Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@71:381188d044f4, 2020-05-18 (annotated)

Committer:
Lightvalve
Date:
Mon May 18 01:47:33 2020 +0000
Revision:
71:381188d044f4
Parent:
70:d049d9b7dc6b
Child:
72:3436ce769b1e
200518_3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 71:381188d044f4 1 //200518-3
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 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 71:381188d044f4 195 {-2.387519598007202f,3.758836269378662f,0.10087299346923828f,-1.1229431629180908f,0.6922420859336853f,-0.7154500484466553f,-0.15680599212646484f,4.780811786651611f,-0.22606176137924194f,-4.3647074699401855f,-0.18877790868282318f,0.4351077377796173f,-0.18402203917503357f,0.17382612824440002f,-0.20103082060813904f,-1.1245293617248535f,0.0004013699945062399f,0.23753002285957336f,-0.34493449330329895f,1.4886819124221802f,-0.3469485938549042f,0.1018887460231781f,-0.31691664457321167f,-0.07546886801719666f,-0.20609299838542938f,0.1750296652317047f,-0.16833457350730896f,1.1893956661224365f,0.5619507431983948f,-0.17902883887290955f,0.15201131999492645f,0.07611003518104553f},
Lightvalve 71:381188d044f4 196 {-1.7749016284942627f,2.7975220680236816f,0.2844829857349396f,-1.141148328781128f,0.5162314176559448f,-0.49613815546035767f,0.22054725885391235f,3.251734733581543f,-0.1290067881345749f,-2.8023927211761475f,-0.27535533905029297f,0.20548781752586365f,0.020206838846206665f,0.09718506783246994f,0.04370078444480896f,-0.7674993872642517f,-0.1540525257587433f,0.059967368841171265f,0.2727026045322418f,1.1572362184524536f,-0.05750657245516777f,-0.11504809558391571f,-0.0905606746673584f,0.2640003263950348f,-0.12323086708784103f,0.2797521650791168f,0.12084531784057617f,1.0019421577453613f,0.04765775799751282f,0.09343862533569336f,-0.13208310306072235f,0.09386715292930603f},
Lightvalve 71:381188d044f4 197 {-0.5164539813995361f,1.5264695882797241f,-0.004022121429443359f,-0.1440647691488266f,0.2536052167415619f,-0.36977875232696533f,0.11401084810495377f,1.5050835609436035f,0.019612671807408333f,-1.3692537546157837f,0.2685096859931946f,0.06199511140584946f,-0.031272560358047485f,0.10478135198354721f,-0.3021453320980072f,-0.41596806049346924f,0.24675573408603668f,-0.25322937965393066f,0.1321346014738083f,0.5626358389854431f,0.1830700933933258f,-0.14585837721824646f,0.1290973722934723f,-0.23490183055400848f,-0.1125480979681015f,0.13848352432250977f,-0.14778463542461395f,0.48468121886253357f,-0.23476767539978027f,0.28840622305870056f,-0.44455161690711975f,-0.18625950813293457f},
Lightvalve 71:381188d044f4 198 {0.32208502292633057f,-0.3156759738922119f,-0.19558930397033691f,-0.19543233513832092f,-0.4100252091884613f,-0.004481551703065634f,0.07631009817123413f,-0.7040706872940063f,0.28171858191490173f,0.4420015215873718f,0.11386692523956299f,0.053605884313583374f,-0.11249050498008728f,0.22857388854026794f,-0.12209486961364746f,0.13978374004364014f,-0.14970941841602325f,-0.22630342841148376f,-0.24627307057380676f,-0.2577669620513916f,-0.2657603621482849f,-0.08376853168010712f,-0.14013314247131348f,-0.277662992477417f,-0.11300056427717209f,0.1348792016506195f,0.12745562195777893f,-0.2508465051651001f,0.057046078145504f,0.1260412633419037f,-0.3105676770210266f,0.16906705498695374f},
Lightvalve 71:381188d044f4 199 {1.4193285703659058f,-2.082980155944824f,0.08011308312416077f,0.4150879383087158f,-0.6734179258346558f,0.15815895795822144f,-0.011050799861550331f,-3.1336023807525635f,-0.21337957680225372f,2.9705564975738525f,-0.2366180717945099f,-0.22752341628074646f,0.20140400528907776f,0.10731269419193268f,-0.2388615608215332f,0.7560790181159973f,-0.3201991021633148f,-0.17562326788902283f,0.10604840517044067f,-1.107373595237732f,0.10273914784193039f,0.22469106316566467f,-0.2337813377380371f,-0.07104292511940002f,-0.13561725616455078f,-0.32632216811180115f,0.038649410009384155f,-1.0993114709854126f,-0.15528695285320282f,-0.15546131134033203f,-0.30099284648895264f,0.025572150945663452f},
Lightvalve 71:381188d044f4 200 {2.7227981090545654f,-5.143029689788818f,0.2906685173511505f,1.5399490594863892f,-0.9622753262519836f,0.37471476197242737f,-0.0957474336028099f,-5.645540237426758f,-0.3353065848350525f,5.616762638092041f,0.26808297634124756f,-1.0108857154846191f,-0.029951006174087524f,-0.07129227370023727f,0.20863232016563416f,0.7699045538902283f,-0.6194054484367371f,-0.30441316962242126f,-0.35358551144599915f,-1.7409311532974243f,0.10042766481637955f,-0.009217172861099243f,0.11990180611610413f,0.3152395784854889f,-0.2418633997440338f,0.19827589392662048f,-0.278697669506073f,-1.2059303522109985f,-0.558561384677887f,-0.0012509822845458984f,-0.734422504901886f,-0.053316205739974976f},
Lightvalve 71:381188d044f4 201 {0.2750146687030792f,-1.1475892066955566f,0.15515866875648499f,0.21448633074760437f,0.06762965023517609f,-0.1576707810163498f,-0.23731227219104767f,-0.7270495891571045f,-0.13523922860622406f,0.5428754091262817f,-0.09253466129302979f,-0.3718276917934418f,0.09392929077148438f,-0.05219079554080963f,-0.17407774925231934f,-0.3190608620643616f,-0.0914473608136177f,-0.07779207825660706f,0.28278085589408875f,-0.44247889518737793f,-0.1839694231748581f,-0.16872906684875488f,-0.2501657009124756f,-0.23358337581157684f,-0.2457464188337326f,-0.14798402786254883f,-0.1072954386472702f,-0.5590028166770935f,-0.2652907073497772f,-0.033211708068847656f,-0.1592596173286438f,0.11262083053588867f},
Lightvalve 71:381188d044f4 202 {0.001117101637646556f,-0.6694040894508362f,0.1585540771484375f,0.058495938777923584f,0.13057538866996765f,-0.3904164135456085f,-0.015467860735952854f,-0.07340437173843384f,0.2496090680360794f,0.486560195684433f,-0.22571013867855072f,-0.5619569420814514f,0.10294389724731445f,-0.10807392001152039f,0.052227020263671875f,0.13283616304397583f,-0.0029761691112071276f,-0.272625207901001f,-0.3560391664505005f,-0.28225699067115784f,-0.1001318097114563f,0.021598905324935913f,-0.12170252203941345f,-0.027094602584838867f,0.017798883840441704f,0.016911834478378296f,-0.32526659965515137f,-0.35469886660575867f,-0.25670066475868225f,0.00411224365234375f,-0.2789911925792694f,0.24875596165657043f},
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Lightvalve 65:a2d7c63419c2 218
Lightvalve 66:a8e6799dbce3 219 const float h2[32][32] = {
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Lightvalve 65:a2d7c63419c2 252 };
Lightvalve 65:a2d7c63419c2 253
Lightvalve 66:a8e6799dbce3 254 const float h3[32][32] = {
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Lightvalve 71:381188d044f4 284 {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.33835604786872864f,0.027385378256440163f,0.06556430459022522f,0.29767414927482605f,0.36594903469085693f,-0.18048140406608582f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.06095482409000397f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.321990042924881f,0.37035757303237915f,0.04131292551755905f,-0.04174882173538208f,-0.11559568345546722f,-0.17430315911769867f,0.21069613099098206f,-0.19532959163188934f,-0.1387111395597458f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
Lightvalve 67:c2812cf26c38 285 {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
Lightvalve 71:381188d044f4 286 {0.07638216018676758f,0.07996532320976257f,-0.30373215675354004f,-0.2868785560131073f,0.1302153617143631f,0.015181951224803925f,0.2795381247997284f,-0.25668495893478394f,-0.0810365080833435f,0.14579007029533386f,-0.026776641607284546f,0.02524423599243164f,0.11033061146736145f,0.2571842670440674f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.12243823707103729f,0.2692778706550598f,0.13529884815216064f,-0.00019467927631922066f,-0.15799765288829803f,-0.17324526607990265f,0.21758465468883514f,0.1901901364326477f,-0.26031842827796936f,-0.06264235824346542f,-0.1070472002029419f,0.22636333107948303f,-0.2677184045314789f,0.1976069062948227f},
Lightvalve 66:a8e6799dbce3 287 };
Lightvalve 65:a2d7c63419c2 288
Lightvalve 71:381188d044f4 289 const float hout[32] = { 0.3285340666770935f,0.2551562786102295f,-0.012636851519346237f,-0.10438686609268188f,0.027978483587503433f,0.30827778577804565f,0.002162247896194458f,0.12166870385408401f,-0.1348801702260971f,0.03679719194769859f,0.04490549862384796f,-0.21492743492126465f,-0.11106962710618973f,-0.1849307417869568f,0.2356991171836853f,-0.04954531416296959f,0.09851181507110596f,-0.21499931812286377f,-0.04986921697854996f,-0.07776449620723724f,0.014431039802730083f,0.1345127671957016f,-0.2774904668331146f,-0.15596844255924225f,0.15764980018138885f,0.25172343850135803f,-0.05403050407767296f,-0.2695673406124115f,-0.004355378914624453f,-0.3257754445075989f,-0.15538199245929718f,0.08937087655067444f };
Lightvalve 66:a8e6799dbce3 290
Lightvalve 71:381188d044f4 291 const float b1[32] = { 0.4876643419265747f,3.4924867153167725f,-1.7145336866378784f,0.08961353451013565f,1.1386795043945312f,0.5310156345367432f,-0.0994354784488678f,1.122987985610962f,0.5337356925010681f,-2.1464405059814453f,0.5788223743438721f,1.547778606414795f,-0.3425353467464447f,-0.8973348736763f,-1.087764859199524f,0.8930401802062988f,0.6358370184898376f,-0.26377663016319275f,0.21948260068893433f,0.6810890436172485f,-0.3145366907119751f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.855795979499817f,-2.0880801677703857f,-1.0489267110824585f,0.7449505925178528f,0.4248124361038208f,-1.0887231826782227f,1.472203254699707f,-0.4426153898239136f };
Lightvalve 65:a2d7c63419c2 292
Lightvalve 71:381188d044f4 293 const float b2[32] = { -0.41471216082572937f,-0.7642630338668823f,-1.4564176797866821f,-0.564620852470398f,-0.6939148902893066f,-0.10885897278785706f,0.685957133769989f,-0.42037343978881836f,-1.20063054561615f,-1.912178635597229f,-0.017791951075196266f,0.019983429461717606f,-0.22318850457668304f,0.40243294835090637f,-0.151604562997818f,0.0058990237303078175f,-1.798204779624939f,-1.5844906568527222f,-0.08286646753549576f,-0.45091554522514343f,-0.1338617354631424f,-0.0241900272667408f,-0.06385613232851028f,-1.0450503826141357f,0.5254723429679871f,-0.5895631909370422f,0.4369310438632965f,-0.1577368527650833f,-0.6323830485343933f,-0.5159986019134521f,-1.178520679473877f,-1.3576154708862305f };
Lightvalve 65:a2d7c63419c2 294
Lightvalve 71:381188d044f4 295 const float b3[32] = { -1.963319182395935f,-0.5722635984420776f,0.02791612036526203f,-0.04721946641802788f,-0.10820336639881134f,0.5754797458648682f,-0.45353031158447266f,-0.8077852725982666f,-2.4385035037994385f,0.021701503545045853f,-0.5864827632904053f,-0.07983998954296112f,-0.6991575360298157f,-0.5194182991981506f,-1.1428403854370117f,-0.42275309562683105f,-1.3594286441802979f,-1.0192245244979858f,-0.4748340845108032f,-2.2864346504211426f,0.32822495698928833f,0.22720731794834137f,-1.026091456413269f,-0.9584147334098816f,-0.11634186655282974f,-0.47350677847862244f,-0.29931914806365967f,-0.2621769309043884f,-0.1290173977613449f,-2.3236680030822754f,-0.2663120925426483f,0.152870774269104f };
Lightvalve 66:a8e6799dbce3 296
Lightvalve 71:381188d044f4 297 const float bout[1] = { -0.06423281133174896f };
Lightvalve 61:bc8c8270f0ab 298
Lightvalve 61:bc8c8270f0ab 299
GiJeongKim 0:51c43836c1d7 300 int main()
GiJeongKim 0:51c43836c1d7 301 {
Lightvalve 66:a8e6799dbce3 302
Lightvalve 65:a2d7c63419c2 303 HAL_Init();
Lightvalve 65:a2d7c63419c2 304 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 305
jobuuu 6:df07d3491e3a 306 /*********************************
jobuuu 1:e04e563be5ce 307 *** Initialization
jobuuu 6:df07d3491e3a 308 *********************************/
Lightvalve 69:3995ffeaa786 309 LED = 0;
Lightvalve 61:bc8c8270f0ab 310 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 311
GiJeongKim 0:51c43836c1d7 312 // i2c init
Lightvalve 8:5d2eebdad025 313 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 314 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 315 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 316 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 317 make_delay();
jobuuu 2:a1c0a37df760 318
GiJeongKim 0:51c43836c1d7 319 // // spi init
Lightvalve 16:903b5a4433b4 320 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 321 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 322 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 323 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 324 make_delay();
Lightvalve 21:e5f1a43ea6f9 325
Lightvalve 16:903b5a4433b4 326 //rom
Lightvalve 19:23b7c1ad8683 327 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 328 make_delay();
Lightvalve 13:747daba9cf59 329
GiJeongKim 0:51c43836c1d7 330 // ADC init
jobuuu 5:a4319f79457b 331 Init_ADC();
Lightvalve 11:82d8768d7351 332 make_delay();
jobuuu 2:a1c0a37df760 333
GiJeongKim 0:51c43836c1d7 334 // Pwm init
GiJeongKim 0:51c43836c1d7 335 Init_PWM();
GiJeongKim 0:51c43836c1d7 336 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 337 make_delay();
Lightvalve 13:747daba9cf59 338
Lightvalve 11:82d8768d7351 339 // TMR3 init
Lightvalve 11:82d8768d7351 340 Init_TMR3();
Lightvalve 11:82d8768d7351 341 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 342 make_delay();
Lightvalve 21:e5f1a43ea6f9 343
Lightvalve 50:3c630b5eba9f 344 // TMR2 init
Lightvalve 56:6f50d9d3bfee 345 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 346 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 347 // make_delay();
Lightvalve 21:e5f1a43ea6f9 348
GiJeongKim 0:51c43836c1d7 349 // CAN
jobuuu 2:a1c0a37df760 350 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 351 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 352 make_delay();
Lightvalve 34:bb2ca2fc2a8e 353
Lightvalve 23:59218d4a256d 354 //Timer priority
Lightvalve 23:59218d4a256d 355 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 356 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 357 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 358
Lightvalve 23:59218d4a256d 359 //can.reset();
Lightvalve 19:23b7c1ad8683 360 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 361
GiJeongKim 0:51c43836c1d7 362 // spi _ enc
GiJeongKim 0:51c43836c1d7 363 spi_enc_set_init();
Lightvalve 11:82d8768d7351 364 make_delay();
Lightvalve 13:747daba9cf59 365
Lightvalve 11:82d8768d7351 366 //DAC init
Lightvalve 58:2eade98630e2 367 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 368 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 369 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 370 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 371 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 372 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 373 }
Lightvalve 11:82d8768d7351 374 make_delay();
Lightvalve 13:747daba9cf59 375
Lightvalve 19:23b7c1ad8683 376 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 377 if(i%2==0)
Lightvalve 38:118df027d851 378 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 379 else
Lightvalve 38:118df027d851 380 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 381 }
Lightvalve 61:bc8c8270f0ab 382
Lightvalve 61:bc8c8270f0ab 383
jobuuu 6:df07d3491e3a 384 /************************************
jobuuu 1:e04e563be5ce 385 *** Program is operating!
jobuuu 6:df07d3491e3a 386 *************************************/
GiJeongKim 0:51c43836c1d7 387 while(1) {
Lightvalve 66:a8e6799dbce3 388 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 389 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 390 //i2c
Lightvalve 66:a8e6799dbce3 391
Lightvalve 65:a2d7c63419c2 392 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 393 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 394 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 395 // LED=0;
Lightvalve 65:a2d7c63419c2 396 // } else
Lightvalve 65:a2d7c63419c2 397 // LED = 1;
Lightvalve 65:a2d7c63419c2 398 timer_while = 0;
Lightvalve 66:a8e6799dbce3 399 //}
Lightvalve 66:a8e6799dbce3 400
Lightvalve 66:a8e6799dbce3 401 timer_while ++;
Lightvalve 66:a8e6799dbce3 402
Lightvalve 66:a8e6799dbce3 403
Lightvalve 66:a8e6799dbce3 404 if(NN_Control_Flag == 1) {
Lightvalve 66:a8e6799dbce3 405 float output1[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 406 float output2[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 407 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 408 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 409
Lightvalve 66:a8e6799dbce3 410 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 411 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 412 output1[index2] = output1[index2]
Lightvalve 66:a8e6799dbce3 413 + h1[index1][index2] * input[index1];
Lightvalve 66:a8e6799dbce3 414 }
Lightvalve 66:a8e6799dbce3 415 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 416 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 417 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 66:a8e6799dbce3 419 }
Lightvalve 65:a2d7c63419c2 420
Lightvalve 66:a8e6799dbce3 421 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 422 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 423 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 424 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 425 }
Lightvalve 66:a8e6799dbce3 426 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 427 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 428 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 429 }
Lightvalve 66:a8e6799dbce3 430 }
Lightvalve 65:a2d7c63419c2 431
Lightvalve 66:a8e6799dbce3 432 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 433 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 434 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 435 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 436 }
Lightvalve 66:a8e6799dbce3 437 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 438 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 439 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 440 }
Lightvalve 65:a2d7c63419c2 441 }
Lightvalve 66:a8e6799dbce3 442
Lightvalve 66:a8e6799dbce3 443 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 66:a8e6799dbce3 444 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 445 output = output + hout[index2] * output3[index1];
Lightvalve 66:a8e6799dbce3 446 }
Lightvalve 66:a8e6799dbce3 447 output = output + bout[index2];
Lightvalve 66:a8e6799dbce3 448 output = 1.0f/(1.0f+exp(-output));
Lightvalve 66:a8e6799dbce3 449 }
Lightvalve 66:a8e6799dbce3 450
Lightvalve 68:328e1be06f5d 451 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 452 if(output>=0) {
Lightvalve 66:a8e6799dbce3 453 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 454 } else {
Lightvalve 66:a8e6799dbce3 455 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 456 }
Lightvalve 69:3995ffeaa786 457
Lightvalve 69:3995ffeaa786 458 if(LED==1) {
Lightvalve 69:3995ffeaa786 459 LED=0;
Lightvalve 69:3995ffeaa786 460 } else
Lightvalve 69:3995ffeaa786 461 LED = 1;
Lightvalve 69:3995ffeaa786 462
Lightvalve 65:a2d7c63419c2 463 }
Lightvalve 62:b5452adfb2cd 464
Lightvalve 69:3995ffeaa786 465
Lightvalve 66:a8e6799dbce3 466
GiJeongKim 0:51c43836c1d7 467 }
jobuuu 1:e04e563be5ce 468 }
jobuuu 1:e04e563be5ce 469
Lightvalve 33:91b17819ec30 470 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 471 {
Lightvalve 14:8e7590227d22 472
Lightvalve 13:747daba9cf59 473 int i = 0;
Lightvalve 48:889798ff9329 474 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 475 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 476 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 477 if(i==0) {
Lightvalve 50:3c630b5eba9f 478 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 479 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 480 } else {
Lightvalve 57:f4819de54e7a 481 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 482 }
Lightvalve 14:8e7590227d22 483 } else {
Lightvalve 50:3c630b5eba9f 484 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 485 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 486 } else {
Lightvalve 57:f4819de54e7a 487 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 488 }
Lightvalve 13:747daba9cf59 489 }
Lightvalve 13:747daba9cf59 490 break;
Lightvalve 13:747daba9cf59 491 }
Lightvalve 13:747daba9cf59 492 }
Lightvalve 14:8e7590227d22 493 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 494 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 495 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 496 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 497 }
Lightvalve 36:a46e63505ed8 498
Lightvalve 57:f4819de54e7a 499 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 500 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 501
Lightvalve 13:747daba9cf59 502 }
jobuuu 6:df07d3491e3a 503
jobuuu 6:df07d3491e3a 504
Lightvalve 30:8d561f16383b 505 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 506 {
Lightvalve 13:747daba9cf59 507 int i = 0;
Lightvalve 13:747daba9cf59 508
Lightvalve 38:118df027d851 509 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 510 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 511 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 512 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 513 }
Lightvalve 38:118df027d851 514
Lightvalve 13:747daba9cf59 515 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 516 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 517 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 518 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 519 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 520 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 521
Lightvalve 13:747daba9cf59 522 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 523
Lightvalve 18:b8adf1582ea3 524 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 525 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 526 if(i==0) {
Lightvalve 48:889798ff9329 527 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 528 } else {
Lightvalve 48:889798ff9329 529 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 530 }
Lightvalve 13:747daba9cf59 531 break;
Lightvalve 13:747daba9cf59 532 }
Lightvalve 13:747daba9cf59 533 }
Lightvalve 59:f308b1656d9c 534 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 535 }
Lightvalve 13:747daba9cf59 536
Lightvalve 14:8e7590227d22 537 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 538 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 539 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 540 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 541 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 542 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 543 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 544 }; // duty
Lightvalve 67:c2812cf26c38 545 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 546 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 547 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 548 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 549 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 550 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 551 }; // mV
Lightvalve 13:747daba9cf59 552
Lightvalve 30:8d561f16383b 553 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 554 {
Lightvalve 30:8d561f16383b 555 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 556 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 557 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 558 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 559 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 560 } else {
Lightvalve 13:747daba9cf59 561 int idx = 0;
Lightvalve 13:747daba9cf59 562 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 563 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 564 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 565 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 566 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 567 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 568 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 569 break;
Lightvalve 13:747daba9cf59 570 }
Lightvalve 13:747daba9cf59 571 }
Lightvalve 13:747daba9cf59 572 }
Lightvalve 14:8e7590227d22 573
Lightvalve 13:747daba9cf59 574 return PWM_duty;
Lightvalve 13:747daba9cf59 575 }
jobuuu 6:df07d3491e3a 576
Lightvalve 57:f4819de54e7a 577
Lightvalve 57:f4819de54e7a 578
Lightvalve 57:f4819de54e7a 579
Lightvalve 57:f4819de54e7a 580
jobuuu 2:a1c0a37df760 581 /*******************************************************************************
jobuuu 2:a1c0a37df760 582 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 583 *******************************************************************************/
jobuuu 2:a1c0a37df760 584
Lightvalve 51:b46bed7fec80 585 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 586 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 587 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 588 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 589 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 590 {
Lightvalve 19:23b7c1ad8683 591 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 592
Lightvalve 21:e5f1a43ea6f9 593 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 594 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 595 ********************************************************/
Lightvalve 13:747daba9cf59 596
Lightvalve 57:f4819de54e7a 597 //Encoder
Lightvalve 57:f4819de54e7a 598 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 599 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 600 }
Lightvalve 61:bc8c8270f0ab 601
Lightvalve 61:bc8c8270f0ab 602 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 603 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 604 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 605 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 606 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 607 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 608 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 609
Lightvalve 67:c2812cf26c38 610
Lightvalve 67:c2812cf26c38 611 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 612 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 613 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 614 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 615 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 616
Lightvalve 17:1865016ca2e7 617
Lightvalve 58:2eade98630e2 618 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 619 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 620 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 621 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 622 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 623 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 624 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 625 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 626 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 627
Lightvalve 58:2eade98630e2 628 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 629 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 630 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 631 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 632 }
Lightvalve 58:2eade98630e2 633 }
Lightvalve 61:bc8c8270f0ab 634
Lightvalve 58:2eade98630e2 635 // //Pressure sensor A
Lightvalve 58:2eade98630e2 636 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 637 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 638 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 639 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 640 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 641 // 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 642 //
Lightvalve 58:2eade98630e2 643 //
Lightvalve 58:2eade98630e2 644 // //Pressure sensor B
Lightvalve 58:2eade98630e2 645 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 646 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 647 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 648 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 649
Lightvalve 17:1865016ca2e7 650
Lightvalve 21:e5f1a43ea6f9 651 //Current
Lightvalve 21:e5f1a43ea6f9 652 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 653 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 654 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 655 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 656 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 657 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 658 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 659
Lightvalve 57:f4819de54e7a 660 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 661 }
Lightvalve 11:82d8768d7351 662 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 663 }
Lightvalve 19:23b7c1ad8683 664
Lightvalve 19:23b7c1ad8683 665
Lightvalve 18:b8adf1582ea3 666 int j =0;
Lightvalve 54:647072f5307a 667 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 668 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 669 int cnt_trans = 0;
Lightvalve 48:889798ff9329 670 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 671 int can_rest =0;
Lightvalve 48:889798ff9329 672
Lightvalve 11:82d8768d7351 673 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 674 {
Lightvalve 19:23b7c1ad8683 675 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 676
Lightvalve 57:f4819de54e7a 677 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 678 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 679 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 680 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 681 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 682 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 683 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 684 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 685 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 686 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 687 }
Lightvalve 50:3c630b5eba9f 688
Lightvalve 50:3c630b5eba9f 689 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 690 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 691 cnt_trans++;
Lightvalve 46:2694daea349b 692 torq.err_sum = 0;
Lightvalve 48:889798ff9329 693 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 694 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 695 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 696 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 697 cnt_trans++;
Lightvalve 46:2694daea349b 698 torq.err_sum = 0;
Lightvalve 48:889798ff9329 699 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 700 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 701 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 702 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 703 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 704 } else {
Lightvalve 58:2eade98630e2 705 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 706 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 707 }
Lightvalve 45:35fa6884d0c6 708
Lightvalve 50:3c630b5eba9f 709
Lightvalve 57:f4819de54e7a 710 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 711 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 712
Lightvalve 57:f4819de54e7a 713 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 714 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 715 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 716 } else {
Lightvalve 57:f4819de54e7a 717 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 718 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 719 }
Lightvalve 56:6f50d9d3bfee 720
Lightvalve 56:6f50d9d3bfee 721
Lightvalve 56:6f50d9d3bfee 722
Lightvalve 57:f4819de54e7a 723 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 724
Lightvalve 57:f4819de54e7a 725 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 726 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 727 break;
Lightvalve 13:747daba9cf59 728 }
Lightvalve 14:8e7590227d22 729
Lightvalve 14:8e7590227d22 730 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 731 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 732 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 733 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 734
Lightvalve 14:8e7590227d22 735 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 736 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 737 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 738
Lightvalve 59:f308b1656d9c 739 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 740
Lightvalve 30:8d561f16383b 741 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 742 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 743
Lightvalve 16:903b5a4433b4 744 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 745 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 746 }
Lightvalve 13:747daba9cf59 747 } else {
Lightvalve 58:2eade98630e2 748 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 749 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 750 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 751 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 752
Lightvalve 16:903b5a4433b4 753 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 754
Lightvalve 30:8d561f16383b 755 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 756
Lightvalve 13:747daba9cf59 757 }
Lightvalve 14:8e7590227d22 758 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 759 break;
Lightvalve 19:23b7c1ad8683 760 }
Lightvalve 14:8e7590227d22 761
Lightvalve 50:3c630b5eba9f 762 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 763 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 764 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 765 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 766 // }
Lightvalve 50:3c630b5eba9f 767 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 768 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 769 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 770 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 771 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 772 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 773 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 774 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 775 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 776 // }
Lightvalve 50:3c630b5eba9f 777 //
Lightvalve 50:3c630b5eba9f 778 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 779 // 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 780 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 781 //
Lightvalve 50:3c630b5eba9f 782 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 783 // V_out = 0;
Lightvalve 50:3c630b5eba9f 784 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 785 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 786 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 787 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 788 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 789 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 790 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 791 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 792 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 793 //
Lightvalve 50:3c630b5eba9f 794 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 795 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 796 // // | / | / |/
Lightvalve 50:3c630b5eba9f 797 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 798 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 799 // // /| / | / |
Lightvalve 50:3c630b5eba9f 800 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 801 //
Lightvalve 50:3c630b5eba9f 802 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 803 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 804 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 805 // } else {
Lightvalve 50:3c630b5eba9f 806 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 807 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 808 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 809 // }
Lightvalve 50:3c630b5eba9f 810 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 811 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 812 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 813 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 814 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 815 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 816 // }
Lightvalve 50:3c630b5eba9f 817 // } else {
Lightvalve 50:3c630b5eba9f 818 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 819 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 820 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 821 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 822 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 823 // }
Lightvalve 50:3c630b5eba9f 824 // V_out = 0;
Lightvalve 50:3c630b5eba9f 825 //
Lightvalve 50:3c630b5eba9f 826 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 827 //
Lightvalve 50:3c630b5eba9f 828 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 829 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 830 //
Lightvalve 50:3c630b5eba9f 831 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 832 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 833 // }
Lightvalve 50:3c630b5eba9f 834 // }
Lightvalve 50:3c630b5eba9f 835 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 836 // break;
Lightvalve 50:3c630b5eba9f 837 // }
Lightvalve 14:8e7590227d22 838
Lightvalve 14:8e7590227d22 839 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 840 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 841 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 842 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 843 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 844 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 845 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 846 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 847 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 848 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 849 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 850 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 851 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 852 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 853 }
Lightvalve 29:69f3f5445d6d 854 cnt_findhome++;
Lightvalve 14:8e7590227d22 855
Lightvalve 29:69f3f5445d6d 856 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 857 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 858 } else {
Lightvalve 29:69f3f5445d6d 859 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 860 }
Lightvalve 19:23b7c1ad8683 861
Lightvalve 57:f4819de54e7a 862 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 863 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 864 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 865 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 866
Lightvalve 59:f308b1656d9c 867 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 868 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 869 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 870 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 871 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 872
Lightvalve 59:f308b1656d9c 873 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 874 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 875
Lightvalve 34:bb2ca2fc2a8e 876
Lightvalve 29:69f3f5445d6d 877 } else {
Lightvalve 29:69f3f5445d6d 878 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 879 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 880 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 881 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 882 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 883 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 884 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 885 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 886 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 887 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 888 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 889
Lightvalve 67:c2812cf26c38 890
Lightvalve 67:c2812cf26c38 891 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 892 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 893 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 894 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 895 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 896 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 897 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 898
Lightvalve 67:c2812cf26c38 899
Lightvalve 29:69f3f5445d6d 900 }
Lightvalve 29:69f3f5445d6d 901 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 902 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 903 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 904 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 905 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 906
Lightvalve 29:69f3f5445d6d 907 // input for position control
Lightvalve 67:c2812cf26c38 908
Lightvalve 67:c2812cf26c38 909 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 910 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 911
Lightvalve 67:c2812cf26c38 912 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 913 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 914 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 915 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 916
Lightvalve 67:c2812cf26c38 917 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 918
Lightvalve 67:c2812cf26c38 919 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 920 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 921 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 922
Lightvalve 67:c2812cf26c38 923 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 924 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 925 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 926
Lightvalve 69:3995ffeaa786 927 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 928 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 929 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 930 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 931 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 932 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 933 }
Lightvalve 67:c2812cf26c38 934 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 935 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 936
Lightvalve 67:c2812cf26c38 937 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939
Lightvalve 67:c2812cf26c38 940
Lightvalve 67:c2812cf26c38 941 } else {
Lightvalve 67:c2812cf26c38 942 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 943 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 944
Lightvalve 67:c2812cf26c38 945 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 946 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 947 } else {
Lightvalve 67:c2812cf26c38 948 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 949 }
Lightvalve 67:c2812cf26c38 950
Lightvalve 67:c2812cf26c38 951 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 954
Lightvalve 67:c2812cf26c38 955 }
Lightvalve 67:c2812cf26c38 956
Lightvalve 67:c2812cf26c38 957
Lightvalve 67:c2812cf26c38 958
Lightvalve 67:c2812cf26c38 959
Lightvalve 59:f308b1656d9c 960 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 961 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 962 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 963 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 964 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 965
Lightvalve 29:69f3f5445d6d 966 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 967 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 968 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 969 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 970 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 971 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 972 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 973 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 974 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 975 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 976 }
Lightvalve 13:747daba9cf59 977 }
Lightvalve 19:23b7c1ad8683 978
Lightvalve 13:747daba9cf59 979 break;
Lightvalve 13:747daba9cf59 980 }
Lightvalve 14:8e7590227d22 981
Lightvalve 50:3c630b5eba9f 982 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 983 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 984 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 985 // else {
Lightvalve 50:3c630b5eba9f 986 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 987 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 988 // }
Lightvalve 50:3c630b5eba9f 989 // }
Lightvalve 50:3c630b5eba9f 990 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 991 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 992 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 993 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 994 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 995 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 996 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 997 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 998 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 999 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1000 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1001 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1002 // }
Lightvalve 50:3c630b5eba9f 1003 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1004 // }
Lightvalve 50:3c630b5eba9f 1005 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1006 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1007 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1008 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1009 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1010 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1011 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1012 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1013 // 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 1014 // // 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 1015 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1016 // }
Lightvalve 50:3c630b5eba9f 1017 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1018 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1019 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1020 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1021 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1022 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1023 // 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 1024 // // 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 1025 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1026 // }
Lightvalve 50:3c630b5eba9f 1027 // }
Lightvalve 50:3c630b5eba9f 1028 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1029 //
Lightvalve 50:3c630b5eba9f 1030 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1031 //
Lightvalve 50:3c630b5eba9f 1032 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1033 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1034 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1035 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1036 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1037 // }
Lightvalve 50:3c630b5eba9f 1038 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1039 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1040 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1041 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1042 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1043 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1044 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1045 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1046 // }
Lightvalve 50:3c630b5eba9f 1047 //
Lightvalve 50:3c630b5eba9f 1048 // }
Lightvalve 50:3c630b5eba9f 1049 // break;
Lightvalve 50:3c630b5eba9f 1050 // }
Lightvalve 50:3c630b5eba9f 1051 //
Lightvalve 50:3c630b5eba9f 1052 // }
Lightvalve 14:8e7590227d22 1053 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1054 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1055 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1056 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1057 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1058
Lightvalve 14:8e7590227d22 1059 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1060 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1061 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1062 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1063 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1064
Lightvalve 38:118df027d851 1065 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1066 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1067 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1068
Lightvalve 30:8d561f16383b 1069 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1070 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1071 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1072 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1073
Lightvalve 30:8d561f16383b 1074 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1075 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1076 }
Lightvalve 13:747daba9cf59 1077 } else {
Lightvalve 57:f4819de54e7a 1078 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1079 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1080 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1081 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1082 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1083 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1084
Lightvalve 16:903b5a4433b4 1085 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1086
Lightvalve 30:8d561f16383b 1087 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1088 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1089 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1090 }
Lightvalve 14:8e7590227d22 1091 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1092 break;
Lightvalve 13:747daba9cf59 1093 }
Lightvalve 14:8e7590227d22 1094
Lightvalve 50:3c630b5eba9f 1095 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1096 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1097 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1098 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1099 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1100 // }
Lightvalve 50:3c630b5eba9f 1101 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1102 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1103 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1104 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1105 // }
Lightvalve 50:3c630b5eba9f 1106 // } else {
Lightvalve 50:3c630b5eba9f 1107 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1108 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1109 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1110 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1111 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1112 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1113 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1114 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1115 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1116 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1117 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1118 //
Lightvalve 50:3c630b5eba9f 1119 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1120 //
Lightvalve 50:3c630b5eba9f 1121 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1122 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1123 // }
Lightvalve 50:3c630b5eba9f 1124 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1125 // break;
Lightvalve 50:3c630b5eba9f 1126 // }
Lightvalve 19:23b7c1ad8683 1127
Lightvalve 50:3c630b5eba9f 1128 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1129 // 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 1130 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1131 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1132 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1133 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1134 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1135 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1136 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1137 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1138 // }
Lightvalve 50:3c630b5eba9f 1139 // break;
Lightvalve 50:3c630b5eba9f 1140 // }
Lightvalve 14:8e7590227d22 1141
Lightvalve 14:8e7590227d22 1142 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1143 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1144 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1145
Lightvalve 14:8e7590227d22 1146 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1147 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1148 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1149 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1150 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1151 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1152 data_num = 0;
Lightvalve 14:8e7590227d22 1153 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1154 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1155 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1156 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1157 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1158 } else {
Lightvalve 13:747daba9cf59 1159 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1160 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1161 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1162 }
Lightvalve 14:8e7590227d22 1163
Lightvalve 17:1865016ca2e7 1164 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1165 int i;
Lightvalve 13:747daba9cf59 1166 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1167 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1168 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1169 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1170 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1171 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1172 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1173 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1174 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1175 }
Lightvalve 13:747daba9cf59 1176 }
Lightvalve 59:f308b1656d9c 1177 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1178 ID_index = 0;
Lightvalve 57:f4819de54e7a 1179 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1180 }
Lightvalve 14:8e7590227d22 1181
Lightvalve 14:8e7590227d22 1182
Lightvalve 13:747daba9cf59 1183 break;
Lightvalve 13:747daba9cf59 1184 }
Lightvalve 14:8e7590227d22 1185
Lightvalve 14:8e7590227d22 1186 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1187 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1188 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1189 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1190 if(VALVE_DZ_timer < (int) (1.0f * (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) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1193 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1194 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1195 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1196 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1197 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1198 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1199 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1200 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1201 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 1202 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1203 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1204 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1205 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1206 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1207 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 1208 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1209 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1210 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1211 data_num = 0;
Lightvalve 14:8e7590227d22 1212
Lightvalve 30:8d561f16383b 1213 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1214 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1215 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1216
Lightvalve 30:8d561f16383b 1217 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1218 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1219 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1220
Lightvalve 30:8d561f16383b 1221 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1222 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1223 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1224 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1225
Lightvalve 60:64181f1d3e60 1226 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1227 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1228 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1229 DZ_case = -1;
Lightvalve 14:8e7590227d22 1230 } else {
Lightvalve 13:747daba9cf59 1231 DZ_case = 0;
Lightvalve 13:747daba9cf59 1232 }
Lightvalve 61:bc8c8270f0ab 1233
Lightvalve 60:64181f1d3e60 1234 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1235
Lightvalve 13:747daba9cf59 1236 first_check = 1;
Lightvalve 13:747daba9cf59 1237 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1238 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1239 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1240 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1241 DZ_index = 1;
Lightvalve 14:8e7590227d22 1242
Lightvalve 13:747daba9cf59 1243 }
Lightvalve 19:23b7c1ad8683 1244 } else {
Lightvalve 14:8e7590227d22 1245 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1246 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1247 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1248 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1249 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1250 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1251 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1252 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1253 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1254 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1255 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1256 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1257 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1258 }
Lightvalve 14:8e7590227d22 1259 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1260
Lightvalve 30:8d561f16383b 1261 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1262 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1263 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1264
Lightvalve 14:8e7590227d22 1265 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1266 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1267 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1268 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1269 } else {
Lightvalve 13:747daba9cf59 1270 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1271 }
Lightvalve 14:8e7590227d22 1272
Lightvalve 13:747daba9cf59 1273 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1274 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1275 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1276 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1277 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1278 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1279 DZ_index = 1;
Lightvalve 13:747daba9cf59 1280 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1281 }
Lightvalve 13:747daba9cf59 1282 }
Lightvalve 14:8e7590227d22 1283 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1284 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1285 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 1286 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1287 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1288 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1289 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1290 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1291 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1292 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1293 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1294 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1295 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1296 }
Lightvalve 14:8e7590227d22 1297 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1298
Lightvalve 30:8d561f16383b 1299 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1300 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1301 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1302 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1303 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1304
Lightvalve 14:8e7590227d22 1305 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1306 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1307 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1308 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1309 } else {
Lightvalve 60:64181f1d3e60 1310 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1311 }
Lightvalve 14:8e7590227d22 1312
Lightvalve 13:747daba9cf59 1313 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1314 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1315 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1316 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1317 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1318 first_check = 0;
Lightvalve 33:91b17819ec30 1319 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1320 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1321
Lightvalve 16:903b5a4433b4 1322 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1323
Lightvalve 60:64181f1d3e60 1324 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1325 DZ_index = 1;
Lightvalve 13:747daba9cf59 1326 }
Lightvalve 13:747daba9cf59 1327 }
Lightvalve 14:8e7590227d22 1328 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1329 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1330 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 1331 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1332 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1333 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1334 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1335 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1336 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1337 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1338 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1339 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1340 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1341 }
Lightvalve 14:8e7590227d22 1342 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1343
Lightvalve 30:8d561f16383b 1344 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1345 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1346 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1347
Lightvalve 14:8e7590227d22 1348 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1349 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1350 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1351 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1352 } else {
Lightvalve 13:747daba9cf59 1353 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1354 }
Lightvalve 13:747daba9cf59 1355 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1356 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1357 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1358 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1359 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1360 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1361 DZ_index = 1;
Lightvalve 13:747daba9cf59 1362 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1363 }
Lightvalve 13:747daba9cf59 1364 }
Lightvalve 14:8e7590227d22 1365 } else {
Lightvalve 30:8d561f16383b 1366 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1367 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 1368 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1369 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1370 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1371 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1372 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1373 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1374 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1375 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1376 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1377 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1378 }
Lightvalve 14:8e7590227d22 1379 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1380
Lightvalve 30:8d561f16383b 1381 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1382 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1383 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1384 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1385 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1386
Lightvalve 60:64181f1d3e60 1387 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1388 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1389 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1390 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1391 } else {
Lightvalve 13:747daba9cf59 1392 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1393 }
Lightvalve 14:8e7590227d22 1394
Lightvalve 13:747daba9cf59 1395 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1396 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1397 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1398 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1399 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1400 first_check = 0;
Lightvalve 33:91b17819ec30 1401 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1402 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1403
Lightvalve 59:f308b1656d9c 1404 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1405
Lightvalve 57:f4819de54e7a 1406 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1407 DZ_index = 1;
Lightvalve 13:747daba9cf59 1408 }
Lightvalve 13:747daba9cf59 1409 }
Lightvalve 13:747daba9cf59 1410 }
Lightvalve 14:8e7590227d22 1411 }
Lightvalve 13:747daba9cf59 1412 break;
Lightvalve 13:747daba9cf59 1413 }
Lightvalve 14:8e7590227d22 1414
Lightvalve 14:8e7590227d22 1415 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1416 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1417 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1418 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1419 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1420 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1421 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1422 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1423 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1424 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1425 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1426 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1427 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1428 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1429 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1430 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1431 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1432 first_check = 1;
Lightvalve 13:747daba9cf59 1433 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1434 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1435 ID_index = 0;
Lightvalve 13:747daba9cf59 1436 max_check = 0;
Lightvalve 13:747daba9cf59 1437 min_check = 0;
Lightvalve 13:747daba9cf59 1438 }
Lightvalve 14:8e7590227d22 1439 } else {
Lightvalve 30:8d561f16383b 1440 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1441 //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 1442 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1443 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1444 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1445 data_num = 0;
Lightvalve 57:f4819de54e7a 1446 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1447
Lightvalve 14:8e7590227d22 1448 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1449 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1450 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1451 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1452 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1453 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1454 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1455 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1456 one_period_end = 1;
Lightvalve 13:747daba9cf59 1457 }
Lightvalve 30:8d561f16383b 1458 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1459 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1460 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1461 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1462 }
Lightvalve 14:8e7590227d22 1463
Lightvalve 14:8e7590227d22 1464 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1465 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1466 max_check = 1;
Lightvalve 14:8e7590227d22 1467 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1468 min_check = 1;
Lightvalve 13:747daba9cf59 1469 }
Lightvalve 13:747daba9cf59 1470 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1471
Lightvalve 13:747daba9cf59 1472 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1473 one_period_end = 0;
Lightvalve 13:747daba9cf59 1474 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1475 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1476 }
Lightvalve 14:8e7590227d22 1477
Lightvalve 14:8e7590227d22 1478 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1479
Lightvalve 13:747daba9cf59 1480 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1481 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1482 ID_index = 0;
Lightvalve 13:747daba9cf59 1483 first_check = 0;
Lightvalve 13:747daba9cf59 1484 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1485 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1486 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1487 }
Lightvalve 13:747daba9cf59 1488 }
Lightvalve 13:747daba9cf59 1489 break;
Lightvalve 13:747daba9cf59 1490 }
Lightvalve 58:2eade98630e2 1491
Lightvalve 57:f4819de54e7a 1492 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1493 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1494 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1495 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1496 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1497 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1498 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1499 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1500 }
Lightvalve 57:f4819de54e7a 1501 break;
Lightvalve 57:f4819de54e7a 1502 }
Lightvalve 58:2eade98630e2 1503
Lightvalve 58:2eade98630e2 1504
Lightvalve 57:f4819de54e7a 1505
Lightvalve 57:f4819de54e7a 1506 default:
Lightvalve 57:f4819de54e7a 1507 break;
Lightvalve 57:f4819de54e7a 1508 }
Lightvalve 57:f4819de54e7a 1509
Lightvalve 57:f4819de54e7a 1510 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1511
Lightvalve 57:f4819de54e7a 1512 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1513 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1514 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1515 break;
Lightvalve 57:f4819de54e7a 1516 }
Lightvalve 57:f4819de54e7a 1517
Lightvalve 57:f4819de54e7a 1518 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1519 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1520 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1521 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1522 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1523 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1524 } else {
Lightvalve 67:c2812cf26c38 1525 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1526 }
Lightvalve 58:2eade98630e2 1527
Lightvalve 57:f4819de54e7a 1528 break;
Lightvalve 57:f4819de54e7a 1529 }
Lightvalve 57:f4819de54e7a 1530
Lightvalve 57:f4819de54e7a 1531 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1532 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1533 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1534 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1535 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1536
Lightvalve 67:c2812cf26c38 1537 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1538 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1539 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1540 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1541
Lightvalve 67:c2812cf26c38 1542 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1543
Lightvalve 57:f4819de54e7a 1544 // torque feedback
Lightvalve 67:c2812cf26c38 1545 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1546 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1547
Lightvalve 57:f4819de54e7a 1548 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1549
Lightvalve 57:f4819de54e7a 1550 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1551 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1552 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1553
Lightvalve 57:f4819de54e7a 1554 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1555 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1556 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1557
Lightvalve 69:3995ffeaa786 1558 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1559 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 1560 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1561 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1562 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 1563 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1564 }
Lightvalve 57:f4819de54e7a 1565 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 1566 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1567
Lightvalve 57:f4819de54e7a 1568 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1569 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1570 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1571 // 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 1572 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1573 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1574 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1575 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 1576 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1577 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1578 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1579 }
Lightvalve 57:f4819de54e7a 1580 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 1581 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1582 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1583 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1584 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1585
Lightvalve 57:f4819de54e7a 1586 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1587
Lightvalve 67:c2812cf26c38 1588 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1589 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1590 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1591 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1592 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 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1598 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1599 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1600 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1601 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1602 }
Lightvalve 67:c2812cf26c38 1603 }
Lightvalve 57:f4819de54e7a 1604
Lightvalve 57:f4819de54e7a 1605 } else {
Lightvalve 57:f4819de54e7a 1606 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 57:f4819de54e7a 1607
Lightvalve 57:f4819de54e7a 1608 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 1609 + 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 1610
Lightvalve 57:f4819de54e7a 1611 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 57:f4819de54e7a 1612 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1613 } else {
Lightvalve 57:f4819de54e7a 1614 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1615 }
Lightvalve 57:f4819de54e7a 1616
Lightvalve 57:f4819de54e7a 1617 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1618 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1619 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1620 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1621 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1622 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1623 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1624 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1625 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1626 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1627 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1628 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1629 }
Lightvalve 57:f4819de54e7a 1630 }
Lightvalve 61:bc8c8270f0ab 1631
Lightvalve 57:f4819de54e7a 1632 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1633
Lightvalve 67:c2812cf26c38 1634 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1635 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1636
Lightvalve 57:f4819de54e7a 1637 }
Lightvalve 58:2eade98630e2 1638
Lightvalve 57:f4819de54e7a 1639 break;
Lightvalve 57:f4819de54e7a 1640 }
Lightvalve 58:2eade98630e2 1641
Lightvalve 57:f4819de54e7a 1642 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1643 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1644 break;
Lightvalve 57:f4819de54e7a 1645 }
Lightvalve 14:8e7590227d22 1646
Lightvalve 12:6f2531038ea4 1647 default:
Lightvalve 12:6f2531038ea4 1648 break;
Lightvalve 12:6f2531038ea4 1649 }
Lightvalve 14:8e7590227d22 1650
Lightvalve 57:f4819de54e7a 1651
Lightvalve 57:f4819de54e7a 1652 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1653
Lightvalve 57:f4819de54e7a 1654 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1655 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1656 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1657 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1658 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1659 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1660
Lightvalve 57:f4819de54e7a 1661 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1662 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1663
Lightvalve 57:f4819de54e7a 1664
Lightvalve 57:f4819de54e7a 1665 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1666 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1667 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1668 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1669 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1670 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1671
Lightvalve 57:f4819de54e7a 1672 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1673 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1674 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1675 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1676 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1677 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1678 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1679 }
Lightvalve 57:f4819de54e7a 1680
Lightvalve 57:f4819de54e7a 1681 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1682
Lightvalve 67:c2812cf26c38 1683 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1684 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1685 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1686 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1687 // 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 1688 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1689 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1690
Lightvalve 57:f4819de54e7a 1691 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1692 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1693 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1694 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1695 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1696 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1697 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1698 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1699 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1700 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1701 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1702 }
Lightvalve 57:f4819de54e7a 1703 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1704 } else {
Lightvalve 57:f4819de54e7a 1705 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1706 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1707 }
Lightvalve 57:f4819de54e7a 1708
Lightvalve 57:f4819de54e7a 1709 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1710 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1711 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1712 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1713 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1714 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1715 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1716
Lightvalve 57:f4819de54e7a 1717 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1718
Lightvalve 57:f4819de54e7a 1719 } else {
Lightvalve 57:f4819de54e7a 1720 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1721 }
Lightvalve 57:f4819de54e7a 1722
Lightvalve 57:f4819de54e7a 1723 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1724 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1725 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1726
Lightvalve 57:f4819de54e7a 1727 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1728 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1729 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1730 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1731 }
Lightvalve 67:c2812cf26c38 1732
Lightvalve 67:c2812cf26c38 1733 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1734 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1735 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1736
jobuuu 7:e9086c72bb22 1737 /*******************************************************
jobuuu 7:e9086c72bb22 1738 *** PWM
jobuuu 7:e9086c72bb22 1739 ********************************************************/
Lightvalve 67:c2812cf26c38 1740 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1741 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1742 }
Lightvalve 67:c2812cf26c38 1743
Lightvalve 49:e7bcfc244d40 1744 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1745 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1746 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1747 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1748 }
Lightvalve 49:e7bcfc244d40 1749 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1750
Lightvalve 19:23b7c1ad8683 1751 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1752 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1753 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1754
Lightvalve 30:8d561f16383b 1755 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1756 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1757 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1758 } else {
jobuuu 2:a1c0a37df760 1759 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1760 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1761 }
Lightvalve 13:747daba9cf59 1762
jobuuu 1:e04e563be5ce 1763 //pwm
Lightvalve 30:8d561f16383b 1764 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1765 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1766
Lightvalve 61:bc8c8270f0ab 1767
Lightvalve 57:f4819de54e7a 1768 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1769
Lightvalve 54:647072f5307a 1770 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1771 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1772 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1773 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1774 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1775 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1776 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 1777 }
Lightvalve 57:f4819de54e7a 1778 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1779 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1780 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 1781 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1782 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 1783 }
Lightvalve 52:8ea76864368a 1784 }
Lightvalve 52:8ea76864368a 1785 }
Lightvalve 56:6f50d9d3bfee 1786 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1787 //valve position
Lightvalve 54:647072f5307a 1788 double t_value = 0;
Lightvalve 67:c2812cf26c38 1789 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 67:c2812cf26c38 1790 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1791 } else {
Lightvalve 67:c2812cf26c38 1792 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1793 }
Lightvalve 67:c2812cf26c38 1794 // if(OPERATING_MODE==5) {
Lightvalve 67:c2812cf26c38 1795 // t_value = (double) value;
Lightvalve 67:c2812cf26c38 1796 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 67:c2812cf26c38 1797 // t_value = cur.sen;
Lightvalve 57:f4819de54e7a 1798 // } else {
Lightvalve 67:c2812cf26c38 1799 // t_value = V_out;
Lightvalve 67:c2812cf26c38 1800 // }
Lightvalve 67:c2812cf26c38 1801 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1802 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1803 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1804 }
Lightvalve 58:2eade98630e2 1805
Lightvalve 58:2eade98630e2 1806
Lightvalve 56:6f50d9d3bfee 1807 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1808 //pressure A and B
Lightvalve 57:f4819de54e7a 1809 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1810 }
Lightvalve 58:2eade98630e2 1811
Lightvalve 57:f4819de54e7a 1812 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1813 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1814 ;
Lightvalve 57:f4819de54e7a 1815 }
Lightvalve 58:2eade98630e2 1816
Lightvalve 56:6f50d9d3bfee 1817 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1818 //PWM
Lightvalve 67:c2812cf26c38 1819 CAN_TX_PWM((int16_t) value); //1500
Lightvalve 54:647072f5307a 1820 }
Lightvalve 57:f4819de54e7a 1821 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1822 // ;
Lightvalve 57:f4819de54e7a 1823 // }
Lightvalve 56:6f50d9d3bfee 1824 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1825 //valve position
Lightvalve 57:f4819de54e7a 1826 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1827 }
Lightvalve 20:806196fda269 1828
Lightvalve 54:647072f5307a 1829 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1830 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1831 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1832 // }
Lightvalve 54:647072f5307a 1833 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1834 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1835 //}
Lightvalve 52:8ea76864368a 1836
Lightvalve 54:647072f5307a 1837 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1838 }
Lightvalve 54:647072f5307a 1839 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1840
Lightvalve 20:806196fda269 1841 }
Lightvalve 52:8ea76864368a 1842 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1843
Lightvalve 58:2eade98630e2 1844 }