Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@72:3436ce769b1e, 2020-05-19 (annotated)

Committer:
Lightvalve
Date:
Tue May 19 01:36:27 2020 +0000
Revision:
72:3436ce769b1e
Parent:
71:381188d044f4
Child:
73:f80dc3970c99
200519

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 72:3436ce769b1e 1 //200518-5
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 65:a2d7c63419c2 187
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 68:328e1be06f5d 189 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 191
Lightvalve 66:a8e6799dbce3 192 float input[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 193
Lightvalve 66:a8e6799dbce3 194 const float h1[num_input][32] = {
Lightvalve 72:3436ce769b1e 195 {-1.5173033475875854f,1.3750654458999634f,0.10589459538459778f,-0.6596947908401489f,-1.6050277948379517f,0.9680917263031006f,-0.45009246468544006f,0.8865544199943542f,0.923093318939209f,-0.7216169834136963f,-0.22036045789718628f,0.42275097966194153f,-0.19318288564682007f,0.18564148247241974f,-0.21103838086128235f,-1.0414549112319946f,0.6210861206054688f,0.24935457110404968f,0.7392114400863647f,0.6778899431228638f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,0.543968677520752f,0.18374285101890564f,-0.1767144799232483f,-1.1015503406524658f,-0.5900701880455017f,-0.18794111907482147f,-0.29012006521224976f,1.6024134159088135f},
Lightvalve 72:3436ce769b1e 196 {-1.1674734354019165f,0.7666152119636536f,0.29864487051963806f,-0.7858529090881348f,-0.8153032660484314f,0.38648831844329834f,0.005260761361569166f,0.5857726335525513f,0.5050831437110901f,-0.27091121673583984f,-0.31120190024375916f,0.1015682965517044f,0.021212786436080933f,0.1308889240026474f,0.045876264572143555f,-0.7258760333061218f,0.2787801921367645f,0.06295260787010193f,0.8768393993377686f,0.5829216241836548f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,0.22578246891498566f,0.2936786115169525f,0.12686115503311157f,-0.46410071849823f,-0.6578801274299622f,0.09809011220932007f,-0.35250869393348694f,1.0430457592010498f},
Lightvalve 72:3436ce769b1e 197 {-0.4347030520439148f,0.4434410333633423f,-0.0042223334312438965f,-0.4880976974964142f,-0.6320772171020508f,0.5300382971763611f,-0.05236375704407692f,0.36149340867996216f,0.6912349462509155f,-0.22590239346027374f,0.25978198647499084f,0.534641444683075f,-0.03282937407493591f,0.1653469204902649f,-0.31718650460243225f,-0.9508377313613892f,0.8650888800621033f,-0.2658354640007019f,0.7296754717826843f,0.7955288887023926f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,0.39863649010658264f,0.14537742733955383f,-0.15514154732227325f,-0.2733694911003113f,-0.6065505146980286f,0.302763432264328f,-0.4336198568344116f,0.32752689719200134f},
Lightvalve 72:3436ce769b1e 198 {-0.07789435237646103f,-0.05911087989807129f,-0.20532599091529846f,-1.1631684303283691f,-0.6998490691184998f,0.5765312314033508f,-0.034510351717472076f,-0.11885803937911987f,0.8650790452957153f,-0.14164546132087708f,0.09748651087284088f,0.920007586479187f,-0.11809042096138f,0.3228817880153656f,-0.12817290425300598f,-0.8080041408538818f,0.41376540064811707f,-0.23756909370422363f,0.18830764293670654f,0.6408967971801758f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,0.3900652825832367f,0.14159366488456726f,0.13380053639411926f,-0.17793402075767517f,0.11977645754814148f,0.1323157548904419f,-0.028520936146378517f,0.13727985322475433f},
Lightvalve 72:3436ce769b1e 199 {0.7851098775863647f,-0.4025290906429291f,0.08410122990608215f,-0.3657895028591156f,0.22595596313476562f,-0.35921725630760193f,-0.05843263491988182f,-0.7209520936012268f,-0.49075695872306824f,0.4047141373157501f,-0.27041515707969666f,0.2857331335544586f,0.211430162191391f,0.22537200152873993f,-0.25075238943099976f,0.26298320293426514f,-0.31417611241340637f,-0.18436601758003235f,-0.16482871770858765f,-0.3491881489753723f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.36963707208633423f,-0.34256690740585327f,0.04057341814041138f,0.008652348071336746f,0.5543045401573181f,-0.16320037841796875f,0.26328596472740173f,-0.8659853339195251f},
Lightvalve 72:3436ce769b1e 200 {2.411226511001587f,-2.1685471534729004f,0.30513831973075867f,2.3207509517669678f,2.237506628036499f,-2.22587251663208f,-0.07100218534469604f,-1.312457799911499f,-2.4989845752716064f,0.7334151268005371f,0.25945529341697693f,-2.2601664066314697f,-0.03144201636314392f,0.07056998461484909f,0.21901831030845642f,2.0132665634155273f,-1.9532078504562378f,-0.3195672333240509f,-2.4333291053771973f,-2.3630752563476562f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.4496030807495117f,0.20814630389213562f,-0.2925715744495392f,1.2836970090866089f,1.047669529914856f,-0.0013132691383361816f,0.11035717278718948f,-2.3266241550445557f},
Lightvalve 72:3436ce769b1e 201 {0.03859417140483856f,0.15592151880264282f,0.16288265585899353f,-0.2442382425069809f,0.19780324399471283f,-0.04522183537483215f,-0.3120417296886444f,0.15428748726844788f,0.06638992577791214f,-0.3411464989185333f,-0.11576107144355774f,-0.8074769973754883f,0.098605215549469f,-0.04677778482437134f,-0.18274356424808502f,-1.0765197277069092f,-0.7667986750602722f,-0.08166468143463135f,0.4520738422870636f,-0.731424868106842f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,0.11109789460897446f,-0.15535086393356323f,-0.1126367449760437f,0.08095450699329376f,-0.5813214182853699f,-0.03486502170562744f,-0.13242129981517792f,-0.46061015129089355f},
Lightvalve 72:3436ce769b1e 202 {0.6863262057304382f,-0.3466118574142456f,0.16644713282585144f,0.3059476912021637f,1.078539490699768f,-1.2557613849639893f,-0.03604864701628685f,-0.1355520784854889f,0.51317298412323f,0.34450390934944153f,-0.25532183051109314f,-1.4649503231048584f,0.10806858539581299f,-0.06271199882030487f,0.054826945066452026f,-0.24523936212062836f,-0.5985043048858643f,-0.28619682788848877f,-0.8682801723480225f,0.08336038142442703f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,-0.1310066133737564f,0.0177537202835083f,-0.341458797454834f,0.7710918188095093f,-0.3013054430484772f,0.004316955804824829f,-0.2809050381183624f,0.1720397025346756f},
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Lightvalve 65:a2d7c63419c2 212 };
Lightvalve 65:a2d7c63419c2 213
Lightvalve 66:a8e6799dbce3 214 const float h2[32][32] = {
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Lightvalve 65:a2d7c63419c2 247 };
Lightvalve 65:a2d7c63419c2 248
Lightvalve 66:a8e6799dbce3 249 const float h3[32][32] = {
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Lightvalve 65:a2d7c63419c2 283
Lightvalve 72:3436ce769b1e 284 const float hout[32] = { 0.3285340666770935f,0.21559861302375793f,-0.08759381622076035f,-0.18752218782901764f,-0.07880980521440506f,0.24804820120334625f,-0.14023931324481964f,-0.013787297531962395f,-0.06430239975452423f,0.2420935183763504f,0.06614154577255249f,-0.06488268822431564f,-0.13233189284801483f,0.07787903398275375f,0.2356991171836853f,-0.12399186939001083f,0.07342065125703812f,-0.21499931812286377f,-0.17105859518051147f,-0.23412150144577026f,0.11204441636800766f,0.09496966749429703f,-0.10224377363920212f,-0.09258242696523666f,0.10437283664941788f,0.2520971894264221f,-0.33695727586746216f,-0.1872805953025818f,0.14851516485214233f,-0.3257754445075989f,-0.28138089179992676f,-0.3072269856929779f };
Lightvalve 66:a8e6799dbce3 285
Lightvalve 72:3436ce769b1e 286 const float b1[32] = { 0.6303730607032776f,1.2771244049072266f,-1.7145336866378784f,-0.024331381544470787f,0.9595928192138672f,1.065868616104126f,-0.1704230010509491f,0.8563094139099121f,0.6089017987251282f,-1.044298768043518f,0.5565745234489441f,1.726973533630371f,-0.3425353467464447f,-0.8952552676200867f,-1.087764859199524f,1.1323175430297852f,0.5307965874671936f,-0.26377663016319275f,0.5580302476882935f,0.7606151700019836f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.5647425651550293f,-2.0880801677703857f,-1.0489267110824585f,0.6971176862716675f,0.16526353359222412f,-1.0887231826782227f,1.415956735610962f,-0.7934260368347168f };
Lightvalve 65:a2d7c63419c2 287
Lightvalve 72:3436ce769b1e 288 const float b2[32] = { -0.10466054826974869f,-0.7642630338668823f,-1.4564176797866821f,-0.4875738024711609f,-0.6939148902893066f,0.11667700856924057f,0.05593651905655861f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.3189098536968231f,0.31611981987953186f,-0.07918518036603928f,2.4898033142089844f,0.15618184208869934f,1.179538607597351f,-1.798204779624939f,-1.5844906568527222f,-0.47564440965652466f,-0.3313511312007904f,-0.49963441491127014f,0.07379159331321716f,-0.07159822434186935f,-1.0362731218338013f,0.758223831653595f,0.1655489057302475f,-0.2961638867855072f,-0.22285382449626923f,-0.6323830485343933f,-0.4208582937717438f,-1.178520679473877f,-1.354332685470581f };
Lightvalve 65:a2d7c63419c2 289
Lightvalve 72:3436ce769b1e 290 const float b3[32] = { -1.963319182395935f,-0.5059564113616943f,-0.17237482964992523f,-0.17604026198387146f,-0.13820096850395203f,-0.06550032645463943f,-0.5431802868843079f,-0.7197896242141724f,-0.007029889151453972f,1.0352654457092285f,-0.23477809131145477f,-0.08210232108831406f,-0.7245506048202515f,0.11592133343219757f,-1.1428403854370117f,-0.5011612176895142f,-1.5022703409194946f,-1.0192245244979858f,-0.8375463485717773f,0.09358791261911392f,1.242738962173462f,1.2594772577285767f,-1.1541656255722046f,-0.9588961005210876f,1.081007719039917f,-0.36519983410835266f,-0.17800214886665344f,-0.6829278469085693f,-0.11213456094264984f,-2.3236680030822754f,-0.23607516288757324f,-1.4480558633804321f };
Lightvalve 66:a8e6799dbce3 291
Lightvalve 72:3436ce769b1e 292 const float bout[1] = { -0.11509382724761963f };
Lightvalve 61:bc8c8270f0ab 293
Lightvalve 61:bc8c8270f0ab 294
GiJeongKim 0:51c43836c1d7 295 int main()
GiJeongKim 0:51c43836c1d7 296 {
Lightvalve 66:a8e6799dbce3 297
Lightvalve 65:a2d7c63419c2 298 HAL_Init();
Lightvalve 65:a2d7c63419c2 299 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 300
jobuuu 6:df07d3491e3a 301 /*********************************
jobuuu 1:e04e563be5ce 302 *** Initialization
jobuuu 6:df07d3491e3a 303 *********************************/
Lightvalve 69:3995ffeaa786 304 LED = 0;
Lightvalve 61:bc8c8270f0ab 305 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 306
GiJeongKim 0:51c43836c1d7 307 // i2c init
Lightvalve 8:5d2eebdad025 308 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 309 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 310 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 311 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 312 make_delay();
jobuuu 2:a1c0a37df760 313
GiJeongKim 0:51c43836c1d7 314 // // spi init
Lightvalve 16:903b5a4433b4 315 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 316 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 317 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 318 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 21:e5f1a43ea6f9 320
Lightvalve 16:903b5a4433b4 321 //rom
Lightvalve 19:23b7c1ad8683 322 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 323 make_delay();
Lightvalve 13:747daba9cf59 324
GiJeongKim 0:51c43836c1d7 325 // ADC init
jobuuu 5:a4319f79457b 326 Init_ADC();
Lightvalve 11:82d8768d7351 327 make_delay();
jobuuu 2:a1c0a37df760 328
GiJeongKim 0:51c43836c1d7 329 // Pwm init
GiJeongKim 0:51c43836c1d7 330 Init_PWM();
GiJeongKim 0:51c43836c1d7 331 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 332 make_delay();
Lightvalve 13:747daba9cf59 333
Lightvalve 11:82d8768d7351 334 // TMR3 init
Lightvalve 11:82d8768d7351 335 Init_TMR3();
Lightvalve 11:82d8768d7351 336 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 337 make_delay();
Lightvalve 21:e5f1a43ea6f9 338
Lightvalve 50:3c630b5eba9f 339 // TMR2 init
Lightvalve 56:6f50d9d3bfee 340 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 341 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 342 // make_delay();
Lightvalve 21:e5f1a43ea6f9 343
GiJeongKim 0:51c43836c1d7 344 // CAN
jobuuu 2:a1c0a37df760 345 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 346 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 347 make_delay();
Lightvalve 34:bb2ca2fc2a8e 348
Lightvalve 23:59218d4a256d 349 //Timer priority
Lightvalve 23:59218d4a256d 350 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 351 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 352 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 353
Lightvalve 23:59218d4a256d 354 //can.reset();
Lightvalve 19:23b7c1ad8683 355 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 356
GiJeongKim 0:51c43836c1d7 357 // spi _ enc
GiJeongKim 0:51c43836c1d7 358 spi_enc_set_init();
Lightvalve 11:82d8768d7351 359 make_delay();
Lightvalve 13:747daba9cf59 360
Lightvalve 11:82d8768d7351 361 //DAC init
Lightvalve 58:2eade98630e2 362 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 363 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 364 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 365 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 366 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 367 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 368 }
Lightvalve 11:82d8768d7351 369 make_delay();
Lightvalve 13:747daba9cf59 370
Lightvalve 19:23b7c1ad8683 371 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 372 if(i%2==0)
Lightvalve 38:118df027d851 373 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 374 else
Lightvalve 38:118df027d851 375 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 376 }
Lightvalve 61:bc8c8270f0ab 377
Lightvalve 61:bc8c8270f0ab 378
jobuuu 6:df07d3491e3a 379 /************************************
jobuuu 1:e04e563be5ce 380 *** Program is operating!
jobuuu 6:df07d3491e3a 381 *************************************/
GiJeongKim 0:51c43836c1d7 382 while(1) {
Lightvalve 66:a8e6799dbce3 383 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 384 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 385 //i2c
Lightvalve 66:a8e6799dbce3 386
Lightvalve 65:a2d7c63419c2 387 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 388 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 389 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 390 // LED=0;
Lightvalve 65:a2d7c63419c2 391 // } else
Lightvalve 65:a2d7c63419c2 392 // LED = 1;
Lightvalve 65:a2d7c63419c2 393 timer_while = 0;
Lightvalve 66:a8e6799dbce3 394 //}
Lightvalve 66:a8e6799dbce3 395
Lightvalve 66:a8e6799dbce3 396 timer_while ++;
Lightvalve 66:a8e6799dbce3 397
Lightvalve 66:a8e6799dbce3 398
Lightvalve 66:a8e6799dbce3 399 if(NN_Control_Flag == 1) {
Lightvalve 66:a8e6799dbce3 400 float output1[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 401 float output2[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 402 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 403 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 404
Lightvalve 66:a8e6799dbce3 405 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 406 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 407 output1[index2] = output1[index2]
Lightvalve 66:a8e6799dbce3 408 + h1[index1][index2] * input[index1];
Lightvalve 66:a8e6799dbce3 409 }
Lightvalve 66:a8e6799dbce3 410 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 411 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 412 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 413 }
Lightvalve 66:a8e6799dbce3 414 }
Lightvalve 65:a2d7c63419c2 415
Lightvalve 66:a8e6799dbce3 416 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 417 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 418 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 419 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 420 }
Lightvalve 66:a8e6799dbce3 421 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 422 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 423 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 424 }
Lightvalve 66:a8e6799dbce3 425 }
Lightvalve 65:a2d7c63419c2 426
Lightvalve 66:a8e6799dbce3 427 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 428 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 429 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 430 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 431 }
Lightvalve 66:a8e6799dbce3 432 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 433 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 434 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 435 }
Lightvalve 65:a2d7c63419c2 436 }
Lightvalve 66:a8e6799dbce3 437
Lightvalve 66:a8e6799dbce3 438 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 66:a8e6799dbce3 439 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 440 output = output + hout[index2] * output3[index1];
Lightvalve 66:a8e6799dbce3 441 }
Lightvalve 66:a8e6799dbce3 442 output = output + bout[index2];
Lightvalve 66:a8e6799dbce3 443 output = 1.0f/(1.0f+exp(-output));
Lightvalve 66:a8e6799dbce3 444 }
Lightvalve 66:a8e6799dbce3 445
Lightvalve 68:328e1be06f5d 446 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 447 if(output>=0) {
Lightvalve 66:a8e6799dbce3 448 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 449 } else {
Lightvalve 66:a8e6799dbce3 450 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 451 }
Lightvalve 69:3995ffeaa786 452
Lightvalve 69:3995ffeaa786 453 if(LED==1) {
Lightvalve 69:3995ffeaa786 454 LED=0;
Lightvalve 69:3995ffeaa786 455 } else
Lightvalve 69:3995ffeaa786 456 LED = 1;
Lightvalve 69:3995ffeaa786 457
Lightvalve 65:a2d7c63419c2 458 }
Lightvalve 62:b5452adfb2cd 459
Lightvalve 69:3995ffeaa786 460
Lightvalve 66:a8e6799dbce3 461
GiJeongKim 0:51c43836c1d7 462 }
jobuuu 1:e04e563be5ce 463 }
jobuuu 1:e04e563be5ce 464
Lightvalve 33:91b17819ec30 465 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 466 {
Lightvalve 14:8e7590227d22 467
Lightvalve 13:747daba9cf59 468 int i = 0;
Lightvalve 48:889798ff9329 469 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 470 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 471 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 472 if(i==0) {
Lightvalve 50:3c630b5eba9f 473 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 474 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 475 } else {
Lightvalve 57:f4819de54e7a 476 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 477 }
Lightvalve 14:8e7590227d22 478 } else {
Lightvalve 50:3c630b5eba9f 479 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 480 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 481 } else {
Lightvalve 57:f4819de54e7a 482 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 483 }
Lightvalve 13:747daba9cf59 484 }
Lightvalve 13:747daba9cf59 485 break;
Lightvalve 13:747daba9cf59 486 }
Lightvalve 13:747daba9cf59 487 }
Lightvalve 14:8e7590227d22 488 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 489 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 490 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 491 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 492 }
Lightvalve 36:a46e63505ed8 493
Lightvalve 57:f4819de54e7a 494 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 495 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 496
Lightvalve 13:747daba9cf59 497 }
jobuuu 6:df07d3491e3a 498
jobuuu 6:df07d3491e3a 499
Lightvalve 30:8d561f16383b 500 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 501 {
Lightvalve 13:747daba9cf59 502 int i = 0;
Lightvalve 13:747daba9cf59 503
Lightvalve 38:118df027d851 504 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 505 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 506 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 507 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 508 }
Lightvalve 38:118df027d851 509
Lightvalve 13:747daba9cf59 510 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 511 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 512 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 513 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 514 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 515 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 516
Lightvalve 13:747daba9cf59 517 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 518
Lightvalve 18:b8adf1582ea3 519 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 520 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 521 if(i==0) {
Lightvalve 48:889798ff9329 522 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 523 } else {
Lightvalve 48:889798ff9329 524 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 525 }
Lightvalve 13:747daba9cf59 526 break;
Lightvalve 13:747daba9cf59 527 }
Lightvalve 13:747daba9cf59 528 }
Lightvalve 59:f308b1656d9c 529 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 530 }
Lightvalve 13:747daba9cf59 531
Lightvalve 14:8e7590227d22 532 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 533 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 534 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 535 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 536 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 537 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 538 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 539 }; // duty
Lightvalve 67:c2812cf26c38 540 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 541 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 542 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 543 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 544 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 545 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 546 }; // mV
Lightvalve 13:747daba9cf59 547
Lightvalve 30:8d561f16383b 548 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 549 {
Lightvalve 30:8d561f16383b 550 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 551 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 552 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 553 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 554 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 555 } else {
Lightvalve 13:747daba9cf59 556 int idx = 0;
Lightvalve 13:747daba9cf59 557 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 558 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 559 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 560 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 561 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 562 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 563 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 564 break;
Lightvalve 13:747daba9cf59 565 }
Lightvalve 13:747daba9cf59 566 }
Lightvalve 13:747daba9cf59 567 }
Lightvalve 14:8e7590227d22 568
Lightvalve 13:747daba9cf59 569 return PWM_duty;
Lightvalve 13:747daba9cf59 570 }
jobuuu 6:df07d3491e3a 571
Lightvalve 57:f4819de54e7a 572
Lightvalve 57:f4819de54e7a 573
Lightvalve 57:f4819de54e7a 574
Lightvalve 57:f4819de54e7a 575
jobuuu 2:a1c0a37df760 576 /*******************************************************************************
jobuuu 2:a1c0a37df760 577 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 578 *******************************************************************************/
jobuuu 2:a1c0a37df760 579
Lightvalve 51:b46bed7fec80 580 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 581 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 582 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 583 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 584 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 585 {
Lightvalve 19:23b7c1ad8683 586 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 587
Lightvalve 21:e5f1a43ea6f9 588 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 589 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 590 ********************************************************/
Lightvalve 13:747daba9cf59 591
Lightvalve 57:f4819de54e7a 592 //Encoder
Lightvalve 57:f4819de54e7a 593 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 594 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 595 }
Lightvalve 61:bc8c8270f0ab 596
Lightvalve 61:bc8c8270f0ab 597 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 598 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 599 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 600 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 601 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 602 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 603 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 604
Lightvalve 67:c2812cf26c38 605
Lightvalve 67:c2812cf26c38 606 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 607 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 608 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 609 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 610 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 611
Lightvalve 17:1865016ca2e7 612
Lightvalve 58:2eade98630e2 613 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 614 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 615 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 616 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 617 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 618 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 619 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 620 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 621 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 622
Lightvalve 58:2eade98630e2 623 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 624 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 625 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 626 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 627 }
Lightvalve 58:2eade98630e2 628 }
Lightvalve 61:bc8c8270f0ab 629
Lightvalve 58:2eade98630e2 630 // //Pressure sensor A
Lightvalve 58:2eade98630e2 631 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 632 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 633 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 634 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 635 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 636 // 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 637 //
Lightvalve 58:2eade98630e2 638 //
Lightvalve 58:2eade98630e2 639 // //Pressure sensor B
Lightvalve 58:2eade98630e2 640 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 641 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 642 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 643 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 644
Lightvalve 17:1865016ca2e7 645
Lightvalve 21:e5f1a43ea6f9 646 //Current
Lightvalve 21:e5f1a43ea6f9 647 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 648 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 649 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 650 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 651 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 652 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 653 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 654
Lightvalve 57:f4819de54e7a 655 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 656 }
Lightvalve 11:82d8768d7351 657 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 658 }
Lightvalve 19:23b7c1ad8683 659
Lightvalve 19:23b7c1ad8683 660
Lightvalve 18:b8adf1582ea3 661 int j =0;
Lightvalve 54:647072f5307a 662 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 663 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 664 int cnt_trans = 0;
Lightvalve 48:889798ff9329 665 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 666 int can_rest =0;
Lightvalve 48:889798ff9329 667
Lightvalve 11:82d8768d7351 668 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 669 {
Lightvalve 19:23b7c1ad8683 670 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 671
Lightvalve 57:f4819de54e7a 672 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 673 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 674 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 675 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 676 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 677 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 678 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 679 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 680 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 681 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 682 }
Lightvalve 50:3c630b5eba9f 683
Lightvalve 50:3c630b5eba9f 684 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 685 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 686 cnt_trans++;
Lightvalve 46:2694daea349b 687 torq.err_sum = 0;
Lightvalve 48:889798ff9329 688 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 689 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 690 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 691 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 692 cnt_trans++;
Lightvalve 46:2694daea349b 693 torq.err_sum = 0;
Lightvalve 48:889798ff9329 694 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 695 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 696 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 697 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 698 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 699 } else {
Lightvalve 58:2eade98630e2 700 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 701 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 702 }
Lightvalve 45:35fa6884d0c6 703
Lightvalve 50:3c630b5eba9f 704
Lightvalve 57:f4819de54e7a 705 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 706 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 707
Lightvalve 57:f4819de54e7a 708 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 709 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 710 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 711 } else {
Lightvalve 57:f4819de54e7a 712 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 713 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 714 }
Lightvalve 56:6f50d9d3bfee 715
Lightvalve 56:6f50d9d3bfee 716
Lightvalve 56:6f50d9d3bfee 717
Lightvalve 57:f4819de54e7a 718 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 719
Lightvalve 57:f4819de54e7a 720 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 721 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 722 break;
Lightvalve 13:747daba9cf59 723 }
Lightvalve 14:8e7590227d22 724
Lightvalve 14:8e7590227d22 725 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 726 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 727 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 728 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 729
Lightvalve 14:8e7590227d22 730 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 731 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 732 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 733
Lightvalve 59:f308b1656d9c 734 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 735
Lightvalve 30:8d561f16383b 736 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 737 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 738
Lightvalve 16:903b5a4433b4 739 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 740 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 741 }
Lightvalve 13:747daba9cf59 742 } else {
Lightvalve 58:2eade98630e2 743 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 744 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 745 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 746 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 747
Lightvalve 16:903b5a4433b4 748 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 749
Lightvalve 30:8d561f16383b 750 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 751
Lightvalve 13:747daba9cf59 752 }
Lightvalve 14:8e7590227d22 753 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 754 break;
Lightvalve 19:23b7c1ad8683 755 }
Lightvalve 14:8e7590227d22 756
Lightvalve 50:3c630b5eba9f 757 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 758 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 759 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 760 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 761 // }
Lightvalve 50:3c630b5eba9f 762 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 763 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 764 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 765 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 766 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 767 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 768 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 769 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 770 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 771 // }
Lightvalve 50:3c630b5eba9f 772 //
Lightvalve 50:3c630b5eba9f 773 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 774 // 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 775 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 776 //
Lightvalve 50:3c630b5eba9f 777 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 778 // V_out = 0;
Lightvalve 50:3c630b5eba9f 779 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 780 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 781 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 782 // else 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 DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 785 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 786 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 787 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 788 //
Lightvalve 50:3c630b5eba9f 789 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 790 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 791 // // | / | / |/
Lightvalve 50:3c630b5eba9f 792 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 793 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 794 // // /| / | / |
Lightvalve 50:3c630b5eba9f 795 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 796 //
Lightvalve 50:3c630b5eba9f 797 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 798 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 799 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 800 // } else {
Lightvalve 50:3c630b5eba9f 801 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 802 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 803 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 804 // }
Lightvalve 50:3c630b5eba9f 805 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 806 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 807 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 808 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 809 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 810 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 811 // }
Lightvalve 50:3c630b5eba9f 812 // } else {
Lightvalve 50:3c630b5eba9f 813 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 814 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 815 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 816 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 817 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 818 // }
Lightvalve 50:3c630b5eba9f 819 // V_out = 0;
Lightvalve 50:3c630b5eba9f 820 //
Lightvalve 50:3c630b5eba9f 821 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 822 //
Lightvalve 50:3c630b5eba9f 823 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 824 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 825 //
Lightvalve 50:3c630b5eba9f 826 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 827 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 828 // }
Lightvalve 50:3c630b5eba9f 829 // }
Lightvalve 50:3c630b5eba9f 830 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 831 // break;
Lightvalve 50:3c630b5eba9f 832 // }
Lightvalve 14:8e7590227d22 833
Lightvalve 14:8e7590227d22 834 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 835 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 836 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 837 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 838 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 839 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 840 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 841 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 842 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 843 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 844 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 845 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 846 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 847 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 848 }
Lightvalve 29:69f3f5445d6d 849 cnt_findhome++;
Lightvalve 14:8e7590227d22 850
Lightvalve 29:69f3f5445d6d 851 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 852 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 853 } else {
Lightvalve 29:69f3f5445d6d 854 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 855 }
Lightvalve 19:23b7c1ad8683 856
Lightvalve 57:f4819de54e7a 857 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 858 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 859 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 860 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 861
Lightvalve 59:f308b1656d9c 862 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 863 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 864 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 865 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 866 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 867
Lightvalve 59:f308b1656d9c 868 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 869 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 870
Lightvalve 34:bb2ca2fc2a8e 871
Lightvalve 29:69f3f5445d6d 872 } else {
Lightvalve 29:69f3f5445d6d 873 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 874 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 875 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 876 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 877 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 878 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 879 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 880 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 881 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 882 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 883 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 884
Lightvalve 67:c2812cf26c38 885
Lightvalve 67:c2812cf26c38 886 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 887 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 888 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 889 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 890 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 891 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 892 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 893
Lightvalve 67:c2812cf26c38 894
Lightvalve 29:69f3f5445d6d 895 }
Lightvalve 29:69f3f5445d6d 896 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 897 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 898 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 899 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 900 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 901
Lightvalve 29:69f3f5445d6d 902 // input for position control
Lightvalve 67:c2812cf26c38 903
Lightvalve 67:c2812cf26c38 904 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 905 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 906
Lightvalve 67:c2812cf26c38 907 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 908 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 909 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 910 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 911
Lightvalve 67:c2812cf26c38 912 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 913
Lightvalve 67:c2812cf26c38 914 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 915 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 916 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 917
Lightvalve 67:c2812cf26c38 918 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 919 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 920 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 921
Lightvalve 69:3995ffeaa786 922 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 923 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 924 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 925 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 926 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 927 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 928 }
Lightvalve 67:c2812cf26c38 929 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 930 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 931
Lightvalve 67:c2812cf26c38 932 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 933
Lightvalve 67:c2812cf26c38 934
Lightvalve 67:c2812cf26c38 935
Lightvalve 67:c2812cf26c38 936 } else {
Lightvalve 67:c2812cf26c38 937 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 938 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 939
Lightvalve 67:c2812cf26c38 940 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 941 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 942 } else {
Lightvalve 67:c2812cf26c38 943 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 944 }
Lightvalve 67:c2812cf26c38 945
Lightvalve 67:c2812cf26c38 946 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 947
Lightvalve 67:c2812cf26c38 948 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 949
Lightvalve 67:c2812cf26c38 950 }
Lightvalve 67:c2812cf26c38 951
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953
Lightvalve 67:c2812cf26c38 954
Lightvalve 59:f308b1656d9c 955 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 956 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 957 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 958 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 959 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 960
Lightvalve 29:69f3f5445d6d 961 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 962 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 963 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 964 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 965 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 966 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 967 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 968 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 969 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 970 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 971 }
Lightvalve 13:747daba9cf59 972 }
Lightvalve 19:23b7c1ad8683 973
Lightvalve 13:747daba9cf59 974 break;
Lightvalve 13:747daba9cf59 975 }
Lightvalve 14:8e7590227d22 976
Lightvalve 50:3c630b5eba9f 977 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 978 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 979 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 980 // else {
Lightvalve 50:3c630b5eba9f 981 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 982 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 983 // }
Lightvalve 50:3c630b5eba9f 984 // }
Lightvalve 50:3c630b5eba9f 985 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 986 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 987 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 988 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 989 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 990 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 991 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 992 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 993 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 994 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 995 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 996 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 997 // }
Lightvalve 50:3c630b5eba9f 998 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 999 // }
Lightvalve 50:3c630b5eba9f 1000 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1001 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1002 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1003 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1004 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1005 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1006 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1007 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1008 // 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 1009 // // 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 1010 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1011 // }
Lightvalve 50:3c630b5eba9f 1012 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1013 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1014 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1015 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1016 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1017 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1018 // 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 1019 // // 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 1020 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1021 // }
Lightvalve 50:3c630b5eba9f 1022 // }
Lightvalve 50:3c630b5eba9f 1023 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1024 //
Lightvalve 50:3c630b5eba9f 1025 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1026 //
Lightvalve 50:3c630b5eba9f 1027 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1028 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1029 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1030 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1031 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1032 // }
Lightvalve 50:3c630b5eba9f 1033 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1034 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1035 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1036 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1037 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1038 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1039 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1040 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1041 // }
Lightvalve 50:3c630b5eba9f 1042 //
Lightvalve 50:3c630b5eba9f 1043 // }
Lightvalve 50:3c630b5eba9f 1044 // break;
Lightvalve 50:3c630b5eba9f 1045 // }
Lightvalve 50:3c630b5eba9f 1046 //
Lightvalve 50:3c630b5eba9f 1047 // }
Lightvalve 14:8e7590227d22 1048 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1049 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1050 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1051 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1052 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1053
Lightvalve 14:8e7590227d22 1054 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1055 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1056 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1057 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1058 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1059
Lightvalve 38:118df027d851 1060 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1061 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1062 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1063
Lightvalve 30:8d561f16383b 1064 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1065 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1066 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1067 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1068
Lightvalve 30:8d561f16383b 1069 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1070 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1071 }
Lightvalve 13:747daba9cf59 1072 } else {
Lightvalve 57:f4819de54e7a 1073 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1074 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1075 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1076 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1077 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1078 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1079
Lightvalve 16:903b5a4433b4 1080 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1081
Lightvalve 30:8d561f16383b 1082 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1083 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1084 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1085 }
Lightvalve 14:8e7590227d22 1086 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1087 break;
Lightvalve 13:747daba9cf59 1088 }
Lightvalve 14:8e7590227d22 1089
Lightvalve 50:3c630b5eba9f 1090 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1091 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1092 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1093 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1094 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1095 // }
Lightvalve 50:3c630b5eba9f 1096 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1097 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1098 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1099 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1100 // }
Lightvalve 50:3c630b5eba9f 1101 // } else {
Lightvalve 50:3c630b5eba9f 1102 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1103 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1104 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1105 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1106 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1107 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1108 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1109 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1110 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1111 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1112 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1113 //
Lightvalve 50:3c630b5eba9f 1114 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1115 //
Lightvalve 50:3c630b5eba9f 1116 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1117 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1118 // }
Lightvalve 50:3c630b5eba9f 1119 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1120 // break;
Lightvalve 50:3c630b5eba9f 1121 // }
Lightvalve 19:23b7c1ad8683 1122
Lightvalve 50:3c630b5eba9f 1123 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1124 // 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 1125 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1126 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1127 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1128 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1129 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1130 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1131 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1132 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1133 // }
Lightvalve 50:3c630b5eba9f 1134 // break;
Lightvalve 50:3c630b5eba9f 1135 // }
Lightvalve 14:8e7590227d22 1136
Lightvalve 14:8e7590227d22 1137 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1138 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1139 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1140
Lightvalve 14:8e7590227d22 1141 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1142 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1143 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1144 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1145 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1146 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1147 data_num = 0;
Lightvalve 14:8e7590227d22 1148 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1149 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1150 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1151 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1152 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1153 } else {
Lightvalve 13:747daba9cf59 1154 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1155 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1156 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1157 }
Lightvalve 14:8e7590227d22 1158
Lightvalve 17:1865016ca2e7 1159 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1160 int i;
Lightvalve 13:747daba9cf59 1161 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1162 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1163 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1164 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1165 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1166 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1167 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1168 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1169 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1170 }
Lightvalve 13:747daba9cf59 1171 }
Lightvalve 59:f308b1656d9c 1172 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1173 ID_index = 0;
Lightvalve 57:f4819de54e7a 1174 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1175 }
Lightvalve 14:8e7590227d22 1176
Lightvalve 14:8e7590227d22 1177
Lightvalve 13:747daba9cf59 1178 break;
Lightvalve 13:747daba9cf59 1179 }
Lightvalve 14:8e7590227d22 1180
Lightvalve 14:8e7590227d22 1181 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1182 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1183 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1184 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1185 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1186 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1187 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1188 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1189 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1190 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1191 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1192 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1193 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1194 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1195 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1196 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 1197 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1198 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 1199 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1200 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1201 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1202 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 1203 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1204 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1205 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1206 data_num = 0;
Lightvalve 14:8e7590227d22 1207
Lightvalve 30:8d561f16383b 1208 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1209 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1210 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1211
Lightvalve 30:8d561f16383b 1212 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1213 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1214 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1215
Lightvalve 30:8d561f16383b 1216 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1217 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1218 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1219 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1220
Lightvalve 60:64181f1d3e60 1221 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1222 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1223 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1224 DZ_case = -1;
Lightvalve 14:8e7590227d22 1225 } else {
Lightvalve 13:747daba9cf59 1226 DZ_case = 0;
Lightvalve 13:747daba9cf59 1227 }
Lightvalve 61:bc8c8270f0ab 1228
Lightvalve 60:64181f1d3e60 1229 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1230
Lightvalve 13:747daba9cf59 1231 first_check = 1;
Lightvalve 13:747daba9cf59 1232 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1233 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1234 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1235 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1236 DZ_index = 1;
Lightvalve 14:8e7590227d22 1237
Lightvalve 13:747daba9cf59 1238 }
Lightvalve 19:23b7c1ad8683 1239 } else {
Lightvalve 14:8e7590227d22 1240 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1241 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1242 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 1243 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1244 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1245 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1246 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1247 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1248 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1249 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1250 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1251 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1252 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1253 }
Lightvalve 14:8e7590227d22 1254 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1255
Lightvalve 30:8d561f16383b 1256 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1257 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1258 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1259
Lightvalve 14:8e7590227d22 1260 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1261 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1262 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1263 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1264 } else {
Lightvalve 13:747daba9cf59 1265 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1266 }
Lightvalve 14:8e7590227d22 1267
Lightvalve 13:747daba9cf59 1268 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1269 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1270 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1271 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1272 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1273 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1274 DZ_index = 1;
Lightvalve 13:747daba9cf59 1275 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1276 }
Lightvalve 13:747daba9cf59 1277 }
Lightvalve 14:8e7590227d22 1278 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1279 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1280 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 1281 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1282 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1283 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1284 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1285 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1286 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1287 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1288 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1289 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1290 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1291 }
Lightvalve 14:8e7590227d22 1292 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1293
Lightvalve 30:8d561f16383b 1294 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1295 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1296 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1297 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1298 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1299
Lightvalve 14:8e7590227d22 1300 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1301 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1302 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1303 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1304 } else {
Lightvalve 60:64181f1d3e60 1305 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1306 }
Lightvalve 14:8e7590227d22 1307
Lightvalve 13:747daba9cf59 1308 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1309 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1310 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1311 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1312 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1313 first_check = 0;
Lightvalve 33:91b17819ec30 1314 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1315 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1316
Lightvalve 16:903b5a4433b4 1317 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1318
Lightvalve 60:64181f1d3e60 1319 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1320 DZ_index = 1;
Lightvalve 13:747daba9cf59 1321 }
Lightvalve 13:747daba9cf59 1322 }
Lightvalve 14:8e7590227d22 1323 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1324 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1325 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1326 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1327 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1328 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1329 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1330 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1331 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1332 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1333 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1334 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1335 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1336 }
Lightvalve 14:8e7590227d22 1337 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1338
Lightvalve 30:8d561f16383b 1339 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1340 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1341 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1342
Lightvalve 14:8e7590227d22 1343 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1344 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1345 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1346 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1347 } else {
Lightvalve 13:747daba9cf59 1348 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1349 }
Lightvalve 13:747daba9cf59 1350 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1351 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1352 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1353 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1354 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1355 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1356 DZ_index = 1;
Lightvalve 13:747daba9cf59 1357 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1358 }
Lightvalve 13:747daba9cf59 1359 }
Lightvalve 14:8e7590227d22 1360 } else {
Lightvalve 30:8d561f16383b 1361 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1362 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 1363 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1364 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1365 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1366 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1367 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1368 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1369 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1370 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1371 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1372 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1373 }
Lightvalve 14:8e7590227d22 1374 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1375
Lightvalve 30:8d561f16383b 1376 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1377 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1378 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1379 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1380 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1381
Lightvalve 60:64181f1d3e60 1382 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1383 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1384 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1385 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1386 } else {
Lightvalve 13:747daba9cf59 1387 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1388 }
Lightvalve 14:8e7590227d22 1389
Lightvalve 13:747daba9cf59 1390 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1391 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1392 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1393 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1394 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1395 first_check = 0;
Lightvalve 33:91b17819ec30 1396 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1397 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1398
Lightvalve 59:f308b1656d9c 1399 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1400
Lightvalve 57:f4819de54e7a 1401 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1402 DZ_index = 1;
Lightvalve 13:747daba9cf59 1403 }
Lightvalve 13:747daba9cf59 1404 }
Lightvalve 13:747daba9cf59 1405 }
Lightvalve 14:8e7590227d22 1406 }
Lightvalve 13:747daba9cf59 1407 break;
Lightvalve 13:747daba9cf59 1408 }
Lightvalve 14:8e7590227d22 1409
Lightvalve 14:8e7590227d22 1410 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1411 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1412 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1413 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1414 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1415 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1416 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1417 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1418 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1419 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1420 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1421 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1422 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1423 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1424 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1425 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1426 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1427 first_check = 1;
Lightvalve 13:747daba9cf59 1428 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1429 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1430 ID_index = 0;
Lightvalve 13:747daba9cf59 1431 max_check = 0;
Lightvalve 13:747daba9cf59 1432 min_check = 0;
Lightvalve 13:747daba9cf59 1433 }
Lightvalve 14:8e7590227d22 1434 } else {
Lightvalve 30:8d561f16383b 1435 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1436 //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 1437 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1438 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1439 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1440 data_num = 0;
Lightvalve 57:f4819de54e7a 1441 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1442
Lightvalve 14:8e7590227d22 1443 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1444 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1445 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1446 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1447 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1448 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1449 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1450 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1451 one_period_end = 1;
Lightvalve 13:747daba9cf59 1452 }
Lightvalve 30:8d561f16383b 1453 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1454 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1455 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1456 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1457 }
Lightvalve 14:8e7590227d22 1458
Lightvalve 14:8e7590227d22 1459 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1460 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1461 max_check = 1;
Lightvalve 14:8e7590227d22 1462 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1463 min_check = 1;
Lightvalve 13:747daba9cf59 1464 }
Lightvalve 13:747daba9cf59 1465 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1466
Lightvalve 13:747daba9cf59 1467 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1468 one_period_end = 0;
Lightvalve 13:747daba9cf59 1469 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1470 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1471 }
Lightvalve 14:8e7590227d22 1472
Lightvalve 14:8e7590227d22 1473 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1474
Lightvalve 13:747daba9cf59 1475 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1476 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1477 ID_index = 0;
Lightvalve 13:747daba9cf59 1478 first_check = 0;
Lightvalve 13:747daba9cf59 1479 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1480 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1481 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1482 }
Lightvalve 13:747daba9cf59 1483 }
Lightvalve 13:747daba9cf59 1484 break;
Lightvalve 13:747daba9cf59 1485 }
Lightvalve 58:2eade98630e2 1486
Lightvalve 57:f4819de54e7a 1487 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1488 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1489 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1490 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1491 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1492 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1493 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1494 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1495 }
Lightvalve 57:f4819de54e7a 1496 break;
Lightvalve 57:f4819de54e7a 1497 }
Lightvalve 58:2eade98630e2 1498
Lightvalve 58:2eade98630e2 1499
Lightvalve 57:f4819de54e7a 1500
Lightvalve 57:f4819de54e7a 1501 default:
Lightvalve 57:f4819de54e7a 1502 break;
Lightvalve 57:f4819de54e7a 1503 }
Lightvalve 57:f4819de54e7a 1504
Lightvalve 57:f4819de54e7a 1505 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1506
Lightvalve 57:f4819de54e7a 1507 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1508 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1509 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1510 break;
Lightvalve 57:f4819de54e7a 1511 }
Lightvalve 57:f4819de54e7a 1512
Lightvalve 57:f4819de54e7a 1513 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1514 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1515 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1516 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1517 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1518 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1519 } else {
Lightvalve 67:c2812cf26c38 1520 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1521 }
Lightvalve 58:2eade98630e2 1522
Lightvalve 57:f4819de54e7a 1523 break;
Lightvalve 57:f4819de54e7a 1524 }
Lightvalve 57:f4819de54e7a 1525
Lightvalve 57:f4819de54e7a 1526 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1527 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1528 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1529 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1530 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1531
Lightvalve 67:c2812cf26c38 1532 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1533 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1534 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1535 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1536
Lightvalve 67:c2812cf26c38 1537 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1538
Lightvalve 57:f4819de54e7a 1539 // torque feedback
Lightvalve 67:c2812cf26c38 1540 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1541 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1542
Lightvalve 57:f4819de54e7a 1543 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1544
Lightvalve 57:f4819de54e7a 1545 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1546 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1547 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1548
Lightvalve 57:f4819de54e7a 1549 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1550 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1551 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1552
Lightvalve 69:3995ffeaa786 1553 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1554 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 1555 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1556 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1557 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 1558 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1559 }
Lightvalve 57:f4819de54e7a 1560 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 1561 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1562
Lightvalve 57:f4819de54e7a 1563 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1564 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1565 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1566 // 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 1567 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1568 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1569 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1570 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 1571 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1572 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1573 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1574 }
Lightvalve 57:f4819de54e7a 1575 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 1576 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1577 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1578 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1579 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1580
Lightvalve 57:f4819de54e7a 1581 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1582
Lightvalve 67:c2812cf26c38 1583 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1584 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1585 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1586 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1587 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1588 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1589 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1590 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1591 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1592 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1593 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1594 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1595 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1596 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1597 }
Lightvalve 67:c2812cf26c38 1598 }
Lightvalve 57:f4819de54e7a 1599
Lightvalve 57:f4819de54e7a 1600 } else {
Lightvalve 57:f4819de54e7a 1601 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1602 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1603 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1604
Lightvalve 57:f4819de54e7a 1605 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 1606 + 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 1607
Lightvalve 72:3436ce769b1e 1608 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1609
Lightvalve 72:3436ce769b1e 1610 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1611
Lightvalve 72:3436ce769b1e 1612
Lightvalve 72:3436ce769b1e 1613 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1614 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1615 } else {
Lightvalve 72:3436ce769b1e 1616 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1617 }
Lightvalve 57:f4819de54e7a 1618
Lightvalve 57:f4819de54e7a 1619 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1620 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1621 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1622 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1623 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1624 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1625 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1626 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1627 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1628 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1629 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1630 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1631 }
Lightvalve 57:f4819de54e7a 1632 }
Lightvalve 61:bc8c8270f0ab 1633
Lightvalve 57:f4819de54e7a 1634 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1635
Lightvalve 67:c2812cf26c38 1636 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1637 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1638
Lightvalve 57:f4819de54e7a 1639 }
Lightvalve 72:3436ce769b1e 1640
Lightvalve 72:3436ce769b1e 1641 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1642
Lightvalve 57:f4819de54e7a 1643 break;
Lightvalve 57:f4819de54e7a 1644 }
Lightvalve 58:2eade98630e2 1645
Lightvalve 57:f4819de54e7a 1646 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1647 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1648 break;
Lightvalve 57:f4819de54e7a 1649 }
Lightvalve 14:8e7590227d22 1650
Lightvalve 12:6f2531038ea4 1651 default:
Lightvalve 12:6f2531038ea4 1652 break;
Lightvalve 12:6f2531038ea4 1653 }
Lightvalve 14:8e7590227d22 1654
Lightvalve 57:f4819de54e7a 1655
Lightvalve 57:f4819de54e7a 1656 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1657
Lightvalve 57:f4819de54e7a 1658 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1659 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1660 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1661 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1662 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1663 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1664
Lightvalve 57:f4819de54e7a 1665 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1666 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1667
Lightvalve 57:f4819de54e7a 1668
Lightvalve 57:f4819de54e7a 1669 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1670 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1671 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1672 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1673 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1674 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1675
Lightvalve 57:f4819de54e7a 1676 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1677 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1678 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1679 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1680 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1681 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1682 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1683 }
Lightvalve 57:f4819de54e7a 1684
Lightvalve 57:f4819de54e7a 1685 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1686
Lightvalve 67:c2812cf26c38 1687 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1688 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1689 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1690 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1691 // 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 1692 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1693 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1694
Lightvalve 57:f4819de54e7a 1695 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1696 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1697 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1698 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1699 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1700 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1701 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1702 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1703 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1704 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1705 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1706 }
Lightvalve 57:f4819de54e7a 1707 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1708 } else {
Lightvalve 57:f4819de54e7a 1709 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1710 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1711 }
Lightvalve 57:f4819de54e7a 1712
Lightvalve 57:f4819de54e7a 1713 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1714 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1715 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1716 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1717 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1718 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1719 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1720
Lightvalve 57:f4819de54e7a 1721 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1722
Lightvalve 57:f4819de54e7a 1723 } else {
Lightvalve 57:f4819de54e7a 1724 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1725 }
Lightvalve 57:f4819de54e7a 1726
Lightvalve 57:f4819de54e7a 1727 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1728 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1729 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1730
Lightvalve 57:f4819de54e7a 1731 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1732 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1733 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1734 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1735 }
Lightvalve 67:c2812cf26c38 1736
Lightvalve 67:c2812cf26c38 1737 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1738 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1739 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1740
jobuuu 7:e9086c72bb22 1741 /*******************************************************
jobuuu 7:e9086c72bb22 1742 *** PWM
jobuuu 7:e9086c72bb22 1743 ********************************************************/
Lightvalve 67:c2812cf26c38 1744 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1745 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1746 }
Lightvalve 67:c2812cf26c38 1747
Lightvalve 49:e7bcfc244d40 1748 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1749 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1750 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1751 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1752 }
Lightvalve 49:e7bcfc244d40 1753 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1754
Lightvalve 19:23b7c1ad8683 1755 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1756 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1757 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1758
Lightvalve 30:8d561f16383b 1759 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1760 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1761 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1762 } else {
jobuuu 2:a1c0a37df760 1763 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1764 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1765 }
Lightvalve 13:747daba9cf59 1766
jobuuu 1:e04e563be5ce 1767 //pwm
Lightvalve 30:8d561f16383b 1768 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1769 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1770
Lightvalve 61:bc8c8270f0ab 1771
Lightvalve 57:f4819de54e7a 1772 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1773
Lightvalve 54:647072f5307a 1774 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1775 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1776 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1777 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1778 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1779 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1780 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 1781 }
Lightvalve 57:f4819de54e7a 1782 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1783 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1784 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 1785 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1786 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 1787 }
Lightvalve 52:8ea76864368a 1788 }
Lightvalve 52:8ea76864368a 1789 }
Lightvalve 56:6f50d9d3bfee 1790 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1791 //valve position
Lightvalve 54:647072f5307a 1792 double t_value = 0;
Lightvalve 67:c2812cf26c38 1793 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 67:c2812cf26c38 1794 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1795 } else {
Lightvalve 67:c2812cf26c38 1796 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1797 }
Lightvalve 67:c2812cf26c38 1798 // if(OPERATING_MODE==5) {
Lightvalve 67:c2812cf26c38 1799 // t_value = (double) value;
Lightvalve 67:c2812cf26c38 1800 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 67:c2812cf26c38 1801 // t_value = cur.sen;
Lightvalve 57:f4819de54e7a 1802 // } else {
Lightvalve 67:c2812cf26c38 1803 // t_value = V_out;
Lightvalve 67:c2812cf26c38 1804 // }
Lightvalve 67:c2812cf26c38 1805 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1806 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1807 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1808 }
Lightvalve 58:2eade98630e2 1809
Lightvalve 58:2eade98630e2 1810
Lightvalve 56:6f50d9d3bfee 1811 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1812 //pressure A and B
Lightvalve 57:f4819de54e7a 1813 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1814 }
Lightvalve 58:2eade98630e2 1815
Lightvalve 57:f4819de54e7a 1816 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1817 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1818 ;
Lightvalve 57:f4819de54e7a 1819 }
Lightvalve 58:2eade98630e2 1820
Lightvalve 56:6f50d9d3bfee 1821 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1822 //PWM
Lightvalve 67:c2812cf26c38 1823 CAN_TX_PWM((int16_t) value); //1500
Lightvalve 54:647072f5307a 1824 }
Lightvalve 57:f4819de54e7a 1825 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1826 // ;
Lightvalve 57:f4819de54e7a 1827 // }
Lightvalve 56:6f50d9d3bfee 1828 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1829 //valve position
Lightvalve 57:f4819de54e7a 1830 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1831 }
Lightvalve 20:806196fda269 1832
Lightvalve 54:647072f5307a 1833 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1834 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1835 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1836 // }
Lightvalve 54:647072f5307a 1837 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1838 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1839 //}
Lightvalve 52:8ea76864368a 1840
Lightvalve 54:647072f5307a 1841 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1842 }
Lightvalve 54:647072f5307a 1843 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1844
Lightvalve 20:806196fda269 1845 }
Lightvalve 52:8ea76864368a 1846 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1847
Lightvalve 58:2eade98630e2 1848 }