Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@68:328e1be06f5d, 2020-05-12 (annotated)

Committer:
Lightvalve
Date:
Tue May 12 11:25:00 2020 +0000
Revision:
68:328e1be06f5d
Parent:
67:c2812cf26c38
Child:
69:3995ffeaa786
200512_3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 10 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 11
Lightvalve 61:bc8c8270f0ab 12 using namespace std;
Lightvalve 61:bc8c8270f0ab 13 Timer t;
GiJeongKim 0:51c43836c1d7 14
Lightvalve 31:66738bfecec5 15 ///191008////
Lightvalve 31:66738bfecec5 16
jobuuu 7:e9086c72bb22 17 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 18 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 19 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 20 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 22 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 23 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 24 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 25
Lightvalve 24:ef6e1092e9e6 26
jobuuu 7:e9086c72bb22 27 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 28 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 29 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 30
jobuuu 7:e9086c72bb22 31 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 32 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 33 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 34 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 35
jobuuu 7:e9086c72bb22 36 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 37 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 38 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 39 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 40 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 41 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 42 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 43
jobuuu 7:e9086c72bb22 44 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 45 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 46
jobuuu 7:e9086c72bb22 47 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 48 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 49 CANMessage msg;
Lightvalve 11:82d8768d7351 50 void onMsgReceived()
Lightvalve 11:82d8768d7351 51 {
Lightvalve 11:82d8768d7351 52 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 53 }
jobuuu 2:a1c0a37df760 54
jobuuu 7:e9086c72bb22 55 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 56 State pos;
jobuuu 7:e9086c72bb22 57 State vel;
jobuuu 7:e9086c72bb22 58 State Vout;
jobuuu 7:e9086c72bb22 59 State torq;
jobuuu 7:e9086c72bb22 60 State pres_A;
jobuuu 7:e9086c72bb22 61 State pres_B;
jobuuu 7:e9086c72bb22 62 State cur;
Lightvalve 14:8e7590227d22 63 State valve_pos;
Lightvalve 14:8e7590227d22 64
Lightvalve 14:8e7590227d22 65 State INIT_Vout;
Lightvalve 14:8e7590227d22 66 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 67 State INIT_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_torq;
jobuuu 5:a4319f79457b 69
Lightvalve 19:23b7c1ad8683 70 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 72 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 73 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 74
Lightvalve 19:23b7c1ad8683 75 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 81
Lightvalve 61:bc8c8270f0ab 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
jobuuu 7:e9086c72bb22 85 // =============================================================================
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88
Lightvalve 12:6f2531038ea4 89 /*******************************************************************************
Lightvalve 12:6f2531038ea4 90 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 91 ******************************************************************************/
Lightvalve 13:747daba9cf59 92 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 93 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 94 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 95 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 96 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 97 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 98 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 99 };
Lightvalve 12:6f2531038ea4 100
Lightvalve 12:6f2531038ea4 101 /*******************************************************************************
Lightvalve 12:6f2531038ea4 102 * CONTROL MODE
Lightvalve 12:6f2531038ea4 103 ******************************************************************************/
Lightvalve 13:747daba9cf59 104 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 105 //control mode
Lightvalve 12:6f2531038ea4 106 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 107 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 108 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 109
Lightvalve 47:fdcb8bd86fd6 110 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 111 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 112 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 113
Lightvalve 12:6f2531038ea4 114 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 116 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 117
Lightvalve 12:6f2531038ea4 118 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 119 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 120
Lightvalve 14:8e7590227d22 121 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 122 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 124
Lightvalve 12:6f2531038ea4 125 //utility
Lightvalve 12:6f2531038ea4 126 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 127 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 128 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 129 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 130 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 132 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 133
Lightvalve 12:6f2531038ea4 134 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 135 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 136 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 137 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 138 };
Lightvalve 12:6f2531038ea4 139
Lightvalve 65:a2d7c63419c2 140 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 141 {
Lightvalve 65:a2d7c63419c2 142 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 143 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144
Lightvalve 65:a2d7c63419c2 145 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 146 */
Lightvalve 65:a2d7c63419c2 147 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 148 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 149 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 150 */
Lightvalve 65:a2d7c63419c2 151 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 161 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 162 {
Lightvalve 65:a2d7c63419c2 163 //Error_Handler();
Lightvalve 65:a2d7c63419c2 164 }
Lightvalve 65:a2d7c63419c2 165 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 166 */
Lightvalve 65:a2d7c63419c2 167 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 168 {
Lightvalve 65:a2d7c63419c2 169 //Error_Handler();
Lightvalve 65:a2d7c63419c2 170 }
Lightvalve 65:a2d7c63419c2 171 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 172 */
Lightvalve 65:a2d7c63419c2 173 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 174 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 175 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 179
Lightvalve 65:a2d7c63419c2 180 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 181 {
Lightvalve 65:a2d7c63419c2 182 //Error_Handler();
Lightvalve 65:a2d7c63419c2 183 }
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185
Lightvalve 65:a2d7c63419c2 186
Lightvalve 68:328e1be06f5d 187 float x_past[num_array_x_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 189 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 190
Lightvalve 66:a8e6799dbce3 191 float input[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 192
Lightvalve 66:a8e6799dbce3 193 const float h1[num_input][32] = {
Lightvalve 67:c2812cf26c38 194 {-4.230629920959473f,3.7482995986938477f,0.10087299346923828f,-1.249260663986206f,0.4228786528110504f,-0.5900165438652039f,-0.28529417514801025f,4.176730632781982f,-0.22588196396827698f,-3.8898375034332275f,-0.18891912698745728f,0.591685950756073f,-0.18402203917503357f,0.2365148514509201f,-0.20103082060813904f,-0.9443630576133728f,0.11390197277069092f,0.23753002285957336f,-0.3451942503452301f,1.7862669229507446f,-0.3459416627883911f,0.1018887460231781f,-0.31691664457321167f,-0.07546886801719666f,0.9590144157409668f,0.1750296652317047f,-0.16833457350730896f,0.05917641147971153f,0.3100067973136902f,-0.17902883887290955f,0.22342900931835175f,0.07611003518104553f},
Lightvalve 67:c2812cf26c38 195 {-2.969736337661743f,2.6268742084503174f,0.2844829857349396f,-1.2572543621063232f,0.2949725389480591f,-0.40602585673332214f,0.09208345413208008f,2.812852144241333f,-0.1288408488035202f,-2.4199726581573486f,-0.27550092339515686f,0.3135509788990021f,0.020206838846206665f,0.15749837458133698f,0.04370078444480896f,-0.6972789764404297f,-0.07285691052675247f,0.059967368841171265f,0.27244070172309875f,1.3432673215866089f,-0.05647682026028633f,-0.11504809558391571f,-0.0905606746673584f,0.2640003263950348f,0.6242079734802246f,0.2797521650791168f,0.12084531784057617f,0.2831539213657379f,-0.14650659263134003f,0.09343862533569336f,-0.05422786623239517f,0.09386715292930603f},
Lightvalve 67:c2812cf26c38 196 {-0.9856688976287842f,1.2492953538894653f,-0.004022121429443359f,-0.2416287362575531f,0.08375676721334457f,-0.31567850708961487f,-0.014427455142140388f,1.2782719135284424f,0.019761085510253906f,-1.0968167781829834f,0.26836007833480835f,0.12039636820554733f,-0.031272560358047485f,0.16259945929050446f,-0.3021453320980072f,-0.4570225477218628f,0.29755106568336487f,-0.25322937965393066f,0.1318707913160324f,0.6320580840110779f,0.18409328162670135f,-0.14585837721824646f,0.1290973722934723f,-0.23490183055400848f,0.21291287243366241f,0.13848352432250977f,-0.14778463542461395f,0.18564558029174805f,-0.369647353887558f,0.28840622305870056f,-0.3577423691749573f,-0.18625950813293457f},
Lightvalve 67:c2812cf26c38 197 {0.6824329495429993f,-0.5322751998901367f,-0.19558930397033691f,-0.2689341902732849f,-0.5242046117782593f,0.013336426578462124f,-0.05194856598973274f,-0.6233313083648682f,0.2818599343299866f,0.4670529365539551f,0.1137142926454544f,0.05919991806149483f,-0.11249050498008728f,0.2839790880680084f,-0.12209486961364746f,-0.020275995135307312f,-0.1303829848766327f,-0.22630342841148376f,-0.24653835594654083f,-0.31501466035842896f,-0.2647970914840698f,-0.08376853168010712f,-0.14013314247131348f,-0.277662992477417f,-0.22086156904697418f,0.1348792016506195f,0.12745562195777893f,-0.10462278127670288f,-0.016341594979166985f,0.1260412633419037f,-0.21633583307266235f,0.16906705498695374f},
Lightvalve 67:c2812cf26c38 198 {2.6963932514190674f,-2.061609983444214f,0.08011308312416077f,0.3819923400878906f,-0.7255011200904846f,0.13847801089286804f,-0.13927656412124634f,-2.6796464920043945f,-0.21323607861995697f,2.575685501098633f,-0.23677363991737366f,-0.27583199739456177f,0.20140400528907776f,0.16035087406635284f,-0.2388615608215332f,0.46706220507621765f,-0.33553919196128845f,-0.17562326788902283f,0.10578251630067825f,-1.319668173789978f,0.1036451905965805f,0.22469106316566467f,-0.2337813377380371f,-0.07104292511940002f,-0.7000943422317505f,-0.32632216811180115f,0.038649410009384155f,-0.4758243262767792f,-0.16495253145694733f,-0.15546131134033203f,-0.20156465470790863f,0.025572150945663452f},
Lightvalve 67:c2812cf26c38 199 {5.074757099151611f,-4.697023391723633f,0.2906685173511505f,1.6116559505462646f,-0.9414765238761902f,0.3160191774368286f,-0.2238575667142868f,-4.803736209869385f,-0.3351536691188812f,4.746501922607422f,0.2679271101951599f,-1.120054006576538f,-0.029951006174087524f,-0.020948145538568497f,0.20863232016563416f,0.342511385679245f,-0.6690735220909119f,-0.30441316962242126f,-0.3538511395454407f,-2.1590168476104736f,0.10130328685045242f,-0.009217172861099243f,0.11990180611610413f,0.3152395784854889f,-1.3119330406188965f,0.19827589392662048f,-0.278697669506073f,-0.05627449229359627f,-0.5008052587509155f,-0.0012509822845458984f,-0.6269418001174927f,-0.053316205739974976f},
Lightvalve 67:c2812cf26c38 200 {0.13194701075553894f,-1.1968308687210083f,0.15515866875648499f,0.4829818904399872f,0.15424390137195587f,-0.11621054261922836f,-0.34514543414115906f,-0.8330129981040955f,-0.13495880365371704f,0.5151646137237549f,-0.09287907183170319f,-0.43318071961402893f,0.09392929077148438f,-0.007367492653429508f,-0.17407774925231934f,-0.3366681933403015f,-0.12277928739786148f,-0.07779207825660706f,0.28259533643722534f,-0.5168511867523193f,-0.1835738867521286f,-0.16872906684875488f,-0.2501657009124756f,-0.23358337581157684f,-0.46349969506263733f,-0.14798402786254883f,-0.1072954386472702f,-0.16134178638458252f,-0.20340396463871002f,-0.033211708068847656f,-0.11329694092273712f,0.11262083053588867f},
Lightvalve 67:c2812cf26c38 201 {-0.6218560338020325f,-0.5857181549072266f,0.1585540771484375f,0.2830691635608673f,0.1954178363084793f,-0.35701751708984375f,-0.12434191256761551f,-0.49757781624794006f,0.24989964067935944f,0.3961395025253296f,-0.22606085240840912f,-0.5804455280303955f,0.10294389724731445f,-0.06342104822397232f,0.052227020263671875f,0.14480942487716675f,-0.04316595196723938f,-0.272625207901001f,-0.3562246263027191f,-0.3108222186565399f,-0.09970086812973022f,0.021598905324935913f,-0.12170252203941345f,-0.027094602584838867f,-0.15801021456718445f,0.016911834478378296f,-0.32526659965515137f,-0.07739252597093582f,-0.1867571920156479f,0.00411224365234375f,-0.2395312786102295f,0.24875596165657043f},
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Lightvalve 65:a2d7c63419c2 217
Lightvalve 66:a8e6799dbce3 218 const float h2[32][32] = {
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Lightvalve 65:a2d7c63419c2 251 };
Lightvalve 65:a2d7c63419c2 252
Lightvalve 66:a8e6799dbce3 253 const float h3[32][32] = {
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Lightvalve 67:c2812cf26c38 284 {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
Lightvalve 67:c2812cf26c38 285 {0.07638216018676758f,0.07996532320976257f,-0.30373215675354004f,-0.2870197892189026f,0.13120616972446442f,0.014201237820088863f,0.2795381247997284f,-0.25668495893478394f,-0.08007447421550751f,0.17683254182338715f,-0.026776641607284546f,0.02524423599243164f,0.11132927238941193f,0.25622642040252686f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.12332364171743393f,0.26962023973464966f,0.13634969294071198f,-0.001175098237581551f,-0.15799765288829803f,-0.17324526607990265f,0.21663552522659302f,0.1901901364326477f,-0.2591228187084198f,-0.061639491468667984f,-0.10711086541414261f,0.22636333107948303f,-0.2677184045314789f,0.19854798913002014f},
Lightvalve 66:a8e6799dbce3 286 };
Lightvalve 65:a2d7c63419c2 287
Lightvalve 67:c2812cf26c38 288 const float hout[32] = { 0.3285340666770935f,0.32875439524650574f,0.010172058828175068f,-0.11305646598339081f,-0.021411199122667313f,0.2888892889022827f,-0.10024870932102203f,0.09909168630838394f,-0.07379823178052902f,-0.01775532402098179f,0.022316712886095047f,-0.06981132924556732f,-0.17286384105682373f,0.14635762572288513f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.14480170607566833f,-0.07469630241394043f,-0.19646649062633514f,-0.03418174758553505f,-0.008110888302326202f,-0.14705289900302887f,-0.03402183949947357f,0.07437916845083237f,0.124146468937397f,-0.3058450520038605f,-0.21908646821975708f,-0.05386931076645851f,-0.3257754445075989f,-0.23496197164058685f,-0.007552365306764841f };
Lightvalve 66:a8e6799dbce3 289
Lightvalve 67:c2812cf26c38 290 const float b1[32] = { 0.33975231647491455f,2.7712650299072266f,-1.7145336866378784f,-0.1526036560535431f,1.1354074478149414f,0.623417854309082f,-0.2046075314283371f,1.8505465984344482f,0.5339886546134949f,-2.64107346534729f,0.5785035490989685f,1.5429713726043701f,-0.3425353467464447f,-0.8584070205688477f,-1.087764859199524f,0.945876955986023f,0.6164156794548035f,-0.26377663016319275f,0.21929186582565308f,0.9238426089286804f,-0.31435057520866394f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.9988690614700317f,-2.0880801677703857f,-1.0489267110824585f,0.6953904032707214f,0.39424675703048706f,-1.0887231826782227f,1.480643391609192f,-0.4426153898239136f };
Lightvalve 65:a2d7c63419c2 291
Lightvalve 67:c2812cf26c38 292 const float b2[32] = {-0.2411857545375824f,-0.7642630338668823f,-1.4564176797866821f,-0.5187940001487732f,-0.6939148902893066f,-0.043579138815402985f,-0.04268971085548401f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.08107675611972809f,-0.16169233620166779f,-0.21833471953868866f,1.7211838960647583f,-0.05936155840754509f,0.6158673167228699f,-1.798204779624939f,-1.5844906568527222f,-0.02391055040061474f,-0.3057551085948944f,-0.19083930552005768f,-0.07528141140937805f,-0.062231115996837616f,-1.0450503826141357f,-1.8296034336090088f,0.02526227943599224f,-0.31291842460632324f,-1.3643138408660889f,-0.6323830485343933f,-0.5739799737930298f,-1.178520679473877f,-1.3432109355926514f };
Lightvalve 65:a2d7c63419c2 293
Lightvalve 67:c2812cf26c38 294 const float b3[32] = { -1.963319182395935f,-0.49465635418891907f,-0.03699754178524017f,-0.2572087049484253f,-0.3335331678390503f,0.04053334891796112f,-0.5232781171798706f,-0.8866004347801208f,-1.5523405075073242f,0.026659280061721802f,-1.5444074869155884f,-0.07711746543645859f,-0.6993189454078674f,-1.9827897548675537f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.1742689609527588f,-0.4667721092700958f,-0.1322062909603119f,-0.7905310988426208f,0.1004210114479065f,-1.1005918979644775f,-0.9819951057434082f,0.026299534365534782f,-0.5231139063835144f,-0.23480124771595f,0.03585260361433029f,0.10936892032623291f,-2.3236680030822754f,-0.11923135071992874f,0.3063691556453705f };
Lightvalve 66:a8e6799dbce3 295
Lightvalve 67:c2812cf26c38 296 const float bout[1] = { -0.09089279919862747f};
Lightvalve 61:bc8c8270f0ab 297
Lightvalve 61:bc8c8270f0ab 298
GiJeongKim 0:51c43836c1d7 299 int main()
GiJeongKim 0:51c43836c1d7 300 {
Lightvalve 66:a8e6799dbce3 301
Lightvalve 65:a2d7c63419c2 302 HAL_Init();
Lightvalve 65:a2d7c63419c2 303 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 304
jobuuu 6:df07d3491e3a 305 /*********************************
jobuuu 1:e04e563be5ce 306 *** Initialization
jobuuu 6:df07d3491e3a 307 *********************************/
Lightvalve 57:f4819de54e7a 308 LED = 1;
Lightvalve 61:bc8c8270f0ab 309 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 310
GiJeongKim 0:51c43836c1d7 311 // i2c init
Lightvalve 8:5d2eebdad025 312 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 313 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 314 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 315 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 316 make_delay();
jobuuu 2:a1c0a37df760 317
GiJeongKim 0:51c43836c1d7 318 // // spi init
Lightvalve 16:903b5a4433b4 319 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 320 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 321 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 322 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 323 make_delay();
Lightvalve 21:e5f1a43ea6f9 324
Lightvalve 16:903b5a4433b4 325 //rom
Lightvalve 19:23b7c1ad8683 326 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 327 make_delay();
Lightvalve 13:747daba9cf59 328
GiJeongKim 0:51c43836c1d7 329 // ADC init
jobuuu 5:a4319f79457b 330 Init_ADC();
Lightvalve 11:82d8768d7351 331 make_delay();
jobuuu 2:a1c0a37df760 332
GiJeongKim 0:51c43836c1d7 333 // Pwm init
GiJeongKim 0:51c43836c1d7 334 Init_PWM();
GiJeongKim 0:51c43836c1d7 335 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 336 make_delay();
Lightvalve 13:747daba9cf59 337
Lightvalve 11:82d8768d7351 338 // TMR3 init
Lightvalve 11:82d8768d7351 339 Init_TMR3();
Lightvalve 11:82d8768d7351 340 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 341 make_delay();
Lightvalve 21:e5f1a43ea6f9 342
Lightvalve 50:3c630b5eba9f 343 // TMR2 init
Lightvalve 56:6f50d9d3bfee 344 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 345 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 346 // make_delay();
Lightvalve 21:e5f1a43ea6f9 347
GiJeongKim 0:51c43836c1d7 348 // CAN
jobuuu 2:a1c0a37df760 349 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 350 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 351 make_delay();
Lightvalve 34:bb2ca2fc2a8e 352
Lightvalve 23:59218d4a256d 353 //Timer priority
Lightvalve 23:59218d4a256d 354 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 355 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 356 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 357
Lightvalve 23:59218d4a256d 358 //can.reset();
Lightvalve 19:23b7c1ad8683 359 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 360
GiJeongKim 0:51c43836c1d7 361 // spi _ enc
GiJeongKim 0:51c43836c1d7 362 spi_enc_set_init();
Lightvalve 11:82d8768d7351 363 make_delay();
Lightvalve 13:747daba9cf59 364
Lightvalve 11:82d8768d7351 365 //DAC init
Lightvalve 58:2eade98630e2 366 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 367 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 368 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 369 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 370 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 371 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 372 }
Lightvalve 11:82d8768d7351 373 make_delay();
Lightvalve 13:747daba9cf59 374
Lightvalve 19:23b7c1ad8683 375 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 376 if(i%2==0)
Lightvalve 38:118df027d851 377 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 378 else
Lightvalve 38:118df027d851 379 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 380 }
Lightvalve 61:bc8c8270f0ab 381
Lightvalve 61:bc8c8270f0ab 382
jobuuu 6:df07d3491e3a 383 /************************************
jobuuu 1:e04e563be5ce 384 *** Program is operating!
jobuuu 6:df07d3491e3a 385 *************************************/
GiJeongKim 0:51c43836c1d7 386 while(1) {
Lightvalve 66:a8e6799dbce3 387 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 388 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 389 //i2c
Lightvalve 66:a8e6799dbce3 390
Lightvalve 65:a2d7c63419c2 391 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 392 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 393 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 394 // LED=0;
Lightvalve 65:a2d7c63419c2 395 // } else
Lightvalve 65:a2d7c63419c2 396 // LED = 1;
Lightvalve 65:a2d7c63419c2 397 timer_while = 0;
Lightvalve 66:a8e6799dbce3 398 //}
Lightvalve 66:a8e6799dbce3 399
Lightvalve 66:a8e6799dbce3 400 timer_while ++;
Lightvalve 66:a8e6799dbce3 401
Lightvalve 66:a8e6799dbce3 402
Lightvalve 66:a8e6799dbce3 403 if(NN_Control_Flag == 1) {
Lightvalve 66:a8e6799dbce3 404 float output1[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 405 float output2[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 406 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 407 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 408
Lightvalve 66:a8e6799dbce3 409 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 410 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 411 output1[index2] = output1[index2]
Lightvalve 66:a8e6799dbce3 412 + h1[index1][index2] * input[index1];
Lightvalve 66:a8e6799dbce3 413 }
Lightvalve 66:a8e6799dbce3 414 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 415 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 416 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 417 }
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 65:a2d7c63419c2 419
Lightvalve 66:a8e6799dbce3 420 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 421 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 422 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 423 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 424 }
Lightvalve 66:a8e6799dbce3 425 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 426 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 427 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 66:a8e6799dbce3 429 }
Lightvalve 65:a2d7c63419c2 430
Lightvalve 66:a8e6799dbce3 431 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 432 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 433 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 434 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 435 }
Lightvalve 66:a8e6799dbce3 436 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 437 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 438 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 439 }
Lightvalve 65:a2d7c63419c2 440 }
Lightvalve 66:a8e6799dbce3 441
Lightvalve 66:a8e6799dbce3 442 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 66:a8e6799dbce3 443 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 444 output = output + hout[index2] * output3[index1];
Lightvalve 66:a8e6799dbce3 445 }
Lightvalve 66:a8e6799dbce3 446 output = output + bout[index2];
Lightvalve 66:a8e6799dbce3 447 output = 1.0f/(1.0f+exp(-output));
Lightvalve 66:a8e6799dbce3 448 }
Lightvalve 66:a8e6799dbce3 449
Lightvalve 68:328e1be06f5d 450 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 451 if(output>=0) {
Lightvalve 66:a8e6799dbce3 452 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 453 } else {
Lightvalve 66:a8e6799dbce3 454 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 455 }
Lightvalve 65:a2d7c63419c2 456 }
Lightvalve 62:b5452adfb2cd 457
Lightvalve 65:a2d7c63419c2 458 if(LED==1) {
Lightvalve 65:a2d7c63419c2 459 LED=0;
Lightvalve 65:a2d7c63419c2 460 } else
Lightvalve 65:a2d7c63419c2 461 LED = 1;
Lightvalve 66:a8e6799dbce3 462
GiJeongKim 0:51c43836c1d7 463 }
jobuuu 1:e04e563be5ce 464 }
jobuuu 1:e04e563be5ce 465
Lightvalve 33:91b17819ec30 466 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 467 {
Lightvalve 14:8e7590227d22 468
Lightvalve 13:747daba9cf59 469 int i = 0;
Lightvalve 48:889798ff9329 470 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 471 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 472 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 473 if(i==0) {
Lightvalve 50:3c630b5eba9f 474 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 475 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 476 } else {
Lightvalve 57:f4819de54e7a 477 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 478 }
Lightvalve 14:8e7590227d22 479 } else {
Lightvalve 50:3c630b5eba9f 480 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 481 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 482 } else {
Lightvalve 57:f4819de54e7a 483 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 484 }
Lightvalve 13:747daba9cf59 485 }
Lightvalve 13:747daba9cf59 486 break;
Lightvalve 13:747daba9cf59 487 }
Lightvalve 13:747daba9cf59 488 }
Lightvalve 14:8e7590227d22 489 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 490 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 491 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 492 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 493 }
Lightvalve 36:a46e63505ed8 494
Lightvalve 57:f4819de54e7a 495 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 496 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 497
Lightvalve 13:747daba9cf59 498 }
jobuuu 6:df07d3491e3a 499
jobuuu 6:df07d3491e3a 500
Lightvalve 30:8d561f16383b 501 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 502 {
Lightvalve 13:747daba9cf59 503 int i = 0;
Lightvalve 13:747daba9cf59 504
Lightvalve 38:118df027d851 505 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 506 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 507 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 508 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 509 }
Lightvalve 38:118df027d851 510
Lightvalve 13:747daba9cf59 511 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 512 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 513 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 514 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 515 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 516 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 517
Lightvalve 13:747daba9cf59 518 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 519
Lightvalve 18:b8adf1582ea3 520 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 521 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 522 if(i==0) {
Lightvalve 48:889798ff9329 523 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 524 } else {
Lightvalve 48:889798ff9329 525 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 526 }
Lightvalve 13:747daba9cf59 527 break;
Lightvalve 13:747daba9cf59 528 }
Lightvalve 13:747daba9cf59 529 }
Lightvalve 59:f308b1656d9c 530 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 531 }
Lightvalve 13:747daba9cf59 532
Lightvalve 14:8e7590227d22 533 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 534 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 535 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 536 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 537 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 538 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 539 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 540 }; // duty
Lightvalve 67:c2812cf26c38 541 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 542 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 543 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 544 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 545 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 546 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 547 }; // mV
Lightvalve 13:747daba9cf59 548
Lightvalve 30:8d561f16383b 549 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 550 {
Lightvalve 30:8d561f16383b 551 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 552 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 553 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 554 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 555 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 556 } else {
Lightvalve 13:747daba9cf59 557 int idx = 0;
Lightvalve 13:747daba9cf59 558 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 559 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 560 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 561 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 562 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 563 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 564 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 565 break;
Lightvalve 13:747daba9cf59 566 }
Lightvalve 13:747daba9cf59 567 }
Lightvalve 13:747daba9cf59 568 }
Lightvalve 14:8e7590227d22 569
Lightvalve 13:747daba9cf59 570 return PWM_duty;
Lightvalve 13:747daba9cf59 571 }
jobuuu 6:df07d3491e3a 572
Lightvalve 57:f4819de54e7a 573
Lightvalve 57:f4819de54e7a 574
Lightvalve 57:f4819de54e7a 575
Lightvalve 57:f4819de54e7a 576
jobuuu 2:a1c0a37df760 577 /*******************************************************************************
jobuuu 2:a1c0a37df760 578 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 579 *******************************************************************************/
jobuuu 2:a1c0a37df760 580
Lightvalve 51:b46bed7fec80 581 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 582 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 583 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 584 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 585 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 586 {
Lightvalve 19:23b7c1ad8683 587 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 588
Lightvalve 21:e5f1a43ea6f9 589 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 590 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 591 ********************************************************/
Lightvalve 13:747daba9cf59 592
Lightvalve 57:f4819de54e7a 593 //Encoder
Lightvalve 57:f4819de54e7a 594 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 595 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 596 }
Lightvalve 61:bc8c8270f0ab 597
Lightvalve 61:bc8c8270f0ab 598 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 599 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 600 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 601 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 602 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 603 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 604 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 605
Lightvalve 67:c2812cf26c38 606
Lightvalve 67:c2812cf26c38 607 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 608 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 609 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 610 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 611 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 612
Lightvalve 17:1865016ca2e7 613
Lightvalve 58:2eade98630e2 614 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 615 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 616 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 617 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 618 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 619 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 620 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 621 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 622 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 623
Lightvalve 58:2eade98630e2 624 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 625 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 626 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 627 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 628 }
Lightvalve 58:2eade98630e2 629 }
Lightvalve 61:bc8c8270f0ab 630
Lightvalve 58:2eade98630e2 631 // //Pressure sensor A
Lightvalve 58:2eade98630e2 632 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 633 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 634 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 635 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 636 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 637 // 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 638 //
Lightvalve 58:2eade98630e2 639 //
Lightvalve 58:2eade98630e2 640 // //Pressure sensor B
Lightvalve 58:2eade98630e2 641 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 642 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 643 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 644 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 645
Lightvalve 17:1865016ca2e7 646
Lightvalve 21:e5f1a43ea6f9 647 //Current
Lightvalve 21:e5f1a43ea6f9 648 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 649 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 650 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 651 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 652 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 653 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 654 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 655
Lightvalve 57:f4819de54e7a 656 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 657 }
Lightvalve 11:82d8768d7351 658 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 659 }
Lightvalve 19:23b7c1ad8683 660
Lightvalve 19:23b7c1ad8683 661
Lightvalve 18:b8adf1582ea3 662 int j =0;
Lightvalve 54:647072f5307a 663 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 664 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 665 int cnt_trans = 0;
Lightvalve 48:889798ff9329 666 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 667 int can_rest =0;
Lightvalve 48:889798ff9329 668
Lightvalve 11:82d8768d7351 669 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 670 {
Lightvalve 19:23b7c1ad8683 671 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 672
Lightvalve 57:f4819de54e7a 673 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 674 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 675 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 676 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 677 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 678 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 679 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 680 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 681 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 682 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 683 }
Lightvalve 50:3c630b5eba9f 684
Lightvalve 50:3c630b5eba9f 685 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 686 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 687 cnt_trans++;
Lightvalve 46:2694daea349b 688 torq.err_sum = 0;
Lightvalve 48:889798ff9329 689 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 690 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 691 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 692 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 693 cnt_trans++;
Lightvalve 46:2694daea349b 694 torq.err_sum = 0;
Lightvalve 48:889798ff9329 695 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 696 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 697 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 698 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 699 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 700 } else {
Lightvalve 58:2eade98630e2 701 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 702 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 703 }
Lightvalve 45:35fa6884d0c6 704
Lightvalve 50:3c630b5eba9f 705
Lightvalve 57:f4819de54e7a 706 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 707 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 708
Lightvalve 57:f4819de54e7a 709 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 710 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 711 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 712 } else {
Lightvalve 57:f4819de54e7a 713 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 714 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 715 }
Lightvalve 56:6f50d9d3bfee 716
Lightvalve 56:6f50d9d3bfee 717
Lightvalve 56:6f50d9d3bfee 718
Lightvalve 57:f4819de54e7a 719 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 720
Lightvalve 57:f4819de54e7a 721 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 722 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 723 break;
Lightvalve 13:747daba9cf59 724 }
Lightvalve 14:8e7590227d22 725
Lightvalve 14:8e7590227d22 726 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 727 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 728 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 729 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 730
Lightvalve 14:8e7590227d22 731 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 732 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 733 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 734
Lightvalve 59:f308b1656d9c 735 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 736
Lightvalve 30:8d561f16383b 737 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 738 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 739
Lightvalve 16:903b5a4433b4 740 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 741 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 742 }
Lightvalve 13:747daba9cf59 743 } else {
Lightvalve 58:2eade98630e2 744 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 745 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 746 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 747 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 748
Lightvalve 16:903b5a4433b4 749 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 750
Lightvalve 30:8d561f16383b 751 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 752
Lightvalve 13:747daba9cf59 753 }
Lightvalve 14:8e7590227d22 754 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 755 break;
Lightvalve 19:23b7c1ad8683 756 }
Lightvalve 14:8e7590227d22 757
Lightvalve 50:3c630b5eba9f 758 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 759 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 760 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 761 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 762 // }
Lightvalve 50:3c630b5eba9f 763 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 764 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 765 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 766 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 767 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 768 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 769 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 770 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 771 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 772 // }
Lightvalve 50:3c630b5eba9f 773 //
Lightvalve 50:3c630b5eba9f 774 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 775 // 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 776 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 777 //
Lightvalve 50:3c630b5eba9f 778 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 779 // V_out = 0;
Lightvalve 50:3c630b5eba9f 780 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 781 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 782 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 783 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 784 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 785 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 786 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 787 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 788 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 789 //
Lightvalve 50:3c630b5eba9f 790 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 791 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 792 // // | / | / |/
Lightvalve 50:3c630b5eba9f 793 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 794 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 795 // // /| / | / |
Lightvalve 50:3c630b5eba9f 796 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 797 //
Lightvalve 50:3c630b5eba9f 798 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 799 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 800 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 801 // } else {
Lightvalve 50:3c630b5eba9f 802 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 803 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 804 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 805 // }
Lightvalve 50:3c630b5eba9f 806 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 807 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 808 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 809 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 810 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 811 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 812 // }
Lightvalve 50:3c630b5eba9f 813 // } else {
Lightvalve 50:3c630b5eba9f 814 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 815 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 816 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 817 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 818 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 819 // }
Lightvalve 50:3c630b5eba9f 820 // V_out = 0;
Lightvalve 50:3c630b5eba9f 821 //
Lightvalve 50:3c630b5eba9f 822 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 823 //
Lightvalve 50:3c630b5eba9f 824 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 825 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 826 //
Lightvalve 50:3c630b5eba9f 827 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 828 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 829 // }
Lightvalve 50:3c630b5eba9f 830 // }
Lightvalve 50:3c630b5eba9f 831 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 832 // break;
Lightvalve 50:3c630b5eba9f 833 // }
Lightvalve 14:8e7590227d22 834
Lightvalve 14:8e7590227d22 835 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 836 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 837 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 838 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 839 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 840 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 841 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 842 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 843 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 844 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 845 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 846 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 847 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 848 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 849 }
Lightvalve 29:69f3f5445d6d 850 cnt_findhome++;
Lightvalve 14:8e7590227d22 851
Lightvalve 29:69f3f5445d6d 852 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 853 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 854 } else {
Lightvalve 29:69f3f5445d6d 855 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 856 }
Lightvalve 19:23b7c1ad8683 857
Lightvalve 57:f4819de54e7a 858 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 859 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 860 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 861 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 862
Lightvalve 59:f308b1656d9c 863 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 864 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 865 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 866 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 867 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 868
Lightvalve 59:f308b1656d9c 869 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 870 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 871
Lightvalve 34:bb2ca2fc2a8e 872
Lightvalve 29:69f3f5445d6d 873 } else {
Lightvalve 29:69f3f5445d6d 874 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 875 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 876 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 877 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 878 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 879 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 880 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 881 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 882 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 883 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 884 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 885
Lightvalve 67:c2812cf26c38 886
Lightvalve 67:c2812cf26c38 887 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 888 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 889 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 890 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 891 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 892 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 893 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 894
Lightvalve 67:c2812cf26c38 895
Lightvalve 29:69f3f5445d6d 896 }
Lightvalve 29:69f3f5445d6d 897 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 898 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 899 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 900 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 901 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 902
Lightvalve 29:69f3f5445d6d 903 // input for position control
Lightvalve 67:c2812cf26c38 904
Lightvalve 67:c2812cf26c38 905 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 906 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 907
Lightvalve 67:c2812cf26c38 908 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 909 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 910 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 911 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 912
Lightvalve 67:c2812cf26c38 913 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 914
Lightvalve 67:c2812cf26c38 915 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 916 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 917 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 918
Lightvalve 67:c2812cf26c38 919 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 920 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 921 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 922
Lightvalve 67:c2812cf26c38 923 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 924 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 925 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 926 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 67:c2812cf26c38 927 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 928 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 929 }
Lightvalve 67:c2812cf26c38 930 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 931 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 932
Lightvalve 67:c2812cf26c38 933 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 934
Lightvalve 67:c2812cf26c38 935
Lightvalve 67:c2812cf26c38 936
Lightvalve 67:c2812cf26c38 937 } else {
Lightvalve 67:c2812cf26c38 938 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 939 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 940
Lightvalve 67:c2812cf26c38 941 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 942 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 943 } else {
Lightvalve 67:c2812cf26c38 944 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 945 }
Lightvalve 67:c2812cf26c38 946
Lightvalve 67:c2812cf26c38 947 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 948
Lightvalve 67:c2812cf26c38 949 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 950
Lightvalve 67:c2812cf26c38 951 }
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953
Lightvalve 67:c2812cf26c38 954
Lightvalve 67:c2812cf26c38 955
Lightvalve 59:f308b1656d9c 956 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 957 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 958 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 959 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 960 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 961
Lightvalve 29:69f3f5445d6d 962 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 963 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 964 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 965 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 966 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 967 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 968 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 969 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 970 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 971 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 972 }
Lightvalve 13:747daba9cf59 973 }
Lightvalve 19:23b7c1ad8683 974
Lightvalve 13:747daba9cf59 975 break;
Lightvalve 13:747daba9cf59 976 }
Lightvalve 14:8e7590227d22 977
Lightvalve 50:3c630b5eba9f 978 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 979 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 980 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 981 // else {
Lightvalve 50:3c630b5eba9f 982 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 983 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 984 // }
Lightvalve 50:3c630b5eba9f 985 // }
Lightvalve 50:3c630b5eba9f 986 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 987 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 988 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 989 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 990 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 991 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 992 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 993 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 994 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 995 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 996 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 997 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 998 // }
Lightvalve 50:3c630b5eba9f 999 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1000 // }
Lightvalve 50:3c630b5eba9f 1001 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1002 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1003 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1004 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1005 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1006 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1007 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1008 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1009 // 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 1010 // // 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 1011 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1012 // }
Lightvalve 50:3c630b5eba9f 1013 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1014 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1015 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1016 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1017 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1018 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1019 // 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 1020 // // 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 1021 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1022 // }
Lightvalve 50:3c630b5eba9f 1023 // }
Lightvalve 50:3c630b5eba9f 1024 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1025 //
Lightvalve 50:3c630b5eba9f 1026 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1027 //
Lightvalve 50:3c630b5eba9f 1028 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1029 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1030 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1031 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1032 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1033 // }
Lightvalve 50:3c630b5eba9f 1034 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1035 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1036 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1037 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1038 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1039 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1040 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1041 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1042 // }
Lightvalve 50:3c630b5eba9f 1043 //
Lightvalve 50:3c630b5eba9f 1044 // }
Lightvalve 50:3c630b5eba9f 1045 // break;
Lightvalve 50:3c630b5eba9f 1046 // }
Lightvalve 50:3c630b5eba9f 1047 //
Lightvalve 50:3c630b5eba9f 1048 // }
Lightvalve 14:8e7590227d22 1049 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1050 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1051 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1052 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1053 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1054
Lightvalve 14:8e7590227d22 1055 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1056 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1057 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1058 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1059 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1060
Lightvalve 38:118df027d851 1061 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1062 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1063 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1064
Lightvalve 30:8d561f16383b 1065 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1066 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1067 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1068 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1069
Lightvalve 30:8d561f16383b 1070 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1071 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1072 }
Lightvalve 13:747daba9cf59 1073 } else {
Lightvalve 57:f4819de54e7a 1074 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1075 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1076 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1077 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1078 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1079 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1080
Lightvalve 16:903b5a4433b4 1081 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1082
Lightvalve 30:8d561f16383b 1083 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1084 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1085 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1086 }
Lightvalve 14:8e7590227d22 1087 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1088 break;
Lightvalve 13:747daba9cf59 1089 }
Lightvalve 14:8e7590227d22 1090
Lightvalve 50:3c630b5eba9f 1091 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1092 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1093 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1094 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1095 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1096 // }
Lightvalve 50:3c630b5eba9f 1097 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1098 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1099 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1100 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1101 // }
Lightvalve 50:3c630b5eba9f 1102 // } else {
Lightvalve 50:3c630b5eba9f 1103 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1104 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1105 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1106 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1107 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1108 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1109 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1110 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1111 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1112 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1113 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1114 //
Lightvalve 50:3c630b5eba9f 1115 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1116 //
Lightvalve 50:3c630b5eba9f 1117 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1118 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1119 // }
Lightvalve 50:3c630b5eba9f 1120 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1121 // break;
Lightvalve 50:3c630b5eba9f 1122 // }
Lightvalve 19:23b7c1ad8683 1123
Lightvalve 50:3c630b5eba9f 1124 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1125 // 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 1126 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1127 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1128 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1129 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1130 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1131 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1132 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1133 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1134 // }
Lightvalve 50:3c630b5eba9f 1135 // break;
Lightvalve 50:3c630b5eba9f 1136 // }
Lightvalve 14:8e7590227d22 1137
Lightvalve 14:8e7590227d22 1138 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1139 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1140 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1141
Lightvalve 14:8e7590227d22 1142 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1143 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1144 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1145 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1146 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1147 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1148 data_num = 0;
Lightvalve 14:8e7590227d22 1149 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1150 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1151 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1152 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1153 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1154 } else {
Lightvalve 13:747daba9cf59 1155 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1156 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1157 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1158 }
Lightvalve 14:8e7590227d22 1159
Lightvalve 17:1865016ca2e7 1160 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1161 int i;
Lightvalve 13:747daba9cf59 1162 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1163 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1164 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1165 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1166 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1167 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1168 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1169 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1170 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1171 }
Lightvalve 13:747daba9cf59 1172 }
Lightvalve 59:f308b1656d9c 1173 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1174 ID_index = 0;
Lightvalve 57:f4819de54e7a 1175 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1176 }
Lightvalve 14:8e7590227d22 1177
Lightvalve 14:8e7590227d22 1178
Lightvalve 13:747daba9cf59 1179 break;
Lightvalve 13:747daba9cf59 1180 }
Lightvalve 14:8e7590227d22 1181
Lightvalve 14:8e7590227d22 1182 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1183 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1184 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1185 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1186 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1187 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1188 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1189 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1190 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1191 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1192 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1193 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1194 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1195 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1196 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1197 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 1198 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1199 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 1200 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1201 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1202 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1203 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 1204 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1205 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1206 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1207 data_num = 0;
Lightvalve 14:8e7590227d22 1208
Lightvalve 30:8d561f16383b 1209 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1210 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1211 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1212
Lightvalve 30:8d561f16383b 1213 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1214 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1215 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1216
Lightvalve 30:8d561f16383b 1217 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1218 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1219 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1220 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1221
Lightvalve 60:64181f1d3e60 1222 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1223 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1224 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1225 DZ_case = -1;
Lightvalve 14:8e7590227d22 1226 } else {
Lightvalve 13:747daba9cf59 1227 DZ_case = 0;
Lightvalve 13:747daba9cf59 1228 }
Lightvalve 61:bc8c8270f0ab 1229
Lightvalve 60:64181f1d3e60 1230 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1231
Lightvalve 13:747daba9cf59 1232 first_check = 1;
Lightvalve 13:747daba9cf59 1233 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1234 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1235 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1236 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1237 DZ_index = 1;
Lightvalve 14:8e7590227d22 1238
Lightvalve 13:747daba9cf59 1239 }
Lightvalve 19:23b7c1ad8683 1240 } else {
Lightvalve 14:8e7590227d22 1241 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1242 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 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 60:64181f1d3e60 1244 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1245 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1246 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1247 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1248 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1249 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1250 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1251 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1252 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1253 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1254 }
Lightvalve 14:8e7590227d22 1255 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1256
Lightvalve 30:8d561f16383b 1257 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1258 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1259 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1260
Lightvalve 14:8e7590227d22 1261 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1262 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1263 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1264 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1265 } else {
Lightvalve 13:747daba9cf59 1266 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1267 }
Lightvalve 14:8e7590227d22 1268
Lightvalve 13:747daba9cf59 1269 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1270 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1271 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1272 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1273 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1274 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1275 DZ_index = 1;
Lightvalve 13:747daba9cf59 1276 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1277 }
Lightvalve 13:747daba9cf59 1278 }
Lightvalve 14:8e7590227d22 1279 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1280 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1281 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 1282 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1283 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1284 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1285 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1286 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1287 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1288 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1289 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1290 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1291 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1292 }
Lightvalve 14:8e7590227d22 1293 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1294
Lightvalve 30:8d561f16383b 1295 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1296 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1297 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1298 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1299 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1300
Lightvalve 14:8e7590227d22 1301 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1302 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1303 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1304 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1305 } else {
Lightvalve 60:64181f1d3e60 1306 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1307 }
Lightvalve 14:8e7590227d22 1308
Lightvalve 13:747daba9cf59 1309 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1310 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1311 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1312 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1313 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1314 first_check = 0;
Lightvalve 33:91b17819ec30 1315 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1316 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1317
Lightvalve 16:903b5a4433b4 1318 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1319
Lightvalve 60:64181f1d3e60 1320 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1321 DZ_index = 1;
Lightvalve 13:747daba9cf59 1322 }
Lightvalve 13:747daba9cf59 1323 }
Lightvalve 14:8e7590227d22 1324 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1325 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1326 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 1327 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1328 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1329 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1330 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1331 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1332 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1333 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1334 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1335 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1336 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1337 }
Lightvalve 14:8e7590227d22 1338 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1339
Lightvalve 30:8d561f16383b 1340 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1341 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1342 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1343
Lightvalve 14:8e7590227d22 1344 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1345 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1346 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1347 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1348 } else {
Lightvalve 13:747daba9cf59 1349 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1350 }
Lightvalve 13:747daba9cf59 1351 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1352 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1353 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1354 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1355 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1356 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1357 DZ_index = 1;
Lightvalve 13:747daba9cf59 1358 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1359 }
Lightvalve 13:747daba9cf59 1360 }
Lightvalve 14:8e7590227d22 1361 } else {
Lightvalve 30:8d561f16383b 1362 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1363 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 1364 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1365 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1366 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1367 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1368 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1369 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1370 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1371 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1372 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1373 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1374 }
Lightvalve 14:8e7590227d22 1375 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1376
Lightvalve 30:8d561f16383b 1377 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1378 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1379 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1380 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1381 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1382
Lightvalve 60:64181f1d3e60 1383 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1384 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1385 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1386 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1387 } else {
Lightvalve 13:747daba9cf59 1388 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1389 }
Lightvalve 14:8e7590227d22 1390
Lightvalve 13:747daba9cf59 1391 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1392 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1393 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1394 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1395 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1396 first_check = 0;
Lightvalve 33:91b17819ec30 1397 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1398 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1399
Lightvalve 59:f308b1656d9c 1400 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1401
Lightvalve 57:f4819de54e7a 1402 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1403 DZ_index = 1;
Lightvalve 13:747daba9cf59 1404 }
Lightvalve 13:747daba9cf59 1405 }
Lightvalve 13:747daba9cf59 1406 }
Lightvalve 14:8e7590227d22 1407 }
Lightvalve 13:747daba9cf59 1408 break;
Lightvalve 13:747daba9cf59 1409 }
Lightvalve 14:8e7590227d22 1410
Lightvalve 14:8e7590227d22 1411 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1412 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1413 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1414 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1415 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1416 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1417 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1418 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1419 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1420 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1421 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1422 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1423 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1424 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1425 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1426 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1427 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1428 first_check = 1;
Lightvalve 13:747daba9cf59 1429 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1430 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1431 ID_index = 0;
Lightvalve 13:747daba9cf59 1432 max_check = 0;
Lightvalve 13:747daba9cf59 1433 min_check = 0;
Lightvalve 13:747daba9cf59 1434 }
Lightvalve 14:8e7590227d22 1435 } else {
Lightvalve 30:8d561f16383b 1436 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1437 //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 1438 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1439 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1440 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1441 data_num = 0;
Lightvalve 57:f4819de54e7a 1442 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1443
Lightvalve 14:8e7590227d22 1444 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1445 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1446 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1447 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1448 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1449 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1450 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1451 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1452 one_period_end = 1;
Lightvalve 13:747daba9cf59 1453 }
Lightvalve 30:8d561f16383b 1454 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1455 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1456 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1457 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1458 }
Lightvalve 14:8e7590227d22 1459
Lightvalve 14:8e7590227d22 1460 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1461 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1462 max_check = 1;
Lightvalve 14:8e7590227d22 1463 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1464 min_check = 1;
Lightvalve 13:747daba9cf59 1465 }
Lightvalve 13:747daba9cf59 1466 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1467
Lightvalve 13:747daba9cf59 1468 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1469 one_period_end = 0;
Lightvalve 13:747daba9cf59 1470 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1471 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1472 }
Lightvalve 14:8e7590227d22 1473
Lightvalve 14:8e7590227d22 1474 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1475
Lightvalve 13:747daba9cf59 1476 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1477 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1478 ID_index = 0;
Lightvalve 13:747daba9cf59 1479 first_check = 0;
Lightvalve 13:747daba9cf59 1480 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1481 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1482 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1483 }
Lightvalve 13:747daba9cf59 1484 }
Lightvalve 13:747daba9cf59 1485 break;
Lightvalve 13:747daba9cf59 1486 }
Lightvalve 58:2eade98630e2 1487
Lightvalve 57:f4819de54e7a 1488 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1489 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1490 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1491 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1492 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1493 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1494 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1495 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1496 }
Lightvalve 57:f4819de54e7a 1497 break;
Lightvalve 57:f4819de54e7a 1498 }
Lightvalve 58:2eade98630e2 1499
Lightvalve 58:2eade98630e2 1500
Lightvalve 57:f4819de54e7a 1501
Lightvalve 57:f4819de54e7a 1502 default:
Lightvalve 57:f4819de54e7a 1503 break;
Lightvalve 57:f4819de54e7a 1504 }
Lightvalve 57:f4819de54e7a 1505
Lightvalve 57:f4819de54e7a 1506 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1507
Lightvalve 57:f4819de54e7a 1508 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1509 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1510 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1511 break;
Lightvalve 57:f4819de54e7a 1512 }
Lightvalve 57:f4819de54e7a 1513
Lightvalve 57:f4819de54e7a 1514 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1515 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1516 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1517 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1518 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1519 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1520 } else {
Lightvalve 67:c2812cf26c38 1521 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1522 }
Lightvalve 58:2eade98630e2 1523
Lightvalve 57:f4819de54e7a 1524 break;
Lightvalve 57:f4819de54e7a 1525 }
Lightvalve 57:f4819de54e7a 1526
Lightvalve 57:f4819de54e7a 1527 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1528 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1529 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1530 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1531 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1532
Lightvalve 67:c2812cf26c38 1533 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1534 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1535 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1536 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1537
Lightvalve 67:c2812cf26c38 1538 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1539
Lightvalve 57:f4819de54e7a 1540 // torque feedback
Lightvalve 67:c2812cf26c38 1541 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1542 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1543
Lightvalve 57:f4819de54e7a 1544 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1545
Lightvalve 57:f4819de54e7a 1546 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1547 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1548 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1549
Lightvalve 57:f4819de54e7a 1550 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1551 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1552 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1553
Lightvalve 57:f4819de54e7a 1554 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1555 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 1556 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1557 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1558 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 1559 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1560 }
Lightvalve 57:f4819de54e7a 1561 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 1562 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1563
Lightvalve 57:f4819de54e7a 1564 // velocity compensation for torque control
Lightvalve 57:f4819de54e7a 1565 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1566 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1567 // 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 1568 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1569 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1570 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1571 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 1572 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1573 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1574 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1575 }
Lightvalve 57:f4819de54e7a 1576 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 1577 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1578 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1579 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1580 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1581
Lightvalve 57:f4819de54e7a 1582 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1583
Lightvalve 67:c2812cf26c38 1584 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1585 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1586 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1587 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1588 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1589 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1590 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1591 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1592 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1593 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1594 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1595 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1596 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1597 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1598 }
Lightvalve 67:c2812cf26c38 1599 }
Lightvalve 57:f4819de54e7a 1600
Lightvalve 57:f4819de54e7a 1601 } else {
Lightvalve 57:f4819de54e7a 1602 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 57:f4819de54e7a 1603
Lightvalve 57:f4819de54e7a 1604 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 1605 + 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 1606
Lightvalve 57:f4819de54e7a 1607 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 57:f4819de54e7a 1608 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1609 } else {
Lightvalve 57:f4819de54e7a 1610 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1611 }
Lightvalve 57:f4819de54e7a 1612
Lightvalve 57:f4819de54e7a 1613 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1614 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1615 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1616 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1617 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1618 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1619 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1620 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1621 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1622 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1623 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1624 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1625 }
Lightvalve 57:f4819de54e7a 1626 }
Lightvalve 61:bc8c8270f0ab 1627
Lightvalve 57:f4819de54e7a 1628 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1629
Lightvalve 67:c2812cf26c38 1630 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1631 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1632
Lightvalve 57:f4819de54e7a 1633 }
Lightvalve 58:2eade98630e2 1634
Lightvalve 57:f4819de54e7a 1635 break;
Lightvalve 57:f4819de54e7a 1636 }
Lightvalve 58:2eade98630e2 1637
Lightvalve 57:f4819de54e7a 1638 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1639 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1640 break;
Lightvalve 57:f4819de54e7a 1641 }
Lightvalve 14:8e7590227d22 1642
Lightvalve 12:6f2531038ea4 1643 default:
Lightvalve 12:6f2531038ea4 1644 break;
Lightvalve 12:6f2531038ea4 1645 }
Lightvalve 14:8e7590227d22 1646
Lightvalve 57:f4819de54e7a 1647
Lightvalve 57:f4819de54e7a 1648 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1649
Lightvalve 57:f4819de54e7a 1650 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1651 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1652 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1653 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1654 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1655 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1656
Lightvalve 57:f4819de54e7a 1657 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1658 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1659
Lightvalve 57:f4819de54e7a 1660
Lightvalve 57:f4819de54e7a 1661 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1662 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1663 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1664 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1665 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1666 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1667
Lightvalve 57:f4819de54e7a 1668 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1669 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1670 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1671 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1672 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1673 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1674 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1675 }
Lightvalve 57:f4819de54e7a 1676
Lightvalve 57:f4819de54e7a 1677 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1678
Lightvalve 67:c2812cf26c38 1679 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1680 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1681 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1682 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1683 // 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 1684 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1685 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1686
Lightvalve 57:f4819de54e7a 1687 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1688 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1689 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1690 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1691 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1692 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1693 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1694 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1695 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1696 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1697 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1698 }
Lightvalve 57:f4819de54e7a 1699 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1700 } else {
Lightvalve 57:f4819de54e7a 1701 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1702 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1703 }
Lightvalve 57:f4819de54e7a 1704
Lightvalve 57:f4819de54e7a 1705 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1706 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1707 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1708 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1709 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1710 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1711 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1712
Lightvalve 57:f4819de54e7a 1713 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1714
Lightvalve 57:f4819de54e7a 1715 } else {
Lightvalve 57:f4819de54e7a 1716 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1717 }
Lightvalve 57:f4819de54e7a 1718
Lightvalve 57:f4819de54e7a 1719 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1720 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1721 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1722
Lightvalve 57:f4819de54e7a 1723 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1724 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1725 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1726 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1727 }
Lightvalve 67:c2812cf26c38 1728
Lightvalve 67:c2812cf26c38 1729 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1730 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1731 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1732
jobuuu 7:e9086c72bb22 1733 /*******************************************************
jobuuu 7:e9086c72bb22 1734 *** PWM
jobuuu 7:e9086c72bb22 1735 ********************************************************/
Lightvalve 67:c2812cf26c38 1736 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1737 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1738 }
Lightvalve 67:c2812cf26c38 1739
Lightvalve 49:e7bcfc244d40 1740 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1741 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1742 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1743 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1744 }
Lightvalve 49:e7bcfc244d40 1745 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1746
Lightvalve 19:23b7c1ad8683 1747 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1748 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1749 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1750
Lightvalve 30:8d561f16383b 1751 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1752 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1753 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1754 } else {
jobuuu 2:a1c0a37df760 1755 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1756 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1757 }
Lightvalve 13:747daba9cf59 1758
jobuuu 1:e04e563be5ce 1759 //pwm
Lightvalve 30:8d561f16383b 1760 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1761 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1762
Lightvalve 61:bc8c8270f0ab 1763
Lightvalve 57:f4819de54e7a 1764 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1765
Lightvalve 54:647072f5307a 1766 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1767 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1768 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1769 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1770 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1771 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1772 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 1773 }
Lightvalve 57:f4819de54e7a 1774 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1775 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1776 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 1777 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1778 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 1779 }
Lightvalve 52:8ea76864368a 1780 }
Lightvalve 52:8ea76864368a 1781 }
Lightvalve 56:6f50d9d3bfee 1782 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1783 //valve position
Lightvalve 54:647072f5307a 1784 double t_value = 0;
Lightvalve 67:c2812cf26c38 1785 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 67:c2812cf26c38 1786 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1787 } else {
Lightvalve 67:c2812cf26c38 1788 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1789 }
Lightvalve 67:c2812cf26c38 1790 // if(OPERATING_MODE==5) {
Lightvalve 67:c2812cf26c38 1791 // t_value = (double) value;
Lightvalve 67:c2812cf26c38 1792 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 67:c2812cf26c38 1793 // t_value = cur.sen;
Lightvalve 57:f4819de54e7a 1794 // } else {
Lightvalve 67:c2812cf26c38 1795 // t_value = V_out;
Lightvalve 67:c2812cf26c38 1796 // }
Lightvalve 67:c2812cf26c38 1797 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1798 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1799 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1800 }
Lightvalve 58:2eade98630e2 1801
Lightvalve 58:2eade98630e2 1802
Lightvalve 56:6f50d9d3bfee 1803 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1804 //pressure A and B
Lightvalve 57:f4819de54e7a 1805 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1806 }
Lightvalve 58:2eade98630e2 1807
Lightvalve 57:f4819de54e7a 1808 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1809 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1810 ;
Lightvalve 57:f4819de54e7a 1811 }
Lightvalve 58:2eade98630e2 1812
Lightvalve 56:6f50d9d3bfee 1813 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1814 //PWM
Lightvalve 67:c2812cf26c38 1815 CAN_TX_PWM((int16_t) value); //1500
Lightvalve 54:647072f5307a 1816 }
Lightvalve 57:f4819de54e7a 1817 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1818 // ;
Lightvalve 57:f4819de54e7a 1819 // }
Lightvalve 56:6f50d9d3bfee 1820 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1821 //valve position
Lightvalve 57:f4819de54e7a 1822 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1823 }
Lightvalve 20:806196fda269 1824
Lightvalve 54:647072f5307a 1825 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1826 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1827 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1828 // }
Lightvalve 54:647072f5307a 1829 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1830 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1831 //}
Lightvalve 52:8ea76864368a 1832
Lightvalve 54:647072f5307a 1833 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1834 }
Lightvalve 54:647072f5307a 1835 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1836
Lightvalve 20:806196fda269 1837 }
Lightvalve 52:8ea76864368a 1838 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1839
Lightvalve 58:2eade98630e2 1840 }