.2650415897369385f,-0.2266855090856552f,0.11304140090942383f,-0.16111214458942413f,0.000962256221100688f,-0.7015852332115173f,-0.15306922793388367f,-0.34351199865341187f,-0.2485356330871582f,-0.09949490427970886f,-0.17296874523162842f,-0.4418388903141022f,-0.45639923214912415f,0.1792629212141037f,-0.22528137266635895f,-0.046356771141290665f},
Lightvalve 125:2397bee14630 197 {-0.34476131200790405f,0.05035892501473427f,-0.3440950810909271f,-0.12166793644428253f,-0.12978488206863403f,-0.564797043800354f,-0.3551466166973114f,-0.5403838157653809f,-0.0683736652135849f,0.06010306254029274f,-0.33323895931243896f,-0.2880015969276428f,0.008546403609216213f,-0.3312963545322418f,-0.1836855560541153f,-0.11869307607412338f},
Lightvalve 125:2397bee14630 198 {-0.28798386454582214f,-0.0550663098692894f,0.3188004493713379f,-0.2729038596153259f,0.578967809677124f,-0.4359968304634094f,0.2516096830368042f,-0.2467883676290512f,-0.13996797800064087f,0.17826195061206818f,-0.513801097869873f,-0.15727214515209198f,0.0398615263402462f,-0.24707339704036713f,0.04897245764732361f,0.1179916262626648f},
Lightvalve 125:2397bee14630 199 {-0.19986844062805176f,-0.14473193883895874f,0.34815579652786255f,-0.03571606054902077f,0.7015755772590637f,-0.4670792818069458f,-0.10148510336875916f,0.09462548792362213f,0.020932242274284363f,0.33684539794921875f,0.020999392494559288f,0.25216999650001526f,0.104360431432724f,-0.2532050311565399f,-0.2594349980354309f,0.46628695726394653f},
Lightvalve 125:2397bee14630 200 {-0.23217283189296722f,2.836884021759033f,-0.004507303237915039f,0.963344156742096f,-5.92897891998291f,1.1453996896743774f,0.11336228251457214f,0.5257752537727356f,0.026472793892025948f,1.2131098508834839f,1.2210519313812256f,-0.1527392864227295f,-0.0646747425198555f,0.7959047555923462f,-0.33859342336654663f,-0.638805627822876f},
Lightvalve 125:2397bee14630 201 {0.2451237589120865f,-0.4424527883529663f,0.19074231386184692f,0.9786537885665894f,-0.08557306975126266f,0.4897681772708893f,0.1446705460548401f,-0.4391725957393646f,0.029257990419864655f,-0.3657994270324707f,-0.6502208113670349f,0.6539005637168884f,-0.3794007897377014f,-0.23847676813602448f,-0.36205175518989563f,-0.4808618426322937f},
Lightvalve 125:2397bee14630 202 {-0.09238868951797485f,-0.11141838133335114f,-0.21918344497680664f,-0.07423228025436401f,-0.38859713077545166f,0.4830581545829773f,0.05268651247024536f,-0.4287216067314148f,0.3201412558555603f,-0.18582354485988617f,-0.05627317354083061f,0.4872809052467346f,-0.32073190808296204f,0.04183678701519966f,-0.13682329654693604f,-0.28983333706855774f},
Lightvalve 125:2397bee14630 203 {-0.17723223567008972f,-0.23719273507595062f,-0.23319895565509796f,0.10649680346250534f,-0.19495375454425812f,-0.17253482341766357f,-0.15703755617141724f,-0.40228527784347534f,0.024978138506412506f,0.036023057997226715f,0.09830993413925171f,-0.10601644963026047f,0.1375214159488678f,0.03312224894762039f,0.03769642114639282f,-0.11102518439292908f},
Lightvalve 125:2397bee14630 204 {-0.05873361974954605f,0.3485785126686096f,0.08977723121643066f,-0.4136718511581421f,-0.01881062611937523f,-0.1027454286813736f,-0.06348633766174316f,-0.4452950358390808f,-0.23471727967262268f,0.324480265378952f,-0.16765698790550232f,0.17052753269672394f,0.004473761189728975f,0.18368199467658997f,-0.2676756680011749f,-0.09213045984506607f},
Lightvalve 125:2397bee14630 205 {-0.2986011207103729f,-0.006048486568033695f,0.16173982620239258f,-0.44918394088745117f,0.42938488721847534f,-0.27215543389320374f,-0.26198261976242065f,-0.13064485788345337f,-0.004488010890781879f,-0.2150302678346634f,0.26757246255874634f,-0.741077184677124f,0.12457937747240067f,-0.01409436296671629f,0.3052974343299866f,-0.2758890390396118f},
Lightvalve 125:2397bee14630 206 {0.16456854343414307f,0.3465326130390167f,0.32573211193084717f,-0.11032920330762863f,0.3078192174434662f,-0.4822096824645996f,-0.17817988991737366f,-0.04153018444776535f,-0.37137818336486816f,0.25947305560112f,0.5965789556503296f,-0.5917378664016724f,-0.24988068640232086f,0.20410633087158203f,0.23379981517791748f,-0.5647242665290833f},
Lightvalve 125:2397bee14630 207 {-0.4494836926460266f,-0.9080290794372559f,-0.3532183766365051f,-0.9125430583953857f,1.6493059396743774f,-0.7588765025138855f,0.13436567783355713f,0.14007124304771423f,-0.12859687209129333f,0.21124646067619324f,-0.31362366676330566f,-0.497448593378067f,-0.07352820038795471f,0.19537241756916046f,0.09193113446235657f,-0.3929024636745453f},
Lightvalve 125:2397bee14630 208 {-0.22864265739917755f,-0.3809680640697479f,0.173875629901886f,-0.28200459480285645f,1.1228809356689453f,-0.08153393864631653f,-0.21062730252742767f,-0.013611496426165104f,-0.1476786583662033f,-0.17484146356582642f,-0.09890472143888474f,-0.7095948457717896f,-0.19261428713798523f,0.10025075823068619f,-0.19507692754268646f,-0.8600208163261414f},
Lightvalve 125:2397bee14630 209 {-0.37679407000541687f,0.19774684309959412f,0.36161231994628906f,-0.17996598780155182f,-0.007960074581205845f,-0.09807709604501724f,-0.2803434431552887f,-0.3882972300052643f,-0.10102713108062744f,-0.09765742719173431f,-0.10934720188379288f,-0.7794925570487976f,-0.6264658570289612f,0.03252812474966049f,0.04202204942703247f,-0.740649402141571f},
Lightvalve 125:2397bee14630 210 {-0.03853116184473038f,0.9125444889068604f,0.1776806116104126f,0.30703380703926086f,-0.31755203008651733f,0.2315739542245865f,0.036818891763687134f,0.030226821079850197f,0.2836821973323822f,0.3701620101928711f,0.019196582958102226f,-0.9966630339622498f,-0.2679782807826996f,0.09686482697725296f,0.058527231216430664f,-0.9265385270118713f},
Lightvalve 125:2397bee14630 211 {-0.0996430516242981f,1.2574621438980103f,-0.3542669713497162f,-0.5794497132301331f,-0.6418799161911011f,-0.5013198852539062f,-0.13638360798358917f,-0.36097314953804016f,0.19444529712200165f,0.9763175249099731f,0.6531984806060791f,-1.2213093042373657f,-0.4945835471153259f,0.9012706875801086f,-0.07223698496818542f,-0.865706205368042f},
Lightvalve 125:2397bee14630 212 {0.5654222965240479f,-0.5102725028991699f,0.14635330438613892f,2.6740050315856934f,-1.6372088193893433f,2.1711809635162354f,-0.03628063201904297f,-1.0233087539672852f,-0.03756094351410866f,-1.5304253101348877f,-1.823265552520752f,2.1647331714630127f,0.17856623232364655f,-1.4666118621826172f,0.25779521465301514f,-0.3929840922355652f},
Lightvalve 125:2397bee14630 213 {0.17067764699459076f,-0.5587964653968811f,0.18322283029556274f,1.1901689767837524f,-1.9191030263900757f,1.498706340789795f,-0.3163079023361206f,-0.349752813577652f,-0.3390539884567261f,-1.0395170450210571f,-0.9607593417167664f,1.3131834268569946f,0.4122202396392822f,-0.9036545157432556f,-0.2407861351966858f,0.14935609698295593f},
Lightvalve 125:2397bee14630 214 {-0.3221697509288788f,-0.46991419792175293f,-0.2609631419181824f,-0.36409568786621094f,1.2114920616149902f,-0.6748901605606079f,0.2401489019393921f,-0.4093233346939087f,-0.33513402938842773f,0.036116499453783035f,-0.24113763868808746f,0.43791481852531433f,0.22877435386180878f,0.606373131275177f,-0.28592410683631897f,0.009643382392823696f},
Lightvalve 125:2397bee14630 215 {0.02481945790350437f,-0.27907565236091614f,0.1335710883140564f,-1.5815545320510864f,2.0964059829711914f,-1.4364897012710571f,-0.1246849000453949f,-0.19263654947280884f,-0.13507309556007385f,0.5806243419647217f,0.7261980772018433f,0.03575444594025612f,0.2714070677757263f,1.2584396600723267f,0.1255095899105072f,0.609761118888855f},
Lightvalve 125:2397bee14630 216 {-0.5438539981842041f,-0.7084044218063354f,-0.07108169794082642f,-0.9551764726638794f,2.052342653274536f,-1.4793479442596436f,0.13563674688339233f,0.21979449689388275f,-0.3204258680343628f,0.3673838973045349f,0.336106538772583f,-0.5366897583007812f,-0.17895866930484772f,1.2046540975570679f,0.01829466223716736f,0.6008890867233276f},
Lightvalve 125:2397bee14630 217 {-0.47640806436538696f,-0.7512473464012146f,0.24740570783615112f,-0.5231333374977112f,1.2888580560684204f,-0.5799462795257568f,0.25593245029449463f,0.08714229613542557f,-0.04646488279104233f,0.34195324778556824f,0.28199899196624756f,-0.14047646522521973f,0.2135162502527237f,0.3117673397064209f,0.056514471769332886f,0.3938440680503845f},
Lightvalve 125:2397bee14630 218 {0.09136072546243668f,-0.07769602537155151f,-0.3288555443286896f,0.01780693233013153f,0.14057400822639465f,-0.35934290289878845f,-0.11800059676170349f,-0.057746078819036484f,-0.24742496013641357f,0.5071731805801392f,0.4942764639854431f,0.056929513812065125f,0.035150449723005295f,0.033244676887989044f,-0.3194865584373474f,0.3426465392112732f},
Lightvalve 125:2397bee14630 219 {0.0014575060922652483f,-0.29516175389289856f,-0.29844698309898376f,-0.1353914737701416f,0.17718131840229034f,0.38220804929733276f,-0.249517560005188f,0.22828775644302368f,-0.39046934247016907f,0.3742261528968811f,0.3643115162849426f,0.058736030012369156f,0.33089911937713623f,0.2733519375324249f,0.23831695318222046f,-0.2618117332458496f},
Lightvalve 125:2397bee14630 220 {0.16441123187541962f,-0.21133501827716827f,0.20589900016784668f,0.2957554757595062f,-0.20332811772823334f,0.013652810826897621f,-0.2483310103416443f,0.10473039746284485f,-0.11949034780263901f,0.586356520652771f,-0.07662099599838257f,-0.0354391448199749f,-0.2444823831319809f,-0.158062145113945f,0.06927120685577393f,-0.40918442606925964f},
Lightvalve 125:2397bee14630 221 {-0.2850320637226105f,0.22017164528369904f,0.008588135242462158f,-0.2230854034423828f,-0.516091525554657f,0.04753005504608154f,0.013287186622619629f,-0.1095397025346756f,0.20633608102798462f,0.05842011421918869f,0.12777604162693024f,-0.2401677668094635f,0.027820343151688576f,-0.35656100511550903f,-0.1702093929052353f,-0.25127503275871277f},
Lightvalve 125:2397bee14630 222 {-0.12495747953653336f,-0.1088222935795784f,0.06708025932312012f,0.30997392535209656f,-0.3031366765499115f,0.07451160252094269f,0.27470332384109497f,-0.17629916965961456f,-0.0682818815112114f,0.20521841943264008f,-0.01818404160439968f,-0.3150874674320221f,0.052828457206487656f,-0.012664095498621464f,0.11447501182556152f,-0.21966452896595f},
Lightvalve 65:a2d7c63419c2 223 };
Lightvalve 65:a2d7c63419c2 224
Lightvalve 112:8dcb1600cb90 225 const float h2[16][16] = {
Lightvalve 125:2397bee14630 226 {-0.25210505723953247f,-0.4059171676635742f,-0.06966331601142883f,0.11002802103757858f,-0.21907491981983185f,0.2113061249256134f,0.2173425555229187f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.022778388112783432f,-0.23426251113414764f,0.08461258560419083f,0.16738787293434143f,0.09339773654937744f,-0.19839289784431458f},
Lightvalve 125:2397bee14630 227 {-0.05144146457314491f,0.26235613226890564f,0.057057321071624756f,1.2636829614639282f,-0.35503754019737244f,-2.9537904262542725f,-0.5500552654266357f,-0.3601891100406647f,-0.33757925033569336f,0.2895788848400116f,0.5950590968132019f,-0.5938291549682617f,0.17730596661567688f,0.9306899905204773f,-0.8107737898826599f,-1.5175559520721436f},
Lightvalve 112:8dcb1600cb90 228 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 125:2397bee14630 229 {-0.1073802039027214f,-2.0666306018829346f,-0.2894435524940491f,1.566843032836914f,0.08946844935417175f,1.7545222043991089f,-0.49357226490974426f,0.3874346613883972f,0.26211628317832947f,0.2953031361103058f,-0.1634923666715622f,-0.0915038138628006f,-0.576101541519165f,0.14042358100414276f,0.7474720478057861f,-0.49090006947517395f},
Lightvalve 125:2397bee14630 230 {-0.26956015825271606f,1.6032721996307373f,-0.25313520431518555f,0.3794398009777069f,0.036378175020217896f,0.21563328802585602f,-0.2639320194721222f,-0.23935875296592712f,-0.024399548768997192f,-0.39465832710266113f,-0.16570092737674713f,-0.4338889718055725f,0.05565710738301277f,-0.44686269760131836f,-0.1949615627527237f,0.3505653440952301f},
Lightvalve 125:2397bee14630 231 {0.1844814419746399f,-2.3823330402374268f,-0.3519742488861084f,-0.030160164460539818f,-0.3015052080154419f,0.9162615537643433f,-0.5335845947265625f,-0.040498148649930954f,-0.23047015070915222f,0.3579089343547821f,0.1387607455253601f,-0.43387094140052795f,-0.38586199283599854f,-1.051857590675354f,0.8926781415939331f,-1.4197138547897339f},
Lightvalve 112:8dcb1600cb90 232 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 125:2397bee14630 233 {0.053096361458301544f,0.05757596343755722f,0.33083590865135193f,0.16639335453510284f,-0.14358049631118774f,0.0038284813053905964f,-0.2811709940433502f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.3825254738330841f,-0.48409196734428406f,-0.3470988869667053f,0.15141454339027405f,0.2035769522190094f,0.00413510762155056f},
Lightvalve 125:2397bee14630 234 {-0.25820738077163696f,0.3311062157154083f,-0.11379697918891907f,0.10723091661930084f,0.041274964809417725f,-0.3537191152572632f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.04538490250706673f,-0.3197441101074219f,-0.37024784088134766f,-0.27954789996147156f,-0.38179370760917664f,-0.22979736328125f},
Lightvalve 125:2397bee14630 235 {-0.20278996229171753f,0.35637736320495605f,-0.13502129912376404f,-0.2786235511302948f,0.12987366318702698f,0.24236103892326355f,0.02539968490600586f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.883222222328186f,-0.09805093705654144f,0.2503664195537567f,-1.8711509704589844f,-0.24410827457904816f,0.38649991154670715f},
Lightvalve 125:2397bee14630 236 {-0.3232584297657013f,-0.053189944475889206f,0.0457797646522522f,-0.5087712407112122f,-0.03321319818496704f,-1.8744505643844604f,-0.03214165195822716f,-0.26336658000946045f,-0.050184011459350586f,0.12480869889259338f,0.6152644157409668f,-0.07211600244045258f,-0.453349769115448f,-1.5250720977783203f,-0.05216648057103157f,0.11892851442098618f},
Lightvalve 125:2397bee14630 237 {0.11140258610248566f,0.1321466863155365f,0.3954955041408539f,1.3737633228302002f,0.0033026933670043945f,-0.14030727744102478f,-0.42600369453430176f,-0.1593979150056839f,0.3487861454486847f,-0.32520344853401184f,0.46987098455429077f,-0.6833629012107849f,-0.08138442039489746f,-0.7832026481628418f,1.0384552478790283f,0.41698744893074036f},
Lightvalve 125:2397bee14630 238 {-0.38445141911506653f,-0.33038535714149475f,-0.15798500180244446f,0.5063937902450562f,-0.37393757700920105f,0.29281941056251526f,0.021477876231074333f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,0.04953036829829216f,-0.3957204818725586f,0.3781505823135376f,0.31499528884887695f,0.021847642958164215f,0.3083464205265045f},
Lightvalve 125:2397bee14630 239 {-0.3540099859237671f,1.4546316862106323f,-0.2018718123435974f,-0.36722248792648315f,0.07545611262321472f,-1.7687950134277344f,-0.34259331226348877f,-0.2933746874332428f,-0.24509364366531372f,0.19522181153297424f,0.7302901744842529f,-0.7415923476219177f,-0.334622323513031f,-0.4841771721839905f,-0.10593719780445099f,0.16230246424674988f},
Lightvalve 112:8dcb1600cb90 240 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 125:2397bee14630 241 {-0.6066306233406067f,0.5198500752449036f,0.12081471085548401f,-0.15702904760837555f,0.29976895451545715f,-0.20467263460159302f,-0.33610090613365173f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.4361351430416107f,-0.3206861615180969f,-0.14716669917106628f,-0.2186276614665985f,0.21438345313072205f,0.24429863691329956f},
Lightvalve 65:a2d7c63419c2 242 };
Lightvalve 65:a2d7c63419c2 243
Lightvalve 112:8dcb1600cb90 244 const float h3[16][16] = {
Lightvalve 125:2397bee14630 245 {-0.36079341173171997f,-0.10172208398580551f,-0.05422573536634445f,-0.3531520962715149f,-0.1784299612045288f,0.016887450590729713f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.05566512793302536f,0.30659419298171997f,-0.31901490688323975f,0.15585735440254211f},
Lightvalve 125:2397bee14630 246 {0.047732532024383545f,1.0753889083862305f,0.17731982469558716f,-0.7493314743041992f,-0.2843036353588104f,0.9747467637062073f,-0.3198729455471039f,-0.0939856767654419f,1.0722424983978271f,-0.5520620346069336f,0.21625272929668427f,-0.3128277659416199f,0.27079981565475464f,-0.016030684113502502f,-0.49918901920318604f,-2.110337018966675f},
Lightvalve 115:f41863b95e6f 247 {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 125:2397bee14630 248 {-0.30922991037368774f,0.014257480390369892f,0.6579341292381287f,-0.7031058669090271f,0.8574787378311157f,-0.1417912095785141f,0.20021501183509827f,0.07002416253089905f,-0.25067853927612305f,-0.3505967855453491f,-0.4693567156791687f,0.2691781222820282f,-0.3446228504180908f,-0.5491616129875183f,0.32736796140670776f,1.543021559715271f},
Lightvalve 125:2397bee14630 249 {-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},
Lightvalve 125:2397bee14630 250 {-0.37449589371681213f,0.46526315808296204f,1.1900017261505127f,1.531158447265625f,-0.09719792008399963f,0.31513187289237976f,-0.18732719123363495f,0.22384825348854065f,0.0015948208747431636f,-0.1597813218832016f,-0.6037359237670898f,0.0869547575712204f,1.306787133216858f,0.013234049081802368f,0.8242419362068176f,-1.228737235069275f},
Lightvalve 125:2397bee14630 251 {0.4110594093799591f,0.1605031043291092f,-0.16130556166172028f,0.37246426939964294f,0.3355327248573303f,-0.19788698852062225f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.3305956721305847f,-0.039165765047073364f,0.18454331159591675f,-0.3391006588935852f},
Lightvalve 125:2397bee14630 252 {-0.40892091393470764f,-0.035043053328990936f,-0.3115358054637909f,0.3177052438259125f,0.37669578194618225f,-0.12974904477596283f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.1972155123949051f,-0.36560842394828796f,-0.0011195334373041987f,0.005298197269439697f},
Lightvalve 115:f41863b95e6f 253 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 125:2397bee14630 254 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 125:2397bee14630 255 {0.15459725260734558f,0.5162972807884216f,-0.13875530660152435f,-4.656667709350586f,-0.8446860909461975f,0.24457228183746338f,-0.08742031455039978f,-0.09931918233633041f,-0.35160648822784424f,-0.5430967211723328f,-0.18435607850551605f,-0.44884198904037476f,-0.060661181807518005f,-0.9421484470367432f,0.855506181716919f,0.3708033561706543f},
Lightvalve 125:2397bee14630 256 {-0.408692330121994f,0.07973938435316086f,0.016587544232606888f,0.26259350776672363f,0.11990524083375931f,-0.1113203763961792f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.6542379856109619f,0.03996849060058594f,-0.6105207800865173f,-0.14511774480342865f,-0.14723564684391022f,0.10698546469211578f},
Lightvalve 125:2397bee14630 257 {-0.2991822361946106f,0.2525568902492523f,0.026335960254073143f,-0.05932474136352539f,0.11362092941999435f,0.11951722204685211f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.13153821229934692f,-0.1653849333524704f,0.24731771647930145f,-0.16869547963142395f},
Lightvalve 125:2397bee14630 258 {-0.2675279378890991f,0.013630464673042297f,0.5430143475532532f,-0.1550510823726654f,0.17619849741458893f,-0.05799423158168793f,-0.32875844836235046f,-0.31893211603164673f,-3.0947272777557373f,-0.6940340995788574f,-0.6170888543128967f,-0.5206098556518555f,1.1521424055099487f,-0.9339458346366882f,0.9837495684623718f,-0.630854070186615f},
Lightvalve 125:2397bee14630 259 {-0.015470266342163086f,-0.6298753619194031f,0.9077247977256775f,0.09919581562280655f,0.20719179511070251f,-0.8172785043716431f,0.05196094512939453f,-0.15130402147769928f,-1.1530804634094238f,-0.658012330532074f,-0.5316575765609741f,-0.25431928038597107f,0.7105571031570435f,-1.4784846305847168f,0.2771899700164795f,-0.51945960521698f},
Lightvalve 125:2397bee14630 260 {0.1863725483417511f,0.3316158652305603f,-0.3408939242362976f,0.2283833622932434f,0.05066967010498047f,0.13183023035526276f,0.04860696196556091f,0.021250905469059944f,-0.3624637722969055f,0.03372818976640701f,-0.7151399254798889f,0.06625616550445557f,0.657176673412323f,-0.13679352402687073f,-0.46388790011405945f,-2.0645017623901367f},
Lightvalve 66:a8e6799dbce3 261 };
Lightvalve 65:a2d7c63419c2 262
Lightvalve 125:2397bee14630 263 const float hout[16] = { 0.45773375034332275f,0.1573396921157837f,-0.2266036719083786f,-0.34220030903816223f,-0.12916159629821777f,0.21063542366027832f,0.0030125975608825684f,0.09771253168582916f,-0.16219666600227356f,-0.09851107746362686f,0.21235927939414978f,-0.26737266778945923f,-0.22092729806900024f,-0.07228755950927734f,0.38283488154411316f,-0.3793788552284241f };
Lightvalve 66:a8e6799dbce3 264
Lightvalve 125:2397bee14630 265 const float b1[16] = { 0.7116228342056274f,0.7612383961677551f,-1.7145336866378784f,0.5937538146972656f,-0.09950263798236847f,1.5499048233032227f,-0.058932315558195114f,0.6715773940086365f,0.534138560295105f,-1.006351113319397f,0.7057833075523376f,1.6850756406784058f,-0.3508627712726593f,-0.8155248761177063f,-1.087764859199524f,0.8281255960464478f };
Lightvalve 87:471334725012 266
Lightvalve 125:2397bee14630 267 const float b2[16] = { -0.3337513506412506f,-0.5391920208930969f,-1.4564176797866821f,-1.128948450088501f,-0.6939148902893066f,0.5002384781837463f,0.22250673174858093f,-0.33680295944213867f,-1.20063054561615f,-1.912178635597229f,0.12254471331834793f,0.106278195977211f,-0.24708500504493713f,2.269289493560791f,0.5072054266929626f,1.6524643898010254f };
Lightvalve 65:a2d7c63419c2 268
Lightvalve 125:2397bee14630 269 const float b3[16] = { -1.963319182395935f,-0.17327481508255005f,0.12254021316766739f,0.298814982175827f,0.31169232726097107f,0.9381092190742493f,-0.45353031158447266f,-0.8102949261665344f,-0.3720570504665375f,0.19731217622756958f,-0.47558876872062683f,-0.08406878262758255f,-0.46960222721099854f,0.08271750062704086f,-1.1466164588928223f,-1.295691967010498f };
Lightvalve 87:471334725012 270
Lightvalve 125:2397bee14630 271 const float bout[1] = { -0.23560747504234314f };
Lightvalve 65:a2d7c63419c2 272
Lightvalve 66:a8e6799dbce3 273
Lightvalve 87:471334725012 274 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 275 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 276
GiJeongKim 0:51c43836c1d7 277 int main()
GiJeongKim 0:51c43836c1d7 278 {
Lightvalve 66:a8e6799dbce3 279
Lightvalve 65:a2d7c63419c2 280 HAL_Init();
Lightvalve 65:a2d7c63419c2 281 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 282
jobuuu 6:df07d3491e3a 283 /*********************************
jobuuu 1:e04e563be5ce 284 *** Initialization
jobuuu 6:df07d3491e3a 285 *********************************/
Lightvalve 69:3995ffeaa786 286 LED = 0;
Lightvalve 61:bc8c8270f0ab 287 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 288
GiJeongKim 0:51c43836c1d7 289 // i2c init
Lightvalve 8:5d2eebdad025 290 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 291 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 292 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 293 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 294 make_delay();
jobuuu 2:a1c0a37df760 295
GiJeongKim 0:51c43836c1d7 296 // // spi init
Lightvalve 16:903b5a4433b4 297 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 298 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 299 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 300 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 301 make_delay();
Lightvalve 21:e5f1a43ea6f9 302
Lightvalve 16:903b5a4433b4 303 //rom
Lightvalve 19:23b7c1ad8683 304 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 305 make_delay();
Lightvalve 13:747daba9cf59 306
GiJeongKim 0:51c43836c1d7 307 // ADC init
jobuuu 5:a4319f79457b 308 Init_ADC();
Lightvalve 11:82d8768d7351 309 make_delay();
jobuuu 2:a1c0a37df760 310
GiJeongKim 0:51c43836c1d7 311 // Pwm init
GiJeongKim 0:51c43836c1d7 312 Init_PWM();
GiJeongKim 0:51c43836c1d7 313 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 314 make_delay();
Lightvalve 13:747daba9cf59 315
Lightvalve 11:82d8768d7351 316 // TMR3 init
Lightvalve 11:82d8768d7351 317 Init_TMR3();
Lightvalve 11:82d8768d7351 318 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 21:e5f1a43ea6f9 320
Lightvalve 50:3c630b5eba9f 321 // TMR2 init
Lightvalve 56:6f50d9d3bfee 322 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 323 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 324 // make_delay();
Lightvalve 21:e5f1a43ea6f9 325
GiJeongKim 0:51c43836c1d7 326 // CAN
jobuuu 2:a1c0a37df760 327 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 328 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 329 make_delay();
Lightvalve 34:bb2ca2fc2a8e 330
Lightvalve 23:59218d4a256d 331 //Timer priority
Lightvalve 23:59218d4a256d 332 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 333 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 334 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 335
Lightvalve 23:59218d4a256d 336 //can.reset();
Lightvalve 19:23b7c1ad8683 337 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 338
GiJeongKim 0:51c43836c1d7 339 // spi _ enc
GiJeongKim 0:51c43836c1d7 340 spi_enc_set_init();
Lightvalve 11:82d8768d7351 341 make_delay();
Lightvalve 13:747daba9cf59 342
Lightvalve 11:82d8768d7351 343 //DAC init
Lightvalve 58:2eade98630e2 344 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 345 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 346 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 347 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 348 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 349 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 350 }
Lightvalve 11:82d8768d7351 351 make_delay();
Lightvalve 13:747daba9cf59 352
Lightvalve 19:23b7c1ad8683 353 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 354 if(i%2==0)
Lightvalve 38:118df027d851 355 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 356 else
Lightvalve 38:118df027d851 357 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 358 }
Lightvalve 61:bc8c8270f0ab 359
Lightvalve 61:bc8c8270f0ab 360
jobuuu 6:df07d3491e3a 361 /************************************
jobuuu 1:e04e563be5ce 362 *** Program is operating!
jobuuu 6:df07d3491e3a 363 *************************************/
GiJeongKim 0:51c43836c1d7 364 while(1) {
Lightvalve 66:a8e6799dbce3 365 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 366 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 367 //i2c
Lightvalve 66:a8e6799dbce3 368
Lightvalve 65:a2d7c63419c2 369 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 370 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 371 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 372 // LED=0;
Lightvalve 65:a2d7c63419c2 373 // } else
Lightvalve 65:a2d7c63419c2 374 // LED = 1;
Lightvalve 65:a2d7c63419c2 375 timer_while = 0;
Lightvalve 66:a8e6799dbce3 376 //}
Lightvalve 66:a8e6799dbce3 377
Lightvalve 66:a8e6799dbce3 378 timer_while ++;
Lightvalve 66:a8e6799dbce3 379
Lightvalve 87:471334725012 380 //LED = 0;
Lightvalve 87:471334725012 381
Lightvalve 73:f80dc3970c99 382 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 383 LED = 0;
Lightvalve 73:f80dc3970c99 384 }
Lightvalve 66:a8e6799dbce3 385
Lightvalve 73:f80dc3970c99 386 else if(NN_Control_Flag == 1) {
Lightvalve 117:7141c0517b82 387
Lightvalve 117:7141c0517b82 388 int ind = 0;
Lightvalve 117:7141c0517b82 389 for(int i=0; i<numpast_u; i++) {
Lightvalve 118:af86e883dcb4 390 input_NN[ind] = u_past[time_interval*i];
Lightvalve 117:7141c0517b82 391 ind = ind + 1;
Lightvalve 117:7141c0517b82 392 }
Lightvalve 117:7141c0517b82 393
Lightvalve 117:7141c0517b82 394 for(int i=0; i<numpast_x; i++) {
Lightvalve 118:af86e883dcb4 395 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 117:7141c0517b82 396 ind = ind + 1;
Lightvalve 117:7141c0517b82 397 }
Lightvalve 117:7141c0517b82 398 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 117:7141c0517b82 399 ind = ind + 1;
Lightvalve 121:89396c37b03e 400
Lightvalve 122:dcb3ce3056a0 401 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 122:dcb3ce3056a0 402 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 403 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 404 // }
Lightvalve 117:7141c0517b82 405
Lightvalve 117:7141c0517b82 406 for(int i=0; i<numpast_f; i++) {
Lightvalve 118:af86e883dcb4 407 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 408 ind = ind + 1;
Lightvalve 117:7141c0517b82 409 }
Lightvalve 117:7141c0517b82 410 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 411 ind = ind + 1;
Lightvalve 117:7141c0517b82 412 for(int i=0; i<numfuture_f; i++) {
Lightvalve 118:af86e883dcb4 413 input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve 118:af86e883dcb4 414 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve 117:7141c0517b82 415 ind = ind + 1;
Lightvalve 117:7141c0517b82 416 }
Lightvalve 117:7141c0517b82 417
Lightvalve 112:8dcb1600cb90 418 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 419 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 420 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 421 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 422
Lightvalve 112:8dcb1600cb90 423 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 424 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 425 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 426 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 427 }
Lightvalve 66:a8e6799dbce3 428 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 429 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 430 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 431 }
Lightvalve 66:a8e6799dbce3 432 }
Lightvalve 65:a2d7c63419c2 433
Lightvalve 112:8dcb1600cb90 434 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 435 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 436 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 437 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 438 }
Lightvalve 66:a8e6799dbce3 439 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 440 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 441 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 442 }
Lightvalve 66:a8e6799dbce3 443 }
Lightvalve 65:a2d7c63419c2 444
Lightvalve 112:8dcb1600cb90 445 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 446 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 447 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 448 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 449 }
Lightvalve 66:a8e6799dbce3 450 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 451 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 452 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 453 }
Lightvalve 65:a2d7c63419c2 454 }
Lightvalve 66:a8e6799dbce3 455
Lightvalve 66:a8e6799dbce3 456 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 457 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 458 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 459 }
Lightvalve 66:a8e6799dbce3 460 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 461
Lightvalve 66:a8e6799dbce3 462 }
Lightvalve 73:f80dc3970c99 463 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 464 output_normalized = output;
Lightvalve 68:328e1be06f5d 465 output = output * 20000.0f - 10000.0f;
Lightvalve 101:50159049a518 466
Lightvalve 66:a8e6799dbce3 467 if(output>=0) {
Lightvalve 66:a8e6799dbce3 468 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 469 } else {
Lightvalve 66:a8e6799dbce3 470 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 471 }
Lightvalve 87:471334725012 472
Lightvalve 88:d6e591bece22 473 // // torque feedback
Lightvalve 88:d6e591bece22 474 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 475 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 476 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 477 //
Lightvalve 88:d6e591bece22 478 //
Lightvalve 88:d6e591bece22 479 // 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 480 //
Lightvalve 88:d6e591bece22 481 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 482 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 483 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 484 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 485 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 486 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 487 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 488 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 489 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 490 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 491 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 492 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 493 // }
Lightvalve 88:d6e591bece22 494 // }
Lightvalve 87:471334725012 495
Lightvalve 69:3995ffeaa786 496
Lightvalve 69:3995ffeaa786 497 if(LED==1) {
Lightvalve 69:3995ffeaa786 498 LED=0;
Lightvalve 69:3995ffeaa786 499 } else
Lightvalve 69:3995ffeaa786 500 LED = 1;
Lightvalve 69:3995ffeaa786 501
Lightvalve 65:a2d7c63419c2 502 }
Lightvalve 62:b5452adfb2cd 503
Lightvalve 87:471334725012 504 //LED = 1;
Lightvalve 69:3995ffeaa786 505
Lightvalve 66:a8e6799dbce3 506
GiJeongKim 0:51c43836c1d7 507 }
jobuuu 1:e04e563be5ce 508 }
jobuuu 1:e04e563be5ce 509
Lightvalve 33:91b17819ec30 510 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 511 {
Lightvalve 14:8e7590227d22 512
Lightvalve 13:747daba9cf59 513 int i = 0;
Lightvalve 48:889798ff9329 514 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 515 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 516 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 517 if(i==0) {
Lightvalve 50:3c630b5eba9f 518 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 519 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 520 } else {
Lightvalve 57:f4819de54e7a 521 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 522 }
Lightvalve 14:8e7590227d22 523 } else {
Lightvalve 50:3c630b5eba9f 524 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 525 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 526 } else {
Lightvalve 57:f4819de54e7a 527 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 528 }
Lightvalve 13:747daba9cf59 529 }
Lightvalve 13:747daba9cf59 530 break;
Lightvalve 13:747daba9cf59 531 }
Lightvalve 13:747daba9cf59 532 }
Lightvalve 14:8e7590227d22 533 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 534 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 535 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 536 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 537 }
Lightvalve 36:a46e63505ed8 538
Lightvalve 57:f4819de54e7a 539 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 540 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 541
Lightvalve 13:747daba9cf59 542 }
jobuuu 6:df07d3491e3a 543
jobuuu 6:df07d3491e3a 544
Lightvalve 30:8d561f16383b 545 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 546 {
Lightvalve 13:747daba9cf59 547 int i = 0;
Lightvalve 13:747daba9cf59 548
Lightvalve 38:118df027d851 549 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 550 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 551 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 552 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 553 }
Lightvalve 38:118df027d851 554
Lightvalve 89:a7b45368ea0f 555 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 556 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 557 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 558 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 559 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 560 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 561
Lightvalve 13:747daba9cf59 562 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 563
Lightvalve 18:b8adf1582ea3 564 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 565 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 566 if(i==0) {
Lightvalve 48:889798ff9329 567 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 568 } else {
Lightvalve 48:889798ff9329 569 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 570 }
Lightvalve 13:747daba9cf59 571 break;
Lightvalve 13:747daba9cf59 572 }
Lightvalve 13:747daba9cf59 573 }
Lightvalve 59:f308b1656d9c 574 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 575 }
Lightvalve 13:747daba9cf59 576
Lightvalve 14:8e7590227d22 577 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 578 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 579 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 580 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 581 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 582 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 583 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 584 }; // duty
Lightvalve 67:c2812cf26c38 585 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 586 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 587 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 588 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 589 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 590 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 591 }; // mV
Lightvalve 13:747daba9cf59 592
Lightvalve 30:8d561f16383b 593 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 594 {
Lightvalve 30:8d561f16383b 595 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 596 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 597 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 598 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 599 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 600 } else {
Lightvalve 13:747daba9cf59 601 int idx = 0;
Lightvalve 13:747daba9cf59 602 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 603 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 604 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 605 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 606 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 607 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 608 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 609 break;
Lightvalve 13:747daba9cf59 610 }
Lightvalve 13:747daba9cf59 611 }
Lightvalve 13:747daba9cf59 612 }
Lightvalve 14:8e7590227d22 613
Lightvalve 13:747daba9cf59 614 return PWM_duty;
Lightvalve 13:747daba9cf59 615 }
jobuuu 6:df07d3491e3a 616
Lightvalve 57:f4819de54e7a 617
Lightvalve 57:f4819de54e7a 618
Lightvalve 57:f4819de54e7a 619
Lightvalve 57:f4819de54e7a 620
jobuuu 2:a1c0a37df760 621 /*******************************************************************************
jobuuu 2:a1c0a37df760 622 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 623 *******************************************************************************/
jobuuu 2:a1c0a37df760 624
Lightvalve 51:b46bed7fec80 625 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 626 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 627 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 628 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 629 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 630 {
Lightvalve 19:23b7c1ad8683 631 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 632
Lightvalve 21:e5f1a43ea6f9 633 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 634 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 635 ********************************************************/
Lightvalve 13:747daba9cf59 636
Lightvalve 57:f4819de54e7a 637 //Encoder
Lightvalve 57:f4819de54e7a 638 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 639 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 640 }
Lightvalve 61:bc8c8270f0ab 641
Lightvalve 61:bc8c8270f0ab 642 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 643 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 644 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 645 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 646 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 647 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 648 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 649
Lightvalve 67:c2812cf26c38 650
Lightvalve 67:c2812cf26c38 651 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 652 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 653 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 654 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 655 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 656
Lightvalve 17:1865016ca2e7 657
Lightvalve 58:2eade98630e2 658 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 659 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 660 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 661 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 662 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 663 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 664 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 665 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 666 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 667
Lightvalve 58:2eade98630e2 668 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 669 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 670 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 671 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 672 }
Lightvalve 58:2eade98630e2 673 }
Lightvalve 61:bc8c8270f0ab 674
Lightvalve 58:2eade98630e2 675 // //Pressure sensor A
Lightvalve 58:2eade98630e2 676 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 677 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 678 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 679 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 680 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 681 // 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 682 //
Lightvalve 58:2eade98630e2 683 //
Lightvalve 58:2eade98630e2 684 // //Pressure sensor B
Lightvalve 58:2eade98630e2 685 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 686 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 687 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 688 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 689
Lightvalve 17:1865016ca2e7 690
Lightvalve 21:e5f1a43ea6f9 691 //Current
Lightvalve 21:e5f1a43ea6f9 692 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 693 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 694 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 695 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 696 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 697 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 698 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 699
Lightvalve 57:f4819de54e7a 700 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 701 }
Lightvalve 11:82d8768d7351 702 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 703 }
Lightvalve 19:23b7c1ad8683 704
Lightvalve 19:23b7c1ad8683 705
Lightvalve 18:b8adf1582ea3 706 int j =0;
Lightvalve 54:647072f5307a 707 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 708 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 709 int cnt_trans = 0;
Lightvalve 48:889798ff9329 710 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 711 int can_rest =0;
Lightvalve 48:889798ff9329 712
Lightvalve 11:82d8768d7351 713 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 714 {
Lightvalve 19:23b7c1ad8683 715 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 716
Lightvalve 57:f4819de54e7a 717 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 718 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 719 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 720 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 721 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 722 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 723 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 724 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 725 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 726 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 727 }
Lightvalve 50:3c630b5eba9f 728
Lightvalve 50:3c630b5eba9f 729 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 730 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 731 cnt_trans++;
Lightvalve 46:2694daea349b 732 torq.err_sum = 0;
Lightvalve 48:889798ff9329 733 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 734 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 735 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 736 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 737 cnt_trans++;
Lightvalve 46:2694daea349b 738 torq.err_sum = 0;
Lightvalve 48:889798ff9329 739 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 740 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 741 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 742 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 743 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 744 } else {
Lightvalve 58:2eade98630e2 745 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 746 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 747 }
Lightvalve 45:35fa6884d0c6 748
Lightvalve 50:3c630b5eba9f 749
Lightvalve 57:f4819de54e7a 750 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 751 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 752
Lightvalve 57:f4819de54e7a 753 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 754 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 755 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 756 } else {
Lightvalve 57:f4819de54e7a 757 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 758 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 759 }
Lightvalve 56:6f50d9d3bfee 760
Lightvalve 56:6f50d9d3bfee 761
Lightvalve 56:6f50d9d3bfee 762
Lightvalve 57:f4819de54e7a 763 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 764
Lightvalve 57:f4819de54e7a 765 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 766 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 767 break;
Lightvalve 13:747daba9cf59 768 }
Lightvalve 14:8e7590227d22 769
Lightvalve 14:8e7590227d22 770 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 771 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 772 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 773 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 774
Lightvalve 14:8e7590227d22 775 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 776 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 777 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 778
Lightvalve 84:c355d3e52bf1 779 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 780
Lightvalve 30:8d561f16383b 781 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 782 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 783
Lightvalve 16:903b5a4433b4 784 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 785 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 786 }
Lightvalve 13:747daba9cf59 787 } else {
Lightvalve 58:2eade98630e2 788 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 789 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 790 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 791 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 792
Lightvalve 16:903b5a4433b4 793 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 794
Lightvalve 30:8d561f16383b 795 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 796
Lightvalve 13:747daba9cf59 797 }
Lightvalve 14:8e7590227d22 798 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 799 break;
Lightvalve 19:23b7c1ad8683 800 }
Lightvalve 14:8e7590227d22 801
Lightvalve 50:3c630b5eba9f 802 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 803 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 804 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 805 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 806 // }
Lightvalve 50:3c630b5eba9f 807 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 808 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 809 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 810 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 811 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 812 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 813 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 814 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 815 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 816 // }
Lightvalve 50:3c630b5eba9f 817 //
Lightvalve 50:3c630b5eba9f 818 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 819 // 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 820 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 821 //
Lightvalve 50:3c630b5eba9f 822 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 823 // V_out = 0;
Lightvalve 50:3c630b5eba9f 824 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 825 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 826 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 827 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 828 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 829 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 830 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 831 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 832 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 833 //
Lightvalve 50:3c630b5eba9f 834 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 835 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 836 // // | / | / |/
Lightvalve 50:3c630b5eba9f 837 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 838 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 839 // // /| / | / |
Lightvalve 50:3c630b5eba9f 840 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 841 //
Lightvalve 50:3c630b5eba9f 842 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 843 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 844 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 845 // } else {
Lightvalve 50:3c630b5eba9f 846 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 847 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 848 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 849 // }
Lightvalve 50:3c630b5eba9f 850 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 851 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 852 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 853 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 854 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 855 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 856 // }
Lightvalve 50:3c630b5eba9f 857 // } else {
Lightvalve 50:3c630b5eba9f 858 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 859 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 860 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 861 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 862 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 863 // }
Lightvalve 50:3c630b5eba9f 864 // V_out = 0;
Lightvalve 50:3c630b5eba9f 865 //
Lightvalve 50:3c630b5eba9f 866 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 867 //
Lightvalve 50:3c630b5eba9f 868 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 869 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 870 //
Lightvalve 50:3c630b5eba9f 871 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 872 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 873 // }
Lightvalve 50:3c630b5eba9f 874 // }
Lightvalve 50:3c630b5eba9f 875 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 876 // break;
Lightvalve 50:3c630b5eba9f 877 // }
Lightvalve 14:8e7590227d22 878
Lightvalve 14:8e7590227d22 879 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 880 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 881 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 882 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 883 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 884 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 885 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 886 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 887 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 888 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 889 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 890 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 891 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 892 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 893 }
Lightvalve 29:69f3f5445d6d 894 cnt_findhome++;
Lightvalve 14:8e7590227d22 895
Lightvalve 29:69f3f5445d6d 896 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 897 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 898 } else {
Lightvalve 29:69f3f5445d6d 899 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 900 }
Lightvalve 19:23b7c1ad8683 901
Lightvalve 57:f4819de54e7a 902 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 903 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 904 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 905 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 906
Lightvalve 59:f308b1656d9c 907 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 908 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 909 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 910 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 911 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 912
Lightvalve 59:f308b1656d9c 913 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 914 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 915
Lightvalve 34:bb2ca2fc2a8e 916
Lightvalve 29:69f3f5445d6d 917 } else {
Lightvalve 29:69f3f5445d6d 918 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 919 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 920 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 921 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 922 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 923 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 924 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 925 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 926 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 927 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 928 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 929
Lightvalve 67:c2812cf26c38 930
Lightvalve 67:c2812cf26c38 931 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 932 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 933 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 934 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 935 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 936 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 937 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939
Lightvalve 29:69f3f5445d6d 940 }
Lightvalve 29:69f3f5445d6d 941 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 942 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 943 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 944 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 945 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 946
Lightvalve 29:69f3f5445d6d 947 // input for position control
Lightvalve 67:c2812cf26c38 948
Lightvalve 67:c2812cf26c38 949 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 950 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 951
Lightvalve 67:c2812cf26c38 952 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 953 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 954 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 955 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 956
Lightvalve 67:c2812cf26c38 957 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 958
Lightvalve 67:c2812cf26c38 959 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 960 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 961 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 962
Lightvalve 67:c2812cf26c38 963 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 964 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 965 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 966
Lightvalve 69:3995ffeaa786 967 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 968 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 969 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 970 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 971 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 972 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 973 }
Lightvalve 67:c2812cf26c38 974 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 975 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 976
Lightvalve 67:c2812cf26c38 977 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 978
Lightvalve 67:c2812cf26c38 979
Lightvalve 67:c2812cf26c38 980
Lightvalve 67:c2812cf26c38 981 } else {
Lightvalve 67:c2812cf26c38 982 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 983 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 984
Lightvalve 67:c2812cf26c38 985 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 986 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 987 } else {
Lightvalve 67:c2812cf26c38 988 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 989 }
Lightvalve 67:c2812cf26c38 990
Lightvalve 67:c2812cf26c38 991 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 992
Lightvalve 67:c2812cf26c38 993 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 994
Lightvalve 67:c2812cf26c38 995 }
Lightvalve 67:c2812cf26c38 996
Lightvalve 67:c2812cf26c38 997
Lightvalve 67:c2812cf26c38 998
Lightvalve 67:c2812cf26c38 999
Lightvalve 59:f308b1656d9c 1000 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1001 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1002 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1003 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1004 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1005
Lightvalve 29:69f3f5445d6d 1006 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1007 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1008 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1009 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1010 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1011 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1012 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1013 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1014 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1015 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1016 }
Lightvalve 13:747daba9cf59 1017 }
Lightvalve 19:23b7c1ad8683 1018
Lightvalve 13:747daba9cf59 1019 break;
Lightvalve 13:747daba9cf59 1020 }
Lightvalve 14:8e7590227d22 1021
Lightvalve 50:3c630b5eba9f 1022 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1023 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1024 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1025 // else {
Lightvalve 50:3c630b5eba9f 1026 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1027 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1028 // }
Lightvalve 50:3c630b5eba9f 1029 // }
Lightvalve 50:3c630b5eba9f 1030 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1031 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1032 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1033 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1034 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1035 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1036 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1037 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1038 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1039 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1040 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1041 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1042 // }
Lightvalve 50:3c630b5eba9f 1043 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1044 // }
Lightvalve 50:3c630b5eba9f 1045 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1046 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1047 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1048 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1049 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1050 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1051 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1052 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1053 // 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 1054 // // 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 1055 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1056 // }
Lightvalve 50:3c630b5eba9f 1057 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1058 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1059 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1060 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1061 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1062 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1063 // 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 1064 // // 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 1065 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1066 // }
Lightvalve 50:3c630b5eba9f 1067 // }
Lightvalve 50:3c630b5eba9f 1068 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1069 //
Lightvalve 50:3c630b5eba9f 1070 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1071 //
Lightvalve 50:3c630b5eba9f 1072 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1073 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1074 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1075 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1076 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1077 // }
Lightvalve 50:3c630b5eba9f 1078 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1079 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1080 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1081 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1082 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1083 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1084 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1085 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1086 // }
Lightvalve 50:3c630b5eba9f 1087 //
Lightvalve 50:3c630b5eba9f 1088 // }
Lightvalve 50:3c630b5eba9f 1089 // break;
Lightvalve 50:3c630b5eba9f 1090 // }
Lightvalve 50:3c630b5eba9f 1091 //
Lightvalve 50:3c630b5eba9f 1092 // }
Lightvalve 14:8e7590227d22 1093 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1094 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1095 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1096 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1097 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1098
Lightvalve 14:8e7590227d22 1099 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1100 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1101 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1102 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1103 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1104
Lightvalve 38:118df027d851 1105 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1106 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1107 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1108
Lightvalve 30:8d561f16383b 1109 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1110 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1111 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1112 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1113
Lightvalve 30:8d561f16383b 1114 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1115 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1116 }
Lightvalve 13:747daba9cf59 1117 } else {
Lightvalve 57:f4819de54e7a 1118 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1119 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1120 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1121 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1122 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1123 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1124
Lightvalve 16:903b5a4433b4 1125 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1126
Lightvalve 30:8d561f16383b 1127 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1128 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1129 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1130 }
Lightvalve 14:8e7590227d22 1131 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1132 break;
Lightvalve 13:747daba9cf59 1133 }
Lightvalve 14:8e7590227d22 1134
Lightvalve 50:3c630b5eba9f 1135 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1136 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1137 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1138 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1139 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1140 // }
Lightvalve 50:3c630b5eba9f 1141 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1142 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1143 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1144 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1145 // }
Lightvalve 50:3c630b5eba9f 1146 // } else {
Lightvalve 50:3c630b5eba9f 1147 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1148 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1149 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1150 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1151 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1152 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1153 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1154 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1155 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1156 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1157 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1158 //
Lightvalve 50:3c630b5eba9f 1159 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1160 //
Lightvalve 50:3c630b5eba9f 1161 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1162 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1163 // }
Lightvalve 50:3c630b5eba9f 1164 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1165 // break;
Lightvalve 50:3c630b5eba9f 1166 // }
Lightvalve 19:23b7c1ad8683 1167
Lightvalve 50:3c630b5eba9f 1168 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1169 // 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 1170 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1171 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1172 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1173 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1174 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1175 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1176 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1177 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1178 // }
Lightvalve 50:3c630b5eba9f 1179 // break;
Lightvalve 50:3c630b5eba9f 1180 // }
Lightvalve 14:8e7590227d22 1181
Lightvalve 14:8e7590227d22 1182 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1183 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1184 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1185
Lightvalve 14:8e7590227d22 1186 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1187 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1188 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1189 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1190 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1191 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1192 data_num = 0;
Lightvalve 14:8e7590227d22 1193 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1194 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1195 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1196 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1197 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1198 } else {
Lightvalve 13:747daba9cf59 1199 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1200 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1201 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1202 }
Lightvalve 14:8e7590227d22 1203
Lightvalve 17:1865016ca2e7 1204 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1205 int i;
Lightvalve 13:747daba9cf59 1206 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1207 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1208 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1209 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1210 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1211 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1212 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1213 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1214 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1215 }
Lightvalve 13:747daba9cf59 1216 }
Lightvalve 59:f308b1656d9c 1217 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1218 ID_index = 0;
Lightvalve 57:f4819de54e7a 1219 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1220 }
Lightvalve 14:8e7590227d22 1221
Lightvalve 14:8e7590227d22 1222
Lightvalve 13:747daba9cf59 1223 break;
Lightvalve 13:747daba9cf59 1224 }
Lightvalve 14:8e7590227d22 1225
Lightvalve 14:8e7590227d22 1226 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1227 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1228 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1229 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1230 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1231 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1232 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1233 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1234 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1235 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1236 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1237 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1238 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1239 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1240 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1241 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 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 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1245 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1246 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1247 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 1248 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1249 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1250 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1251 data_num = 0;
Lightvalve 14:8e7590227d22 1252
Lightvalve 30:8d561f16383b 1253 } else if(VALVE_DZ_timer < (int) (5.0f * (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 14:8e7590227d22 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 60:64181f1d3e60 1260
Lightvalve 30:8d561f16383b 1261 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1262 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1263 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1264 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1265
Lightvalve 60:64181f1d3e60 1266 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1267 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1268 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1269 DZ_case = -1;
Lightvalve 14:8e7590227d22 1270 } else {
Lightvalve 13:747daba9cf59 1271 DZ_case = 0;
Lightvalve 13:747daba9cf59 1272 }
Lightvalve 61:bc8c8270f0ab 1273
Lightvalve 60:64181f1d3e60 1274 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1275
Lightvalve 13:747daba9cf59 1276 first_check = 1;
Lightvalve 13:747daba9cf59 1277 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1278 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1279 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1280 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1281 DZ_index = 1;
Lightvalve 14:8e7590227d22 1282
Lightvalve 13:747daba9cf59 1283 }
Lightvalve 19:23b7c1ad8683 1284 } else {
Lightvalve 14:8e7590227d22 1285 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1286 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1287 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 1288 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1289 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1290 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1291 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1293 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1294 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1295 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1296 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1297 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1298 }
Lightvalve 14:8e7590227d22 1299 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1300
Lightvalve 30:8d561f16383b 1301 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1302 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1303 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1304
Lightvalve 14:8e7590227d22 1305 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1306 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1307 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1308 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1309 } else {
Lightvalve 13:747daba9cf59 1310 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1311 }
Lightvalve 14:8e7590227d22 1312
Lightvalve 13:747daba9cf59 1313 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1314 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1315 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1316 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1317 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1318 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1319 DZ_index = 1;
Lightvalve 13:747daba9cf59 1320 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1321 }
Lightvalve 13:747daba9cf59 1322 }
Lightvalve 14:8e7590227d22 1323 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1324 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1325 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 1326 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1327 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1328 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1329 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1330 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1331 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1332 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1333 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1334 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1335 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1336 }
Lightvalve 14:8e7590227d22 1337 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1338
Lightvalve 30:8d561f16383b 1339 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1340 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1341 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1342 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1343 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1344
Lightvalve 14:8e7590227d22 1345 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1346 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1347 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1348 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1349 } else {
Lightvalve 60:64181f1d3e60 1350 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1351 }
Lightvalve 14:8e7590227d22 1352
Lightvalve 13:747daba9cf59 1353 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1354 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1355 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1356 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1357 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1358 first_check = 0;
Lightvalve 33:91b17819ec30 1359 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1360 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1361
Lightvalve 16:903b5a4433b4 1362 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1363
Lightvalve 60:64181f1d3e60 1364 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1365 DZ_index = 1;
Lightvalve 13:747daba9cf59 1366 }
Lightvalve 13:747daba9cf59 1367 }
Lightvalve 14:8e7590227d22 1368 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1369 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1370 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 1371 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1372 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1373 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1374 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1375 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1376 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1377 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1378 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1379 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1380 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1381 }
Lightvalve 14:8e7590227d22 1382 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1383
Lightvalve 30:8d561f16383b 1384 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1385 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1386 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1387
Lightvalve 14:8e7590227d22 1388 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1389 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1390 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1391 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1392 } else {
Lightvalve 13:747daba9cf59 1393 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1394 }
Lightvalve 13:747daba9cf59 1395 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1396 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1397 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1398 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1399 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1400 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1401 DZ_index = 1;
Lightvalve 13:747daba9cf59 1402 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1403 }
Lightvalve 13:747daba9cf59 1404 }
Lightvalve 14:8e7590227d22 1405 } else {
Lightvalve 30:8d561f16383b 1406 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1407 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 1408 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1409 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1410 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1411 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1412 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1413 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1414 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1415 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1416 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1417 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1418 }
Lightvalve 14:8e7590227d22 1419 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1420
Lightvalve 30:8d561f16383b 1421 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1422 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1423 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1424 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1425 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1426
Lightvalve 60:64181f1d3e60 1427 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1428 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1429 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1430 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1431 } else {
Lightvalve 13:747daba9cf59 1432 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1433 }
Lightvalve 14:8e7590227d22 1434
Lightvalve 13:747daba9cf59 1435 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1436 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1437 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1438 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1439 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1440 first_check = 0;
Lightvalve 33:91b17819ec30 1441 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1442 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1443
Lightvalve 59:f308b1656d9c 1444 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1445
Lightvalve 57:f4819de54e7a 1446 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1447 DZ_index = 1;
Lightvalve 13:747daba9cf59 1448 }
Lightvalve 13:747daba9cf59 1449 }
Lightvalve 13:747daba9cf59 1450 }
Lightvalve 14:8e7590227d22 1451 }
Lightvalve 13:747daba9cf59 1452 break;
Lightvalve 13:747daba9cf59 1453 }
Lightvalve 14:8e7590227d22 1454
Lightvalve 14:8e7590227d22 1455 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1456 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1457 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1458 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1459 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1460 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1461 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1462 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1463 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1464 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1465 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1466 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1467 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1468 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1469 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1470 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1471 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1472 first_check = 1;
Lightvalve 13:747daba9cf59 1473 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1474 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1475 ID_index = 0;
Lightvalve 13:747daba9cf59 1476 max_check = 0;
Lightvalve 13:747daba9cf59 1477 min_check = 0;
Lightvalve 13:747daba9cf59 1478 }
Lightvalve 14:8e7590227d22 1479 } else {
Lightvalve 30:8d561f16383b 1480 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1481 //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 1482 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1483 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1484 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1485 data_num = 0;
Lightvalve 57:f4819de54e7a 1486 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1487
Lightvalve 14:8e7590227d22 1488 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1489 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1490 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1491 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1492 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1493 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1494 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1495 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1496 one_period_end = 1;
Lightvalve 13:747daba9cf59 1497 }
Lightvalve 30:8d561f16383b 1498 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1499 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1500 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1501 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1502 }
Lightvalve 14:8e7590227d22 1503
Lightvalve 14:8e7590227d22 1504 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1505 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1506 max_check = 1;
Lightvalve 14:8e7590227d22 1507 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1508 min_check = 1;
Lightvalve 13:747daba9cf59 1509 }
Lightvalve 13:747daba9cf59 1510 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1511
Lightvalve 13:747daba9cf59 1512 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1513 one_period_end = 0;
Lightvalve 13:747daba9cf59 1514 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1515 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1516 }
Lightvalve 14:8e7590227d22 1517
Lightvalve 14:8e7590227d22 1518 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1519
Lightvalve 13:747daba9cf59 1520 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1521 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1522 ID_index = 0;
Lightvalve 13:747daba9cf59 1523 first_check = 0;
Lightvalve 13:747daba9cf59 1524 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1525 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1526 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1527 }
Lightvalve 13:747daba9cf59 1528 }
Lightvalve 13:747daba9cf59 1529 break;
Lightvalve 13:747daba9cf59 1530 }
Lightvalve 58:2eade98630e2 1531
Lightvalve 57:f4819de54e7a 1532 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1533 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1534 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1535 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1536 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1537 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1538 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1539 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1540 }
Lightvalve 57:f4819de54e7a 1541 break;
Lightvalve 57:f4819de54e7a 1542 }
Lightvalve 58:2eade98630e2 1543
Lightvalve 58:2eade98630e2 1544
Lightvalve 57:f4819de54e7a 1545
Lightvalve 57:f4819de54e7a 1546 default:
Lightvalve 57:f4819de54e7a 1547 break;
Lightvalve 57:f4819de54e7a 1548 }
Lightvalve 57:f4819de54e7a 1549
Lightvalve 57:f4819de54e7a 1550 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1551
Lightvalve 57:f4819de54e7a 1552 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1553 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1554 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1555 break;
Lightvalve 57:f4819de54e7a 1556 }
Lightvalve 57:f4819de54e7a 1557
Lightvalve 57:f4819de54e7a 1558 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1559 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1560 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1561 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1562 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1563 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1564 } else {
Lightvalve 67:c2812cf26c38 1565 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1566 }
Lightvalve 58:2eade98630e2 1567
Lightvalve 57:f4819de54e7a 1568 break;
Lightvalve 57:f4819de54e7a 1569 }
Lightvalve 57:f4819de54e7a 1570
Lightvalve 57:f4819de54e7a 1571 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1572 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1573 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1574 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1575 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1576
Lightvalve 67:c2812cf26c38 1577 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1578 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1579 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1580 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1581
Lightvalve 67:c2812cf26c38 1582 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1583
Lightvalve 57:f4819de54e7a 1584 // torque feedback
Lightvalve 67:c2812cf26c38 1585 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1586 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1587
Lightvalve 57:f4819de54e7a 1588 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1589
Lightvalve 57:f4819de54e7a 1590 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1591 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1592 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1593
Lightvalve 57:f4819de54e7a 1594 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1595 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1596 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1597
Lightvalve 69:3995ffeaa786 1598 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1599 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 1600 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1601 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1602 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 1603 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1604 }
Lightvalve 57:f4819de54e7a 1605 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 1606 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1607
Lightvalve 57:f4819de54e7a 1608 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1609 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1610 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1611 // 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 1612 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1613 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1614 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1615 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 1616 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1617 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1618 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1619 }
Lightvalve 57:f4819de54e7a 1620 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 1621 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1622 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1623 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1624 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1625
Lightvalve 57:f4819de54e7a 1626 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1627
Lightvalve 67:c2812cf26c38 1628 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1629 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1630 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1631 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1632 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1633 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1634 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1635 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1636 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1637 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1638 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1639 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1640 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1641 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1642 }
Lightvalve 67:c2812cf26c38 1643 }
Lightvalve 57:f4819de54e7a 1644
Lightvalve 57:f4819de54e7a 1645 } else {
Lightvalve 57:f4819de54e7a 1646 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1647 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1648 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1649
Lightvalve 57:f4819de54e7a 1650 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 1651 + 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 1652
Lightvalve 72:3436ce769b1e 1653 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 1654
Lightvalve 72:3436ce769b1e 1655 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1656
Lightvalve 72:3436ce769b1e 1657
Lightvalve 72:3436ce769b1e 1658 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1659 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1660 } else {
Lightvalve 72:3436ce769b1e 1661 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1662 }
Lightvalve 57:f4819de54e7a 1663
Lightvalve 57:f4819de54e7a 1664 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1665 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1666 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1667 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1668 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1669 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1670 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1671 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1672 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1673 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1674 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1675 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1676 }
Lightvalve 57:f4819de54e7a 1677 }
Lightvalve 61:bc8c8270f0ab 1678
Lightvalve 57:f4819de54e7a 1679 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1680
Lightvalve 67:c2812cf26c38 1681 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1682 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1683
Lightvalve 57:f4819de54e7a 1684 }
Lightvalve 72:3436ce769b1e 1685
Lightvalve 72:3436ce769b1e 1686 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1687
Lightvalve 57:f4819de54e7a 1688 break;
Lightvalve 57:f4819de54e7a 1689 }
Lightvalve 58:2eade98630e2 1690
Lightvalve 57:f4819de54e7a 1691 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1692 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1693 break;
Lightvalve 57:f4819de54e7a 1694 }
Lightvalve 14:8e7590227d22 1695
Lightvalve 12:6f2531038ea4 1696 default:
Lightvalve 12:6f2531038ea4 1697 break;
Lightvalve 12:6f2531038ea4 1698 }
Lightvalve 14:8e7590227d22 1699
Lightvalve 57:f4819de54e7a 1700
Lightvalve 57:f4819de54e7a 1701 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1702
Lightvalve 57:f4819de54e7a 1703 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1704 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1705 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1706 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1707 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1708 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1709
Lightvalve 57:f4819de54e7a 1710 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1711 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1712
Lightvalve 57:f4819de54e7a 1713
Lightvalve 57:f4819de54e7a 1714 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1715 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1716 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1717 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1718 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1719 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1720
Lightvalve 57:f4819de54e7a 1721 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1722 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1723 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1724 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1725 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1726 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1727 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1728 }
Lightvalve 57:f4819de54e7a 1729
Lightvalve 57:f4819de54e7a 1730 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1731
Lightvalve 67:c2812cf26c38 1732 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1733 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1734 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1735 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1736 // 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 1737 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1738 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1739
Lightvalve 57:f4819de54e7a 1740 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1741 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1742 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1743 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1744 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1745 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1746 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1747 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1748 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1749 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1750 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1751 }
Lightvalve 57:f4819de54e7a 1752 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1753 } else {
Lightvalve 57:f4819de54e7a 1754 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1755 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1756 }
Lightvalve 57:f4819de54e7a 1757
Lightvalve 57:f4819de54e7a 1758 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1759 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1760 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1761 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1762 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1763 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1764 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1765
Lightvalve 57:f4819de54e7a 1766 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1767
Lightvalve 57:f4819de54e7a 1768 } else {
Lightvalve 57:f4819de54e7a 1769 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1770 }
Lightvalve 57:f4819de54e7a 1771
Lightvalve 57:f4819de54e7a 1772 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1773 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1774 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1775
Lightvalve 57:f4819de54e7a 1776 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1777 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1778 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1779 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1780 }
Lightvalve 89:a7b45368ea0f 1781 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1782 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1783 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1784 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1785
Lightvalve 89:a7b45368ea0f 1786 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1787 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1788 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1789 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1790 }
Lightvalve 67:c2812cf26c38 1791
Lightvalve 67:c2812cf26c38 1792 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1793 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1794 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1795
jobuuu 7:e9086c72bb22 1796 /*******************************************************
jobuuu 7:e9086c72bb22 1797 *** PWM
jobuuu 7:e9086c72bb22 1798 ********************************************************/
Lightvalve 67:c2812cf26c38 1799 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1800 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1801 }
Lightvalve 67:c2812cf26c38 1802
Lightvalve 49:e7bcfc244d40 1803 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1804 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1805 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1806 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1807 }
Lightvalve 49:e7bcfc244d40 1808 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1809
Lightvalve 19:23b7c1ad8683 1810 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1811 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1812 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1813
Lightvalve 30:8d561f16383b 1814 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1815 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1816 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1817 } else {
jobuuu 2:a1c0a37df760 1818 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1819 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1820 }
Lightvalve 13:747daba9cf59 1821
jobuuu 1:e04e563be5ce 1822 //pwm
Lightvalve 30:8d561f16383b 1823 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1824 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1825
Lightvalve 61:bc8c8270f0ab 1826
Lightvalve 57:f4819de54e7a 1827 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1828
Lightvalve 54:647072f5307a 1829 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1830 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1831 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1832 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1833 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1834 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1835 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 1836 }
Lightvalve 57:f4819de54e7a 1837 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1838 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1839 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 1840 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1841 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 1842 }
Lightvalve 52:8ea76864368a 1843 }
Lightvalve 52:8ea76864368a 1844 }
Lightvalve 56:6f50d9d3bfee 1845 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1846 //valve position
Lightvalve 54:647072f5307a 1847 double t_value = 0;
Lightvalve 97:d71c57e3515e 1848 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1849 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1850 } else {
Lightvalve 97:d71c57e3515e 1851 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1852 }
Lightvalve 97:d71c57e3515e 1853 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1854 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1855 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1856 // } else {
Lightvalve 97:d71c57e3515e 1857 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1858 // }
Lightvalve 97:d71c57e3515e 1859 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1860 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1861 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1862 // } else {
Lightvalve 97:d71c57e3515e 1863 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1864 // }
Lightvalve 67:c2812cf26c38 1865 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1866 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1867 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1868 }
Lightvalve 58:2eade98630e2 1869
Lightvalve 58:2eade98630e2 1870
Lightvalve 98:cd1b2da4704f 1871 if (flag_data_request[2] == HIGH) {
Lightvalve 89:a7b45368ea0f 1872 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1873 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1874 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1875 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1876 } else {
Lightvalve 89:a7b45368ea0f 1877 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1878 }
Lightvalve 89:a7b45368ea0f 1879 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1880 }
Lightvalve 58:2eade98630e2 1881
Lightvalve 57:f4819de54e7a 1882 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1883 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1884 ;
Lightvalve 57:f4819de54e7a 1885 }
Lightvalve 58:2eade98630e2 1886
Lightvalve 56:6f50d9d3bfee 1887 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1888 //PWM
Lightvalve 73:f80dc3970c99 1889 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1890 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1891 }
Lightvalve 57:f4819de54e7a 1892 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1893 // ;
Lightvalve 57:f4819de54e7a 1894 // }
Lightvalve 56:6f50d9d3bfee 1895 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1896 //valve position
Lightvalve 73:f80dc3970c99 1897 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 1898 }
Lightvalve 20:806196fda269 1899
Lightvalve 54:647072f5307a 1900 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1901 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1902 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1903 // }
Lightvalve 54:647072f5307a 1904 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1905 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1906 //}
Lightvalve 52:8ea76864368a 1907
Lightvalve 54:647072f5307a 1908 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1909 }
Lightvalve 54:647072f5307a 1910 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1911
Lightvalve 20:806196fda269 1912 }
Lightvalve 52:8ea76864368a 1913 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1914
Lightvalve 58:2eade98630e2 1915 }