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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

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main.cpp@142:43026242815a, 2020-10-08 (annotated)

Committer:: Lightvalve
Date:: Thu Oct 08 06:10:16 2020 +0000
Revision:: 142:43026242815a
Parent:: 141:4eb8790e7b78
Child:: 143:d441540d477e

201008-4

Who changed what in which revision?

User	Revision	Line number	New contents of line
Lightvalve	141:4eb8790e7b78	1	//201008-3
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	138:a843f32ced33	112	MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve	12:6f2531038ea4	113	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	114
Lightvalve	12:6f2531038ea4	115	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	116	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	117	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	120	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	121
Lightvalve	14:8e7590227d22	122	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	123	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	124	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	125
Lightvalve	12:6f2531038ea4	126	//utility
Lightvalve	12:6f2531038ea4	127	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	128	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	129	MODE_FIND_HOME, //22
Lightvalve	57:f4819de54e7a	130	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	131	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	132	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	133	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	134
Lightvalve	12:6f2531038ea4	135	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	136	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	137	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	57:f4819de54e7a	138	MODE_SYSTEM_ID, //33
Lightvalve	12:6f2531038ea4	139	};
Lightvalve	12:6f2531038ea4	140
Lightvalve	65:a2d7c63419c2	141	void SystemClock_Config(void)
Lightvalve	65:a2d7c63419c2	142	{
Lightvalve	65:a2d7c63419c2	143	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	65:a2d7c63419c2	144	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	65:a2d7c63419c2	145
Lightvalve	65:a2d7c63419c2	146	/** Configure the main internal regulator output voltage
Lightvalve	65:a2d7c63419c2	147	*/
Lightvalve	65:a2d7c63419c2	148	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	65:a2d7c63419c2	149	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	65:a2d7c63419c2	150	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	65:a2d7c63419c2	151	*/
Lightvalve	65:a2d7c63419c2	152	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	65:a2d7c63419c2	153	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	65:a2d7c63419c2	154	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	65:a2d7c63419c2	155	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	65:a2d7c63419c2	156	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	65:a2d7c63419c2	157	RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve	65:a2d7c63419c2	158	RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve	65:a2d7c63419c2	159	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	65:a2d7c63419c2	160	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	65:a2d7c63419c2	161	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	65:a2d7c63419c2	162	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve	65:a2d7c63419c2	163	{
Lightvalve	65:a2d7c63419c2	164	//Error_Handler();
Lightvalve	65:a2d7c63419c2	165	}
Lightvalve	65:a2d7c63419c2	166	/** Activate the Over-Drive mode
Lightvalve	65:a2d7c63419c2	167	*/
Lightvalve	65:a2d7c63419c2	168	if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve	65:a2d7c63419c2	169	{
Lightvalve	65:a2d7c63419c2	170	//Error_Handler();
Lightvalve	65:a2d7c63419c2	171	}
Lightvalve	65:a2d7c63419c2	172	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	65:a2d7c63419c2	173	*/
Lightvalve	65:a2d7c63419c2	174	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	65:a2d7c63419c2	175	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	65:a2d7c63419c2	176	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	65:a2d7c63419c2	177	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	65:a2d7c63419c2	178	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	65:a2d7c63419c2	179	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	65:a2d7c63419c2	180
Lightvalve	65:a2d7c63419c2	181	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve	65:a2d7c63419c2	182	{
Lightvalve	65:a2d7c63419c2	183	//Error_Handler();
Lightvalve	65:a2d7c63419c2	184	}
Lightvalve	65:a2d7c63419c2	185	}
Lightvalve	65:a2d7c63419c2	186
Lightvalve	99:7bbcb3c0fb06	187	float u_past[num_array_u_past] = {0.0f};
Lightvalve	68:328e1be06f5d	188	float x_past[num_array_x_past] = {0.0f};
Lightvalve	85:a3b46118b5cd	189	float x_future[num_array_x_future] = {0.0f};
Lightvalve	68:328e1be06f5d	190	float f_past[num_array_f_past] = {0.0f};
Lightvalve	68:328e1be06f5d	191	float f_future[num_array_f_future] = {0.0f};
Lightvalve	66:a8e6799dbce3	192
Lightvalve	73:f80dc3970c99	193	float input_NN[num_input] = { 0.0f };
Lightvalve	65:a2d7c63419c2	194
Lightvalve	112:8dcb1600cb90	195	const float h1[num_input][16] = {
Lightvalve	140:cc5bc7fb0a16	196	{-2.3152809143066406f,1.727402925491333f,0.12024858593940735f,0.3642372488975525f,-2.551915168762207f,1.6625466346740723f,-0.1628284603357315f,-0.2717422544956207f,-0.23101584613323212f,-0.023556355386972427f,-0.213934063911438f,-0.9510829448699951f,-0.46818628907203674f,-1.5005090236663818f,-0.2396446317434311f,-0.5505883693695068f},
Lightvalve	140:cc5bc7fb0a16	197	{-1.8617732524871826f,1.2280305624008179f,-0.36603355407714844f,0.020320722833275795f,-1.852152943611145f,0.9200283288955688f,-0.3777896761894226f,-0.26674363017082214f,-0.0329865925014019f,0.21348443627357483f,-0.24816828966140747f,-0.7358936667442322f,0.04711906611919403f,-1.5031263828277588f,-0.1953967958688736f,-0.21457244455814362f},
Lightvalve	140:cc5bc7fb0a16	198	{-1.328779697418213f,0.6305422186851501f,0.33912619948387146f,-0.36133837699890137f,-0.8119953870773315f,0.42370355129241943f,0.2676515281200409f,0.02444564737379551f,-0.10264942795038223f,0.2200983166694641f,-0.316930890083313f,-0.648487389087677f,-0.12411943823099136f,-0.5221869945526123f,0.05209478735923767f,-0.36078131198883057f},
Lightvalve	140:cc5bc7fb0a16	199	{-0.5197798013687134f,-0.32913661003112793f,0.3703531324863434f,0.20121149718761444f,0.17911207675933838f,-0.7240257859230042f,-0.10795548558235168f,0.3901039958000183f,0.0750034898519516f,0.3478025794029236f,0.09678419679403305f,0.0063720084726810455f,-0.22296254336833954f,0.06852824240922928f,-0.27597576379776f,0.02640494890511036f},
Lightvalve	140:cc5bc7fb0a16	200	{1.0433883666992188f,-1.2392282485961914f,-0.004794687032699585f,0.1031724065542221f,1.4619780778884888f,-1.5678507089614868f,0.12058994174003601f,0.1821904182434082f,0.08734194189310074f,0.17816007137298584f,0.33168479800224304f,0.4059227406978607f,-0.07882260531187057f,1.2437946796417236f,-0.36018112301826477f,-0.16798365116119385f},
Lightvalve	140:cc5bc7fb0a16	201	{2.857693910598755f,-3.3041610717773438f,0.20290347933769226f,0.07956814765930176f,3.318584680557251f,-3.3711345195770264f,0.15389427542686462f,0.06304170936346054f,0.09683135896921158f,0.18959861993789673f,-0.22322161495685577f,1.841825246810913f,-0.20501361787319183f,2.939310073852539f,-0.38513508439064026f,-0.0713680163025856f},
Lightvalve	140:cc5bc7fb0a16	202	{0.6324058771133423f,-0.43518802523612976f,-0.2331579178571701f,-0.3590847849845886f,-0.19355417788028717f,-0.17370332777500153f,0.05604562163352966f,-0.6124011278152466f,0.31069356203079224f,0.010415825061500072f,0.15558111667633057f,0.9956388473510742f,-0.26913198828697205f,1.016658067703247f,-0.14554673433303833f,-0.3392884135246277f},
Lightvalve	140:cc5bc7fb0a16	203	{0.44745802879333496f,-0.45198550820350647f,-0.24806702136993408f,0.13153602182865143f,-0.3461902439594269f,-0.2838374674320221f,-0.16704979538917542f,-0.5994587540626526f,-0.003078911919146776f,0.05557386949658394f,0.11294785887002945f,0.6535332202911377f,0.2496033012866974f,0.5708394646644592f,0.04009982943534851f,-0.12518605589866638f},
Lightvalve	140:cc5bc7fb0a16	204	{0.5713577270507812f,0.1668863445520401f,0.09550115466117859f,-0.32965824007987976f,-0.1708855777978897f,0.03479478880763054f,-0.06753402948379517f,-0.644003689289093f,-0.2797917127609253f,0.2735665440559387f,-0.26223233342170715f,0.6971666812896729f,0.12468379735946655f,0.49515432119369507f,-0.2847418785095215f,-0.1023692935705185f},
Lightvalve	140:cc5bc7fb0a16	205	{0.16310913860797882f,-0.11523257941007614f,0.17205187678337097f,-0.10984060168266296f,0.13215506076812744f,0.39142823219299316f,-0.2786858379840851f,-0.3326667249202728f,-0.03540360555052757f,-0.48883235454559326f,0.007313740439713001f,-1.0144288539886475f,0.2633468806743622f,-0.301626056432724f,0.3247623145580292f,-0.3123617470264435f},
Lightvalve	140:cc5bc7fb0a16	206	{0.09060637652873993f,0.751677393913269f,0.34649983048439026f,0.238347128033638f,-0.18993692100048065f,0.7072498202323914f,-0.1895401030778885f,-0.24043914675712585f,-0.4269353449344635f,-0.02136058919131756f,0.33979934453964233f,-2.280555486679077f,-0.13881582021713257f,-0.8600243330001831f,0.24870619177818298f,-0.6370449066162109f},
Lightvalve	140:cc5bc7fb0a16	207	{-1.2227174043655396f,0.8980315923690796f,-0.3757385015487671f,-0.016326511278748512f,-0.37785834074020386f,1.2150253057479858f,0.1429324448108673f,0.1361755132675171f,-0.16958828270435333f,0.14431153237819672f,-0.3707931339740753f,-2.920011520385742f,0.0691303163766861f,-1.61436927318573f,0.09779238700866699f,-0.41666141152381897f},
Lightvalve	140:cc5bc7fb0a16	208	{-0.3208516538143158f,0.4696144163608551f,0.18496140837669373f,0.10039933770895004f,0.34736987948417664f,0.8090188503265381f,-0.22405625879764557f,-0.032775260508060455f,-0.18931987881660461f,-0.22892595827579498f,-0.08640900999307632f,-2.58586049079895f,0.04208873212337494f,-0.8988630771636963f,-0.2075144499540329f,-0.6604486107826233f},
Lightvalve	140:cc5bc7fb0a16	209	{0.16262409090995789f,-0.01671232096850872f,0.38466766476631165f,-0.14667004346847534f,0.18218474090099335f,-0.10421261936426163f,-0.2982172966003418f,-0.40107446908950806f,-0.1390027552843094f,-0.2559940814971924f,-0.166481614112854f,-1.602246642112732f,-0.3095857799053192f,-0.24121171236038208f,0.04470124840736389f,-0.15184690058231354f},
Lightvalve	140:cc5bc7fb0a16	210	{0.5174210667610168f,-0.04763205349445343f,0.18900898098945618f,-0.028117891401052475f,0.5945087671279907f,-0.10929259657859802f,0.03916636109352112f,0.16368715465068817f,0.2704102098941803f,0.033244144171476364f,-0.24501635134220123f,-1.0999691486358643f,0.10306726396083832f,0.03853769227862358f,0.062258750200271606f,-0.027132803574204445f},
Lightvalve	140:cc5bc7fb0a16	211	{0.2914155125617981f,-0.4265623986721039f,-0.37685394287109375f,-0.1996072381734848f,-0.019203273579478264f,0.009786401875317097f,-0.14507901668548584f,-0.0853961631655693f,0.17501948773860931f,-0.047144565731287f,-0.4260883331298828f,-0.3157176971435547f,-0.22497230768203735f,0.23816914856433868f,-0.07684260606765747f,0.05888473987579346f},
Lightvalve	140:cc5bc7fb0a16	212	{0.13738799095153809f,-0.22142702341079712f,0.15568438172340393f,-0.058044277131557465f,-0.0232255682349205f,-0.14742983877658844f,-0.03859376907348633f,-0.050225719809532166f,-0.07352999597787857f,0.041070763021707535f,-0.3139238655567169f,0.17045529186725616f,0.14994587004184723f,0.5364378690719604f,0.2742314636707306f,-0.06731603294610977f},
Lightvalve	140:cc5bc7fb0a16	213	{0.15600940585136414f,-0.16535674035549164f,0.19490453600883484f,-0.3138192892074585f,-0.3106350898742676f,-0.08246537297964096f,-0.336474746465683f,0.05921122804284096f,-0.39584556221961975f,-0.15033116936683655f,-0.13937796652317047f,0.12563101947307587f,0.31835269927978516f,0.17374621331691742f,-0.2561379373073578f,-0.11289579421281815f},
Lightvalve	140:cc5bc7fb0a16	214	{-0.18690593540668488f,-0.06943024694919586f,-0.2776013910770416f,0.05439651012420654f,0.33863118290901184f,-0.03686759993433952f,0.25546005368232727f,-0.350205659866333f,-0.3939896523952484f,-0.004937915131449699f,-0.38015687465667725f,0.1677393615245819f,0.14523454010486603f,0.4078146517276764f,-0.30415377020835876f,-0.5786517262458801f},
Lightvalve	140:cc5bc7fb0a16	215	{0.26198509335517883f,0.24746471643447876f,0.1420871913433075f,-0.4235791265964508f,-0.377158522605896f,0.3205195367336273f,-0.13263443112373352f,-0.400607705116272f,-0.1832873523235321f,0.01716863363981247f,0.11593614518642426f,0.543384850025177f,0.2921818196773529f,0.42891642451286316f,0.13351169228553772f,0.00543095450848341f},
Lightvalve	140:cc5bc7fb0a16	216	{-0.2991099953651428f,-0.41585615277290344f,-0.07561364769935608f,-0.03986741602420807f,-0.4765874743461609f,-0.01874842494726181f,0.14428457617759705f,-0.02254398912191391f,-0.383146733045578f,-0.3092406094074249f,-0.3674323558807373f,0.6129317879676819f,-0.11757314205169678f,0.49564477801322937f,0.019461065530776978f,0.1277700960636139f},
Lightvalve	140:cc5bc7fb0a16	217	{-0.21371565759181976f,-0.8026935458183289f,0.2631795108318329f,-0.7004210948944092f,0.1280365288257599f,-0.4730685353279114f,0.27224990725517273f,0.006050639320164919f,-0.09381511807441711f,0.08090905845165253f,0.05304040387272835f,1.5589348077774048f,0.29210609197616577f,0.5046173930168152f,0.06011766195297241f,0.05217600241303444f},
Lightvalve	65:a2d7c63419c2	218	};
Lightvalve	65:a2d7c63419c2	219
Lightvalve	112:8dcb1600cb90	220	const float h2[16][16] = {
Lightvalve	140:cc5bc7fb0a16	221	{-0.2627347707748413f,1.6072235107421875f,-0.06966331601142883f,1.3059860467910767f,-0.21907491981983185f,-10.074268341064453f,-0.10165838152170181f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.889585018157959f,-0.4408711791038513f,0.09407905489206314f,-2.1551506519317627f,-1.681544303894043f,-8.785170555114746f},
Lightvalve	140:cc5bc7fb0a16	222	{-0.07196462154388428f,-0.46957844495773315f,0.057057321071624756f,-0.3067782521247864f,-0.35503754019737244f,-3.547255277633667f,-0.42634716629981995f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.7903809547424316f,-0.6991819143295288f,0.27004608511924744f,0.7093417644500732f,0.9480265378952026f,-2.6635963916778564f},
Lightvalve	112:8dcb1600cb90	223	{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve	140:cc5bc7fb0a16	224	{-0.006364033091813326f,-0.2805274426937103f,-0.2894435524940491f,0.22353897988796234f,0.08946844935417175f,0.3361161947250366f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2456456422805786f,0.38107261061668396f,-0.4747326970100403f,-0.23024532198905945f,0.21823757886886597f,0.13803395628929138f},
Lightvalve	140:cc5bc7fb0a16	225	{-0.3554824888706207f,3.049980401992798f,-0.25313520431518555f,0.3931412994861603f,0.036378175020217896f,-2.617460012435913f,-0.5512491464614868f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.678700864315033f,-0.7182751297950745f,0.033540356904268265f,-0.06770995259284973f,-2.3080103397369385f,-1.9733433723449707f},
Lightvalve	140:cc5bc7fb0a16	226	{0.20959323644638062f,-1.3502219915390015f,-0.3519742488861084f,0.18502606451511383f,-0.3015052080154419f,-3.7923583984375f,-0.7683287262916565f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.8958200216293335f,-0.34072569012641907f,-0.27347302436828613f,0.9521313309669495f,1.0914380550384521f,-2.391331911087036f},
Lightvalve	112:8dcb1600cb90	227	{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve	140:cc5bc7fb0a16	228	{0.09947510808706284f,0.35010796785354614f,0.33083590865135193f,-0.3367353081703186f,-0.14358049631118774f,-0.36243200302124023f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.31178247928619385f,-0.31911033391952515f,-0.41125836968421936f,0.2665112614631653f,0.01156060304492712f,0.12491219490766525f},
Lightvalve	140:cc5bc7fb0a16	229	{-0.2314327508211136f,0.4525166153907776f,-0.11379697918891907f,-0.09526991099119186f,0.041274964809417725f,-0.2055896818637848f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.10668562352657318f,-0.3197441101074219f,-0.37024784088134766f,-0.3530832827091217f,-0.4519219398498535f,-0.12629814445972443f},
Lightvalve	140:cc5bc7fb0a16	230	{-0.1665608137845993f,0.3012998402118683f,-0.13502129912376404f,0.054572269320487976f,0.12987366318702698f,0.20264874398708344f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.3255550265312195f,0.36860600113868713f,0.3811538517475128f,-0.324370801448822f,-0.07046277821063995f,-0.14053338766098022f},
Lightvalve	140:cc5bc7fb0a16	231	{-0.22478652000427246f,-0.01952047273516655f,0.0457797646522522f,-0.36477410793304443f,-0.03321319818496704f,-0.44883063435554504f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.22648464143276215f,0.3545852601528168f,-0.3647043704986572f,0.42692625522613525f,-0.38498252630233765f,-0.2930787205696106f},
Lightvalve	140:cc5bc7fb0a16	232	{0.1855839043855667f,-0.21992193162441254f,0.3954955041408539f,0.39627113938331604f,0.0033026933670043945f,-1.2386260032653809f,-0.293239563703537f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.059261854737997055f,-0.33992287516593933f,0.014869287610054016f,-0.669883668422699f,0.249106764793396f,-0.41038769483566284f},
Lightvalve	140:cc5bc7fb0a16	233	{-0.3410651385784149f,-0.24929744005203247f,-0.15798500180244446f,0.5034734606742859f,-0.37393757700920105f,0.23025217652320862f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.15765021741390228f,-0.3137330710887909f,0.3513602316379547f,-0.04629771038889885f,-0.24852626025676727f,0.07677663862705231f},
Lightvalve	140:cc5bc7fb0a16	234	{-0.45097577571868896f,-0.13339103758335114f,-0.2018718123435974f,0.06062299385666847f,0.07545611262321472f,1.9103381633758545f,-0.46714287996292114f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,1.649477243423462f,-0.6026387214660645f,-0.2412213385105133f,-1.874483585357666f,-0.12564484775066376f,-0.35405778884887695f},
Lightvalve	112:8dcb1600cb90	235	{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve	140:cc5bc7fb0a16	236	{-0.43417003750801086f,0.2870778739452362f,0.12081471085548401f,-0.28882813453674316f,0.29976895451545715f,-0.129892036318779f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.28394222259521484f,-0.14616353809833527f,-0.2666535973548889f,0.17890380322933197f,0.34988918900489807f,0.09183908253908157f},
Lightvalve	65:a2d7c63419c2	237	};
Lightvalve	65:a2d7c63419c2	238
Lightvalve	112:8dcb1600cb90	239	const float h3[16][16] = {
Lightvalve	140:cc5bc7fb0a16	240	{-0.36079341173171997f,-0.22157756984233856f,0.04996342584490776f,-0.37189048528671265f,-0.06003464758396149f,-0.08961917459964752f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.012323440052568913f,0.18081840872764587f,-0.30172455310821533f,0.13669900596141815f},
Lightvalve	140:cc5bc7fb0a16	241	{0.047732532024383545f,0.6989078521728516f,0.6557276844978333f,-1.027191162109375f,-0.7921809554100037f,0.10846979916095734f,-0.3198729455471039f,0.06247803568840027f,0.5821853280067444f,-0.5057151317596436f,0.11285559087991714f,-2.0360121726989746f,-1.6084725856781006f,-0.6113699674606323f,-0.5270559787750244f,-0.4096241891384125f},
Lightvalve	115:f41863b95e6f	242	{0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve	140:cc5bc7fb0a16	243	{-0.30922991037368774f,0.2609212398529053f,-0.35918179154396057f,-0.49626997113227844f,-2.002046585083008f,0.23198626935482025f,0.20021501183509827f,0.07002416253089905f,-2.9994735717773438f,-0.6615407466888428f,-0.16319164633750916f,-0.4781607985496521f,-0.19987694919109344f,-0.03317837044596672f,0.2836754620075226f,-0.10154473036527634f},
Lightvalve	130:26b416050376	244	{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve	140:cc5bc7fb0a16	245	{-0.37449589371681213f,1.4071166515350342f,0.07251398265361786f,-0.9862403869628906f,-0.453469455242157f,1.3401246070861816f,-0.18732719123363495f,0.22384825348854065f,1.1909663677215576f,-0.4245598614215851f,-0.24387189745903015f,-4.09767484664917f,-2.500598430633545f,0.9592363238334656f,0.290335088968277f,-0.3659419119358063f},
Lightvalve	140:cc5bc7fb0a16	246	{0.4110594093799591f,0.1429830938577652f,-0.0927792340517044f,0.37246426939964294f,0.1850888431072235f,-0.19440588355064392f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21155259013175964f,0.09956309199333191f,0.3126353323459625f,-0.3391006588935852f},
Lightvalve	132:06e670a4f416	247	{-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve	115:f41863b95e6f	248	{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve	125:2397bee14630	249	{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve	140:cc5bc7fb0a16	250	{0.15459725260734558f,0.72439044713974f,-0.5466641187667847f,-0.7720921635627747f,-0.6371919512748718f,0.7213203310966492f,-0.08742031455039978f,0.05785742402076721f,-1.262664794921875f,-0.5998016595840454f,-0.17241103947162628f,-2.2987046241760254f,-3.9738259315490723f,-1.018069863319397f,0.1471223384141922f,0.12088090926408768f},
Lightvalve	140:cc5bc7fb0a16	251	{-0.408692330121994f,-0.01745096780359745f,0.09452779591083527f,0.06247909367084503f,0.015625588595867157f,-0.2146359384059906f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4221092760562897f,-0.379727303981781f,-0.3349076807498932f,0.31518054008483887f},
Lightvalve	140:cc5bc7fb0a16	252	{-0.2991822361946106f,0.29517999291419983f,0.0042093913070857525f,0.024277420714497566f,0.16840599477291107f,0.15824651718139648f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.09814348071813583f,-0.21696944534778595f,0.27826768159866333f,-0.16869547963142395f},
Lightvalve	140:cc5bc7fb0a16	253	{-0.2675279378890991f,-0.770762026309967f,1.6120538711547852f,-0.20645307004451752f,-0.15061108767986298f,-0.16551825404167175f,-0.32875844836235046f,-0.31893211603164673f,-1.4138376712799072f,-0.8004869818687439f,-0.3685331642627716f,-1.5057293176651f,0.1274058073759079f,-1.585729718208313f,0.1306980550289154f,0.1441774070262909f},
Lightvalve	140:cc5bc7fb0a16	254	{-0.015470266342163086f,-1.9857964515686035f,1.6790562868118286f,0.4655911922454834f,-0.08354365080595016f,-2.514406442642212f,0.05196094512939453f,-0.008358269929885864f,-4.3329997062683105f,-0.579310953617096f,0.13179203867912292f,-0.040511056780815125f,2.757723093032837f,-2.6764187812805176f,0.035064682364463806f,-0.5825209021568298f},
Lightvalve	140:cc5bc7fb0a16	255	{0.1863725483417511f,1.4100269079208374f,0.11397874355316162f,-0.8381223678588867f,0.6091724038124084f,0.9195526838302612f,0.04860696196556091f,0.17769548296928406f,0.4023902416229248f,-0.09889062494039536f,-0.5419447422027588f,0.34525805711746216f,-0.9069976806640625f,1.014098882675171f,-0.04629502072930336f,-0.16994908452033997f},
Lightvalve	66:a8e6799dbce3	256	};
Lightvalve	65:a2d7c63419c2	257
Lightvalve	140:cc5bc7fb0a16	258	const float hout[16] = { 0.45773375034332275f,0.23122456669807434f,-0.18602921068668365f,-0.3125866651535034f,-0.029993798583745956f,0.20471511781215668f,0.0030125975608825684f,0.15066689252853394f,-0.5208629369735718f,0.004466731566935778f,0.08295199275016785f,-0.26822465658187866f,-0.3498326539993286f,0.026779841631650925f,0.07775511592626572f,-0.060560304671525955f };
Lightvalve	66:a8e6799dbce3	259
Lightvalve	140:cc5bc7fb0a16	260	const float b1[16] = { 1.3190714120864868f,1.5952208042144775f,-1.7145336866378784f,0.3097442090511322f,0.9651374220848083f,1.5615040063858032f,-0.058932315558195114f,0.8412410616874695f,0.534761905670166f,-0.8942662477493286f,0.5916527509689331f,3.810105562210083f,-0.45955052971839905f,-0.3557904064655304f,-1.087764859199524f,0.9899064898490906f };
Lightvalve	87:471334725012	261
Lightvalve	140:cc5bc7fb0a16	262	const float b2[16] = { -0.2645142376422882f,-0.2895103693008423f,-1.4564176797866821f,-0.49256083369255066f,-0.6939148902893066f,0.8274815082550049f,0.09697892516851425f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.27735763788223267f,0.3822407126426697f,-0.14580224454402924f,1.841172695159912f,0.46085551381111145f,0.41733479499816895f };
Lightvalve	65:a2d7c63419c2	263
Lightvalve	140:cc5bc7fb0a16	264	const float b3[16] = { -1.963319182395935f,-0.4159342348575592f,0.1794152706861496f,-0.4108562469482422f,-0.21904510259628296f,0.0030512125231325626f,-0.45353031158447266f,-0.6562485098838806f,-0.5568499565124512f,0.06824243813753128f,-0.44575250148773193f,2.5458240509033203f,-3.0509939193725586f,-0.7597270607948303f,-1.5004441738128662f,-0.6097174286842346f };
Lightvalve	87:471334725012	265
Lightvalve	140:cc5bc7fb0a16	266	const float bout[1] = { -0.21177443861961365f };
Lightvalve	65:a2d7c63419c2	267
Lightvalve	66:a8e6799dbce3	268
Lightvalve	87:471334725012	269	float VALVE_POS_RAW_NN = 0.0f;
Lightvalve	87:471334725012	270	float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve	61:bc8c8270f0ab	271
GiJeongKim	0:51c43836c1d7	272	int main()
GiJeongKim	0:51c43836c1d7	273	{
Lightvalve	66:a8e6799dbce3	274
Lightvalve	65:a2d7c63419c2	275	HAL_Init();
Lightvalve	65:a2d7c63419c2	276	SystemClock_Config();
Lightvalve	65:a2d7c63419c2	277
jobuuu	6:df07d3491e3a	278	/*********************************
jobuuu	1:e04e563be5ce	279	*** Initialization
jobuuu	6:df07d3491e3a	280	*********************************/
Lightvalve	69:3995ffeaa786	281	LED = 0;
Lightvalve	61:bc8c8270f0ab	282	pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	283
GiJeongKim	0:51c43836c1d7	284	// i2c init
Lightvalve	8:5d2eebdad025	285	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	286	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	287	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	288	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	289	make_delay();
jobuuu	2:a1c0a37df760	290
GiJeongKim	0:51c43836c1d7	291	// // spi init
Lightvalve	16:903b5a4433b4	292	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	293	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	294	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	295	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	296	make_delay();
Lightvalve	21:e5f1a43ea6f9	297
Lightvalve	16:903b5a4433b4	298	//rom
Lightvalve	19:23b7c1ad8683	299	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	300	make_delay();
Lightvalve	13:747daba9cf59	301
GiJeongKim	0:51c43836c1d7	302	// ADC init
jobuuu	5:a4319f79457b	303	Init_ADC();
Lightvalve	11:82d8768d7351	304	make_delay();
jobuuu	2:a1c0a37df760	305
GiJeongKim	0:51c43836c1d7	306	// Pwm init
GiJeongKim	0:51c43836c1d7	307	Init_PWM();
GiJeongKim	0:51c43836c1d7	308	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	309	make_delay();
Lightvalve	13:747daba9cf59	310
Lightvalve	11:82d8768d7351	311	// TMR3 init
Lightvalve	11:82d8768d7351	312	Init_TMR3();
Lightvalve	11:82d8768d7351	313	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	314	make_delay();
Lightvalve	21:e5f1a43ea6f9	315
Lightvalve	50:3c630b5eba9f	316	// TMR2 init
Lightvalve	56:6f50d9d3bfee	317	// Init_TMR2();
Lightvalve	56:6f50d9d3bfee	318	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	56:6f50d9d3bfee	319	// make_delay();
Lightvalve	21:e5f1a43ea6f9	320
GiJeongKim	0:51c43836c1d7	321	// CAN
jobuuu	2:a1c0a37df760	322	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	323	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	324	make_delay();
Lightvalve	34:bb2ca2fc2a8e	325
Lightvalve	23:59218d4a256d	326	//Timer priority
Lightvalve	23:59218d4a256d	327	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	57:f4819de54e7a	328	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	54:647072f5307a	329	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	330
Lightvalve	23:59218d4a256d	331	//can.reset();
Lightvalve	19:23b7c1ad8683	332	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	333
GiJeongKim	0:51c43836c1d7	334	// spi _ enc
GiJeongKim	0:51c43836c1d7	335	spi_enc_set_init();
Lightvalve	11:82d8768d7351	336	make_delay();
Lightvalve	13:747daba9cf59	337
Lightvalve	11:82d8768d7351	338	//DAC init
Lightvalve	58:2eade98630e2	339	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	340	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	58:2eade98630e2	341	dac_2 = 0.0f;
Lightvalve	58:2eade98630e2	342	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	343	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	58:2eade98630e2	344	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	58:2eade98630e2	345	}
Lightvalve	11:82d8768d7351	346	make_delay();
Lightvalve	13:747daba9cf59	347
Lightvalve	19:23b7c1ad8683	348	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	349	if(i%2==0)
Lightvalve	38:118df027d851	350	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	351	else
Lightvalve	38:118df027d851	352	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	353	}
Lightvalve	61:bc8c8270f0ab	354
Lightvalve	61:bc8c8270f0ab	355
jobuuu	6:df07d3491e3a	356	/************************************
jobuuu	1:e04e563be5ce	357	*** Program is operating!
jobuuu	6:df07d3491e3a	358	*************************************/
GiJeongKim	0:51c43836c1d7	359	while(1) {
Lightvalve	66:a8e6799dbce3	360	// if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve	66:a8e6799dbce3	361	//if(timer_while==1000) {
Lightvalve	65:a2d7c63419c2	362	//i2c
Lightvalve	66:a8e6799dbce3	363
Lightvalve	65:a2d7c63419c2	364	read_field(i2c_slave_addr1);
Lightvalve	65:a2d7c63419c2	365	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	65:a2d7c63419c2	366	// if(LED==1) {
Lightvalve	65:a2d7c63419c2	367	// LED=0;
Lightvalve	65:a2d7c63419c2	368	// } else
Lightvalve	65:a2d7c63419c2	369	// LED = 1;
Lightvalve	65:a2d7c63419c2	370	timer_while = 0;
Lightvalve	66:a8e6799dbce3	371	//}
Lightvalve	66:a8e6799dbce3	372
Lightvalve	66:a8e6799dbce3	373	timer_while ++;
Lightvalve	66:a8e6799dbce3	374
Lightvalve	87:471334725012	375	//LED = 0;
Lightvalve	87:471334725012	376
Lightvalve	73:f80dc3970c99	377	if(NN_Control_Flag == 0) {
Lightvalve	73:f80dc3970c99	378	LED = 0;
Lightvalve	73:f80dc3970c99	379	}
Lightvalve	66:a8e6799dbce3	380
Lightvalve	73:f80dc3970c99	381	else if(NN_Control_Flag == 1) {
Lightvalve	117:7141c0517b82	382
Lightvalve	117:7141c0517b82	383	int ind = 0;
Lightvalve	117:7141c0517b82	384	for(int i=0; i<numpast_u; i++) {
Lightvalve	118:af86e883dcb4	385	input_NN[ind] = u_past[time_interval*i];
Lightvalve	117:7141c0517b82	386	ind = ind + 1;
Lightvalve	117:7141c0517b82	387	}
Lightvalve	117:7141c0517b82	388
Lightvalve	117:7141c0517b82	389	for(int i=0; i<numpast_x; i++) {
Lightvalve	118:af86e883dcb4	390	input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve	117:7141c0517b82	391	ind = ind + 1;
Lightvalve	117:7141c0517b82	392	}
Lightvalve	117:7141c0517b82	393	input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	117:7141c0517b82	394	ind = ind + 1;
Lightvalve	121:89396c37b03e	395
Lightvalve	122:dcb3ce3056a0	396	// for(int i=0; i<numfuture_x; i++) {
Lightvalve	122:dcb3ce3056a0	397	// input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve	122:dcb3ce3056a0	398	// ind = ind + 1;
Lightvalve	122:dcb3ce3056a0	399	// }
Lightvalve	117:7141c0517b82	400
Lightvalve	117:7141c0517b82	401	for(int i=0; i<numpast_f; i++) {
Lightvalve	118:af86e883dcb4	402	input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve	117:7141c0517b82	403	ind = ind + 1;
Lightvalve	117:7141c0517b82	404	}
Lightvalve	117:7141c0517b82	405	input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	117:7141c0517b82	406	ind = ind + 1;
Lightvalve	117:7141c0517b82	407	for(int i=0; i<numfuture_f; i++) {
Lightvalve	118:af86e883dcb4	408	input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve	118:af86e883dcb4	409	// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve	117:7141c0517b82	410	ind = ind + 1;
Lightvalve	117:7141c0517b82	411	}
Lightvalve	117:7141c0517b82	412
Lightvalve	112:8dcb1600cb90	413	float output1[16] = { 0.0f };
Lightvalve	112:8dcb1600cb90	414	float output2[16] = { 0.0f };
Lightvalve	112:8dcb1600cb90	415	float output3[16] = { 0.0f };
Lightvalve	66:a8e6799dbce3	416	float output = 0.0f;
Lightvalve	65:a2d7c63419c2	417
Lightvalve	112:8dcb1600cb90	418	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	68:328e1be06f5d	419	for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve	66:a8e6799dbce3	420	output1[index2] = output1[index2]
Lightvalve	73:f80dc3970c99	421	+ h1[index1][index2] * input_NN[index1];
Lightvalve	66:a8e6799dbce3	422	}
Lightvalve	66:a8e6799dbce3	423	output1[index2] = output1[index2] + b1[index2];
Lightvalve	66:a8e6799dbce3	424	if (output1[index2] < 0) {
Lightvalve	66:a8e6799dbce3	425	output1[index2] = 0;
Lightvalve	66:a8e6799dbce3	426	}
Lightvalve	66:a8e6799dbce3	427	}
Lightvalve	65:a2d7c63419c2	428
Lightvalve	112:8dcb1600cb90	429	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	112:8dcb1600cb90	430	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	431	output2[index2] = output2[index2]
Lightvalve	66:a8e6799dbce3	432	+ h2[index1][index2] * output1[index1];
Lightvalve	66:a8e6799dbce3	433	}
Lightvalve	66:a8e6799dbce3	434	output2[index2] = output2[index2] + b2[index2];
Lightvalve	66:a8e6799dbce3	435	if (output2[index2] < 0) {
Lightvalve	66:a8e6799dbce3	436	output2[index2] = 0;
Lightvalve	66:a8e6799dbce3	437	}
Lightvalve	66:a8e6799dbce3	438	}
Lightvalve	65:a2d7c63419c2	439
Lightvalve	112:8dcb1600cb90	440	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	112:8dcb1600cb90	441	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	442	output3[index2] = output3[index2]
Lightvalve	66:a8e6799dbce3	443	+ h3[index1][index2] * output2[index1];
Lightvalve	66:a8e6799dbce3	444	}
Lightvalve	66:a8e6799dbce3	445	output3[index2] = output3[index2] + b3[index2];
Lightvalve	66:a8e6799dbce3	446	if (output3[index2] < 0) {
Lightvalve	66:a8e6799dbce3	447	output3[index2] = 0;
Lightvalve	66:a8e6799dbce3	448	}
Lightvalve	65:a2d7c63419c2	449	}
Lightvalve	66:a8e6799dbce3	450
Lightvalve	66:a8e6799dbce3	451	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	112:8dcb1600cb90	452	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	73:f80dc3970c99	453	output = output + hout[index1] * output3[index1];
Lightvalve	66:a8e6799dbce3	454	}
Lightvalve	66:a8e6799dbce3	455	output = output + bout[index2];
Lightvalve	73:f80dc3970c99	456
Lightvalve	66:a8e6799dbce3	457	}
Lightvalve	73:f80dc3970c99	458	output = 1.0f/(1.0f+exp(-output));
Lightvalve	101:50159049a518	459	output_normalized = output;
Lightvalve	68:328e1be06f5d	460	output = output * 20000.0f - 10000.0f;
Lightvalve	101:50159049a518	461
Lightvalve	66:a8e6799dbce3	462	if(output>=0) {
Lightvalve	66:a8e6799dbce3	463	valve_pos.ref = output0.0001f((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	66:a8e6799dbce3	464	} else {
Lightvalve	66:a8e6799dbce3	465	valve_pos.ref = -output0.0001f((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	65:a2d7c63419c2	466	}
Lightvalve	87:471334725012	467
Lightvalve	88:d6e591bece22	468	// // torque feedback
Lightvalve	88:d6e591bece22	469	// torq.err = f_past[0] - torq.sen; //[N]
Lightvalve	88:d6e591bece22	470	//// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	88:d6e591bece22	471	// torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve	88:d6e591bece22	472	//
Lightvalve	88:d6e591bece22	473	//
Lightvalve	88:d6e591bece22	474	// valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve	88:d6e591bece22	475	//
Lightvalve	88:d6e591bece22	476	// if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	88:d6e591bece22	477	// double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	88:d6e591bece22	478	// if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	88:d6e591bece22	479	// double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	480	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	481	// valve_pos.ref = VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	482	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	483	// } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	88:d6e591bece22	484	// double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	485	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	486	// valve_pos.ref = VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	487	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	488	// }
Lightvalve	88:d6e591bece22	489	// }
Lightvalve	87:471334725012	490
Lightvalve	69:3995ffeaa786	491
Lightvalve	69:3995ffeaa786	492	if(LED==1) {
Lightvalve	69:3995ffeaa786	493	LED=0;
Lightvalve	69:3995ffeaa786	494	} else
Lightvalve	69:3995ffeaa786	495	LED = 1;
Lightvalve	69:3995ffeaa786	496
Lightvalve	65:a2d7c63419c2	497	}
Lightvalve	62:b5452adfb2cd	498
Lightvalve	87:471334725012	499	//LED = 1;
Lightvalve	69:3995ffeaa786	500
Lightvalve	66:a8e6799dbce3	501
GiJeongKim	0:51c43836c1d7	502	}
jobuuu	1:e04e563be5ce	503	}
jobuuu	1:e04e563be5ce	504
Lightvalve	33:91b17819ec30	505	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	506	{
Lightvalve	14:8e7590227d22	507
Lightvalve	13:747daba9cf59	508	int i = 0;
Lightvalve	48:889798ff9329	509	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	510	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	511	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	512	if(i==0) {
Lightvalve	50:3c630b5eba9f	513	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	514	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	515	} else {
Lightvalve	57:f4819de54e7a	516	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	517	}
Lightvalve	14:8e7590227d22	518	} else {
Lightvalve	50:3c630b5eba9f	519	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	57:f4819de54e7a	520	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	521	} else {
Lightvalve	57:f4819de54e7a	522	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	523	}
Lightvalve	13:747daba9cf59	524	}
Lightvalve	13:747daba9cf59	525	break;
Lightvalve	13:747daba9cf59	526	}
Lightvalve	13:747daba9cf59	527	}
Lightvalve	14:8e7590227d22	528	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	529	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	530	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	531	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	532	}
Lightvalve	36:a46e63505ed8	533
Lightvalve	57:f4819de54e7a	534	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	535	return Ref_Valve_Pos_FF;
Lightvalve	50:3c630b5eba9f	536
Lightvalve	13:747daba9cf59	537	}
jobuuu	6:df07d3491e3a	538
jobuuu	6:df07d3491e3a	539
Lightvalve	30:8d561f16383b	540	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	541	{
Lightvalve	13:747daba9cf59	542	int i = 0;
Lightvalve	13:747daba9cf59	543
Lightvalve	38:118df027d851	544	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	545	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	546	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	547	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	548	}
Lightvalve	38:118df027d851	549
Lightvalve	89:a7b45368ea0f	550	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	551	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	552	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	553	valve_pos_err_sum += valve_pos_err;
Lightvalve	89:a7b45368ea0f	554	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	89:a7b45368ea0f	555	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	556
Lightvalve	13:747daba9cf59	557	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	558
Lightvalve	18:b8adf1582ea3	559	for(i=0; i<24; i++) {
Lightvalve	89:a7b45368ea0f	560	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	561	if(i==0) {
Lightvalve	48:889798ff9329	562	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	563	} else {
Lightvalve	48:889798ff9329	564	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	565	}
Lightvalve	13:747daba9cf59	566	break;
Lightvalve	13:747daba9cf59	567	}
Lightvalve	13:747daba9cf59	568	}
Lightvalve	59:f308b1656d9c	569	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	570	}
Lightvalve	13:747daba9cf59	571
Lightvalve	14:8e7590227d22	572	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	573	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	574	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	575	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	576	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	577	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	578	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	579	}; // duty
Lightvalve	67:c2812cf26c38	580	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	581	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	67:c2812cf26c38	582	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	67:c2812cf26c38	583	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	67:c2812cf26c38	584	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	67:c2812cf26c38	585	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	586	}; // mV
Lightvalve	13:747daba9cf59	587
Lightvalve	30:8d561f16383b	588	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	589	{
Lightvalve	30:8d561f16383b	590	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	591	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	592	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	593	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	594	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	595	} else {
Lightvalve	13:747daba9cf59	596	int idx = 0;
Lightvalve	13:747daba9cf59	597	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	598	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	599	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	600	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	601	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	602	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	603	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	604	break;
Lightvalve	13:747daba9cf59	605	}
Lightvalve	13:747daba9cf59	606	}
Lightvalve	13:747daba9cf59	607	}
Lightvalve	14:8e7590227d22	608
Lightvalve	13:747daba9cf59	609	return PWM_duty;
Lightvalve	13:747daba9cf59	610	}
jobuuu	6:df07d3491e3a	611
Lightvalve	57:f4819de54e7a	612
Lightvalve	57:f4819de54e7a	613
Lightvalve	57:f4819de54e7a	614
Lightvalve	57:f4819de54e7a	615
jobuuu	2:a1c0a37df760	616	/*******************************************************************************
jobuuu	2:a1c0a37df760	617	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	618	*******************************************************************************/
jobuuu	2:a1c0a37df760	619
Lightvalve	51:b46bed7fec80	620	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	621	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	622	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	623	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	624	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	625	{
Lightvalve	19:23b7c1ad8683	626	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	627
Lightvalve	21:e5f1a43ea6f9	628	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	629	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	630	********************************************************/
Lightvalve	13:747daba9cf59	631
Lightvalve	57:f4819de54e7a	632	//Encoder
Lightvalve	57:f4819de54e7a	633	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	634	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	635	}
Lightvalve	61:bc8c8270f0ab	636
Lightvalve	61:bc8c8270f0ab	637	ADC1->CR2 \|= 0x40000000;
Lightvalve	58:2eade98630e2	638	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	639	// Torque Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	640	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	58:2eade98630e2	641	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	58:2eade98630e2	642	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	67:c2812cf26c38	643	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	67:c2812cf26c38	644
Lightvalve	67:c2812cf26c38	645
Lightvalve	67:c2812cf26c38	646	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	67:c2812cf26c38	647	//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	67:c2812cf26c38	648	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	67:c2812cf26c38	649	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	67:c2812cf26c38	650	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	67:c2812cf26c38	651
Lightvalve	17:1865016ca2e7	652
Lightvalve	58:2eade98630e2	653	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	654	// Pressure Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	655	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	58:2eade98630e2	656	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	58:2eade98630e2	657	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	58:2eade98630e2	658	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	58:2eade98630e2	659	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	58:2eade98630e2	660	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	58:2eade98630e2	661	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	662
Lightvalve	58:2eade98630e2	663	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	58:2eade98630e2	664	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	665	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	58:2eade98630e2	666	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	667	}
Lightvalve	58:2eade98630e2	668	}
Lightvalve	61:bc8c8270f0ab	669
Lightvalve	58:2eade98630e2	670	// //Pressure sensor A
Lightvalve	58:2eade98630e2	671	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	58:2eade98630e2	672	// //while((ADC1->SR & 0b10));
Lightvalve	58:2eade98630e2	673	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	674	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	58:2eade98630e2	675	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	58:2eade98630e2	676	// 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	677	//
Lightvalve	58:2eade98630e2	678	//
Lightvalve	58:2eade98630e2	679	// //Pressure sensor B
Lightvalve	58:2eade98630e2	680	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	681	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	58:2eade98630e2	682	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	58:2eade98630e2	683	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	684
Lightvalve	17:1865016ca2e7	685
Lightvalve	21:e5f1a43ea6f9	686	//Current
Lightvalve	21:e5f1a43ea6f9	687	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	688	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	689	//while((ADC3->SR & 0b10));
Lightvalve	51:b46bed7fec80	690	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	691	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	692	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	693	//cur.sen = raw_cur;
Lightvalve	58:2eade98630e2	694
Lightvalve	57:f4819de54e7a	695	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	696	}
Lightvalve	11:82d8768d7351	697	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	698	}
Lightvalve	19:23b7c1ad8683	699
Lightvalve	19:23b7c1ad8683	700
Lightvalve	18:b8adf1582ea3	701	int j =0;
Lightvalve	54:647072f5307a	702	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	703	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	704	int cnt_trans = 0;
Lightvalve	48:889798ff9329	705	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	706	int can_rest =0;
Lightvalve	48:889798ff9329	707
Lightvalve	11:82d8768d7351	708	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	709	{
Lightvalve	19:23b7c1ad8683	710	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	711
Lightvalve	57:f4819de54e7a	712	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	713	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	714	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	715	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	716	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	717	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	718	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	719	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	720	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	721	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	722	}
Lightvalve	50:3c630b5eba9f	723
Lightvalve	50:3c630b5eba9f	724	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	725	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	726	cnt_trans++;
Lightvalve	46:2694daea349b	727	torq.err_sum = 0;
Lightvalve	48:889798ff9329	728	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	729	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	730	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	731	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	732	cnt_trans++;
Lightvalve	46:2694daea349b	733	torq.err_sum = 0;
Lightvalve	48:889798ff9329	734	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	735	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	736	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	58:2eade98630e2	737	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	738	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	739	} else {
Lightvalve	58:2eade98630e2	740	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	741	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	742	}
Lightvalve	45:35fa6884d0c6	743
Lightvalve	50:3c630b5eba9f	744
Lightvalve	57:f4819de54e7a	745	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	746	int CONTROL_MODE = 0;
Lightvalve	58:2eade98630e2	747
Lightvalve	57:f4819de54e7a	748	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	749	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	750	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	751	} else {
Lightvalve	57:f4819de54e7a	752	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	753	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	754	}
Lightvalve	56:6f50d9d3bfee	755
Lightvalve	56:6f50d9d3bfee	756
Lightvalve	56:6f50d9d3bfee	757
Lightvalve	57:f4819de54e7a	758	// UTILITY MODE ------------------------------------------------------------
Lightvalve	56:6f50d9d3bfee	759
Lightvalve	57:f4819de54e7a	760	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	761	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	762	break;
Lightvalve	13:747daba9cf59	763	}
Lightvalve	14:8e7590227d22	764
Lightvalve	14:8e7590227d22	765	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	766	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	767	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	768	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	769
Lightvalve	14:8e7590227d22	770	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	771	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	772	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	773
Lightvalve	84:c355d3e52bf1	774	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	775
Lightvalve	30:8d561f16383b	776	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	59:f308b1656d9c	777	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	50:3c630b5eba9f	778
Lightvalve	16:903b5a4433b4	779	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	780	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	781	}
Lightvalve	13:747daba9cf59	782	} else {
Lightvalve	58:2eade98630e2	783	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	784	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	785	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	786	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	787
Lightvalve	16:903b5a4433b4	788	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	789
Lightvalve	30:8d561f16383b	790	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	791
Lightvalve	13:747daba9cf59	792	}
Lightvalve	14:8e7590227d22	793	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	794	break;
Lightvalve	19:23b7c1ad8683	795	}
Lightvalve	14:8e7590227d22	796
Lightvalve	50:3c630b5eba9f	797	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	798	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	799	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	800	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	801	// }
Lightvalve	50:3c630b5eba9f	802	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	803	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	804	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	805	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	806	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	807	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	808	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	809	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	810	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	811	// }
Lightvalve	50:3c630b5eba9f	812	//
Lightvalve	50:3c630b5eba9f	813	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	814	// 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	815	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	816	//
Lightvalve	50:3c630b5eba9f	817	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	818	// V_out = 0;
Lightvalve	50:3c630b5eba9f	819	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	820	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	821	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	822	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	823	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	824	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	825	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	826	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	827	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	828	//
Lightvalve	50:3c630b5eba9f	829	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	830	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	831	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	832	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	833	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	834	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	835	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	836	//
Lightvalve	50:3c630b5eba9f	837	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	838	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	839	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	840	// } else {
Lightvalve	50:3c630b5eba9f	841	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	842	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	843	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	844	// }
Lightvalve	50:3c630b5eba9f	845	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	846	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	847	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	848	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	849	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	850	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	851	// }
Lightvalve	50:3c630b5eba9f	852	// } else {
Lightvalve	50:3c630b5eba9f	853	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	854	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	855	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	856	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	857	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	858	// }
Lightvalve	50:3c630b5eba9f	859	// V_out = 0;
Lightvalve	50:3c630b5eba9f	860	//
Lightvalve	50:3c630b5eba9f	861	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	862	//
Lightvalve	50:3c630b5eba9f	863	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	864	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	865	//
Lightvalve	50:3c630b5eba9f	866	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	867	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	868	// }
Lightvalve	50:3c630b5eba9f	869	// }
Lightvalve	50:3c630b5eba9f	870	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	871	// break;
Lightvalve	50:3c630b5eba9f	872	// }
Lightvalve	14:8e7590227d22	873
Lightvalve	14:8e7590227d22	874	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	875	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	876	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	877	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	878	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	59:f308b1656d9c	879	pos.ref = pos.sen;
Lightvalve	59:f308b1656d9c	880	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	881	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	882	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	67:c2812cf26c38	883	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	884	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	885	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	886	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	887	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	888	}
Lightvalve	29:69f3f5445d6d	889	cnt_findhome++;
Lightvalve	14:8e7590227d22	890
Lightvalve	29:69f3f5445d6d	891	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	892	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	893	} else {
Lightvalve	29:69f3f5445d6d	894	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	895	}
Lightvalve	19:23b7c1ad8683	896
Lightvalve	57:f4819de54e7a	897	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	898	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	67:c2812cf26c38	899	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	67:c2812cf26c38	900	else pos.ref = pos.ref - 12.0f;
Lightvalve	61:bc8c8270f0ab	901
Lightvalve	59:f308b1656d9c	902	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	59:f308b1656d9c	903	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	904	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	59:f308b1656d9c	905	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	906	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	907
Lightvalve	59:f308b1656d9c	908	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	59:f308b1656d9c	909	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	910
Lightvalve	34:bb2ca2fc2a8e	911
Lightvalve	29:69f3f5445d6d	912	} else {
Lightvalve	29:69f3f5445d6d	913	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	67:c2812cf26c38	914	// ENC_SET_ZERO();
Lightvalve	29:69f3f5445d6d	915	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	916	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	917	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	918	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	919	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	920	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	921	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	922	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	923	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	67:c2812cf26c38	924
Lightvalve	67:c2812cf26c38	925
Lightvalve	67:c2812cf26c38	926	cnt_findhome = 0;
Lightvalve	67:c2812cf26c38	927	pos.ref = 0.0f;
Lightvalve	67:c2812cf26c38	928	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	929	pos.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	930	vel.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	931	//FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	67:c2812cf26c38	932	//CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	933
Lightvalve	67:c2812cf26c38	934
Lightvalve	29:69f3f5445d6d	935	}
Lightvalve	29:69f3f5445d6d	936	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	937	int T_move = 2*TMR_FREQ_5k;
Lightvalve	59:f308b1656d9c	938	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	939	//pos.ref = 0.0f;
Lightvalve	59:f308b1656d9c	940	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	941
Lightvalve	29:69f3f5445d6d	942	// input for position control
Lightvalve	67:c2812cf26c38	943
Lightvalve	67:c2812cf26c38	944	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	945	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	946
Lightvalve	67:c2812cf26c38	947	double torq_ref = 0.0f;
Lightvalve	67:c2812cf26c38	948	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	949	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	67:c2812cf26c38	950	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	951
Lightvalve	67:c2812cf26c38	952	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	67:c2812cf26c38	953
Lightvalve	67:c2812cf26c38	954	double I_REF_POS = 0.0f;
Lightvalve	67:c2812cf26c38	955	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	67:c2812cf26c38	956	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	67:c2812cf26c38	957
Lightvalve	67:c2812cf26c38	958	double temp_vel_pos = 0.0f;
Lightvalve	67:c2812cf26c38	959	double temp_vel_torq = 0.0f;
Lightvalve	67:c2812cf26c38	960	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	67:c2812cf26c38	961
Lightvalve	69:3995ffeaa786	962	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	67:c2812cf26c38	963	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	964	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	965	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	67:c2812cf26c38	966	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	967	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:c2812cf26c38	968	}
Lightvalve	67:c2812cf26c38	969	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	970	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	971
Lightvalve	67:c2812cf26c38	972	I_REF = I_REF_POS;
Lightvalve	67:c2812cf26c38	973
Lightvalve	67:c2812cf26c38	974
Lightvalve	67:c2812cf26c38	975
Lightvalve	67:c2812cf26c38	976	} else {
Lightvalve	67:c2812cf26c38	977	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	67:c2812cf26c38	978	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	979
Lightvalve	67:c2812cf26c38	980	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	67:c2812cf26c38	981	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	67:c2812cf26c38	982	} else {
Lightvalve	67:c2812cf26c38	983	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	67:c2812cf26c38	984	}
Lightvalve	67:c2812cf26c38	985
Lightvalve	67:c2812cf26c38	986	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	67:c2812cf26c38	987
Lightvalve	67:c2812cf26c38	988	V_out = (float) Vout.ref;
Lightvalve	67:c2812cf26c38	989
Lightvalve	67:c2812cf26c38	990	}
Lightvalve	67:c2812cf26c38	991
Lightvalve	67:c2812cf26c38	992
Lightvalve	67:c2812cf26c38	993
Lightvalve	67:c2812cf26c38	994
Lightvalve	59:f308b1656d9c	995	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	59:f308b1656d9c	996	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	997	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	59:f308b1656d9c	998	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	999	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	1000
Lightvalve	29:69f3f5445d6d	1001	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	1002	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	1003	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	1004	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1005	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1006	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1007	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1008	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1009	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	1010	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	1011	}
Lightvalve	13:747daba9cf59	1012	}
Lightvalve	19:23b7c1ad8683	1013
Lightvalve	13:747daba9cf59	1014	break;
Lightvalve	13:747daba9cf59	1015	}
Lightvalve	14:8e7590227d22	1016
Lightvalve	50:3c630b5eba9f	1017	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	1018	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	1019	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	1020	// else {
Lightvalve	50:3c630b5eba9f	1021	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1022	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	1023	// }
Lightvalve	50:3c630b5eba9f	1024	// }
Lightvalve	50:3c630b5eba9f	1025	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	1026	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	1027	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1028	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	1029	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1030	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1031	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	1032	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1033	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	1034	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	1035	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	1036	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	1037	// }
Lightvalve	50:3c630b5eba9f	1038	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	1039	// }
Lightvalve	50:3c630b5eba9f	1040	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	1041	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	1042	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	1043	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1044	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1045	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1046	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1047	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1048	// 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=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	1049	// // 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	1050	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1051	// }
Lightvalve	50:3c630b5eba9f	1052	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	1053	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1054	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1055	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1056	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1057	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1058	// 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	1059	// // 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	1060	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1061	// }
Lightvalve	50:3c630b5eba9f	1062	// }
Lightvalve	50:3c630b5eba9f	1063	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	1064	//
Lightvalve	50:3c630b5eba9f	1065	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1066	//
Lightvalve	50:3c630b5eba9f	1067	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	1068	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	1069	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	1070	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	1071	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	1072	// }
Lightvalve	50:3c630b5eba9f	1073	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	1074	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1075	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	1076	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	1077	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	1078	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	1079	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1080	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	1081	// }
Lightvalve	50:3c630b5eba9f	1082	//
Lightvalve	50:3c630b5eba9f	1083	// }
Lightvalve	50:3c630b5eba9f	1084	// break;
Lightvalve	50:3c630b5eba9f	1085	// }
Lightvalve	50:3c630b5eba9f	1086	//
Lightvalve	50:3c630b5eba9f	1087	// }
Lightvalve	14:8e7590227d22	1088	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1089	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1090	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1091	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1092	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1093
Lightvalve	14:8e7590227d22	1094	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1095	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1096	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1097	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1098	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1099
Lightvalve	38:118df027d851	1100	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	1101	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	1102	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	1103
Lightvalve	30:8d561f16383b	1104	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1105	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1106	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1107	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1108
Lightvalve	30:8d561f16383b	1109	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1110	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1111	}
Lightvalve	13:747daba9cf59	1112	} else {
Lightvalve	57:f4819de54e7a	1113	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1114	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1115	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1116	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1117	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1118	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1119
Lightvalve	16:903b5a4433b4	1120	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1121
Lightvalve	30:8d561f16383b	1122	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1123	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1124	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1125	}
Lightvalve	14:8e7590227d22	1126	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1127	break;
Lightvalve	13:747daba9cf59	1128	}
Lightvalve	14:8e7590227d22	1129
Lightvalve	50:3c630b5eba9f	1130	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	1131	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1132	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1133	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1134	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	1135	// }
Lightvalve	50:3c630b5eba9f	1136	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1137	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1138	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1139	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	1140	// }
Lightvalve	50:3c630b5eba9f	1141	// } else {
Lightvalve	50:3c630b5eba9f	1142	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1143	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	1144	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1145	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	1146	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1147	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	1148	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1149	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	1150	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	1151	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	1152	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	1153	//
Lightvalve	50:3c630b5eba9f	1154	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1155	//
Lightvalve	50:3c630b5eba9f	1156	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1157	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1158	// }
Lightvalve	50:3c630b5eba9f	1159	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	1160	// break;
Lightvalve	50:3c630b5eba9f	1161	// }
Lightvalve	19:23b7c1ad8683	1162
Lightvalve	50:3c630b5eba9f	1163	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	1164	// 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	1165	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	1166	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1167	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1168	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	1169	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1170	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	1171	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	1172	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1173	// }
Lightvalve	50:3c630b5eba9f	1174	// break;
Lightvalve	50:3c630b5eba9f	1175	// }
Lightvalve	14:8e7590227d22	1176
Lightvalve	14:8e7590227d22	1177	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	59:f308b1656d9c	1178	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1179	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1180
Lightvalve	14:8e7590227d22	1181	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	60:64181f1d3e60	1182	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1183	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	59:f308b1656d9c	1184	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1185	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1186	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1187	data_num = 0;
Lightvalve	14:8e7590227d22	1188	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1189	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1190	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1191	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	59:f308b1656d9c	1192	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1193	} else {
Lightvalve	13:747daba9cf59	1194	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1195	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1196	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1197	}
Lightvalve	14:8e7590227d22	1198
Lightvalve	17:1865016ca2e7	1199	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1200	int i;
Lightvalve	13:747daba9cf59	1201	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1202	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1203	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1204	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1205	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1206	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1207	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1208	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1209	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1210	}
Lightvalve	13:747daba9cf59	1211	}
Lightvalve	59:f308b1656d9c	1212	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1213	ID_index = 0;
Lightvalve	57:f4819de54e7a	1214	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1215	}
Lightvalve	14:8e7590227d22	1216
Lightvalve	14:8e7590227d22	1217
Lightvalve	13:747daba9cf59	1218	break;
Lightvalve	13:747daba9cf59	1219	}
Lightvalve	14:8e7590227d22	1220
Lightvalve	14:8e7590227d22	1221	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	59:f308b1656d9c	1222	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1223	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1224	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1225	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1226	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1227	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1228	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1229	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1230	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1231	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1232	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1233	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1234	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1235	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1236	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	1237	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1238	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	1239	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1240	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1241	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1242	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	1243	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1244	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1245	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1246	data_num = 0;
Lightvalve	14:8e7590227d22	1247
Lightvalve	30:8d561f16383b	1248	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1249	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1250	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1251
Lightvalve	30:8d561f16383b	1252	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1253	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1254	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1255
Lightvalve	30:8d561f16383b	1256	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1257	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1258	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1259	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1260
Lightvalve	60:64181f1d3e60	1261	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	1262	DZ_case = 1;
Lightvalve	60:64181f1d3e60	1263	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	1264	DZ_case = -1;
Lightvalve	14:8e7590227d22	1265	} else {
Lightvalve	13:747daba9cf59	1266	DZ_case = 0;
Lightvalve	13:747daba9cf59	1267	}
Lightvalve	61:bc8c8270f0ab	1268
Lightvalve	60:64181f1d3e60	1269	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	1270
Lightvalve	13:747daba9cf59	1271	first_check = 1;
Lightvalve	13:747daba9cf59	1272	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1273	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1274	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1275	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1276	DZ_index = 1;
Lightvalve	14:8e7590227d22	1277
Lightvalve	13:747daba9cf59	1278	}
Lightvalve	19:23b7c1ad8683	1279	} else {
Lightvalve	14:8e7590227d22	1280	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1281	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1282	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	1283	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1284	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1285	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1286	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1287	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1288	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1289	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1290	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1291	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1292	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1293	}
Lightvalve	14:8e7590227d22	1294	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1295
Lightvalve	30:8d561f16383b	1296	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1297	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1298	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1299
Lightvalve	14:8e7590227d22	1300	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1301	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1302	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1303	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1304	} else {
Lightvalve	13:747daba9cf59	1305	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1306	}
Lightvalve	14:8e7590227d22	1307
Lightvalve	13:747daba9cf59	1308	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1309	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1310	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1311	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1312	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1313	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1314	DZ_index = 1;
Lightvalve	13:747daba9cf59	1315	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1316	}
Lightvalve	13:747daba9cf59	1317	}
Lightvalve	14:8e7590227d22	1318	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1319	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1320	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	1321	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1322	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1323	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1324	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1325	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1326	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1327	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1328	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1329	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1330	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1331	}
Lightvalve	14:8e7590227d22	1332	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1333
Lightvalve	30:8d561f16383b	1334	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1335	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1336	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1337	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1338	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1339
Lightvalve	14:8e7590227d22	1340	if((FINAL_POS - START_POS)>100) {
Lightvalve	60:64181f1d3e60	1341	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1342	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1343	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1344	} else {
Lightvalve	60:64181f1d3e60	1345	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1346	}
Lightvalve	14:8e7590227d22	1347
Lightvalve	13:747daba9cf59	1348	VALVE_DZ_timer = 0;
Lightvalve	60:64181f1d3e60	1349	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1350	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1351	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1352	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1353	first_check = 0;
Lightvalve	33:91b17819ec30	1354	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1355	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1356
Lightvalve	16:903b5a4433b4	1357	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1358
Lightvalve	60:64181f1d3e60	1359	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1360	DZ_index = 1;
Lightvalve	13:747daba9cf59	1361	}
Lightvalve	13:747daba9cf59	1362	}
Lightvalve	14:8e7590227d22	1363	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1364	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1365	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	1366	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1367	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1368	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1369	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1370	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1371	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1372	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1373	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1374	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1375	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1376	}
Lightvalve	14:8e7590227d22	1377	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1378
Lightvalve	30:8d561f16383b	1379	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1380	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1381	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1382
Lightvalve	14:8e7590227d22	1383	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1384	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1385	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1386	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1387	} else {
Lightvalve	13:747daba9cf59	1388	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1389	}
Lightvalve	13:747daba9cf59	1390	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1391	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1392	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1393	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1394	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1395	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1396	DZ_index = 1;
Lightvalve	13:747daba9cf59	1397	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1398	}
Lightvalve	13:747daba9cf59	1399	}
Lightvalve	14:8e7590227d22	1400	} else {
Lightvalve	30:8d561f16383b	1401	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1402	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	1403	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1404	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1405	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1406	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1407	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1408	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1409	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1410	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1411	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1412	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1413	}
Lightvalve	14:8e7590227d22	1414	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1415
Lightvalve	30:8d561f16383b	1416	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1417	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1418	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1419	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1420	FINAL_POS = pos.sen;
Lightvalve	61:bc8c8270f0ab	1421
Lightvalve	60:64181f1d3e60	1422	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1423	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1424	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1425	DZ_DIRECTION = -1;
Lightvalve	60:64181f1d3e60	1426	} else {
Lightvalve	13:747daba9cf59	1427	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1428	}
Lightvalve	14:8e7590227d22	1429
Lightvalve	13:747daba9cf59	1430	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1431	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1432	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1433	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1434	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1435	first_check = 0;
Lightvalve	33:91b17819ec30	1436	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1437	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	61:bc8c8270f0ab	1438
Lightvalve	59:f308b1656d9c	1439	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1440
Lightvalve	57:f4819de54e7a	1441	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1442	DZ_index = 1;
Lightvalve	13:747daba9cf59	1443	}
Lightvalve	13:747daba9cf59	1444	}
Lightvalve	13:747daba9cf59	1445	}
Lightvalve	14:8e7590227d22	1446	}
Lightvalve	13:747daba9cf59	1447	break;
Lightvalve	13:747daba9cf59	1448	}
Lightvalve	14:8e7590227d22	1449
Lightvalve	14:8e7590227d22	1450	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	59:f308b1656d9c	1451	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1452	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1453	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1454	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1455	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1456	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1457	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1458	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1459	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1460	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1461	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1462	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1463	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1464	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	59:f308b1656d9c	1465	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1466	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1467	first_check = 1;
Lightvalve	13:747daba9cf59	1468	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1469	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1470	ID_index = 0;
Lightvalve	13:747daba9cf59	1471	max_check = 0;
Lightvalve	13:747daba9cf59	1472	min_check = 0;
Lightvalve	13:747daba9cf59	1473	}
Lightvalve	14:8e7590227d22	1474	} else {
Lightvalve	30:8d561f16383b	1475	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1476	//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	1477	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	59:f308b1656d9c	1478	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1479	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1480	data_num = 0;
Lightvalve	57:f4819de54e7a	1481	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1482
Lightvalve	14:8e7590227d22	1483	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1484	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1485	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1486	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1487	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1488	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1489	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1490	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1491	one_period_end = 1;
Lightvalve	13:747daba9cf59	1492	}
Lightvalve	30:8d561f16383b	1493	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1494	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1495	one_period_end = 1;
Lightvalve	59:f308b1656d9c	1496	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1497	}
Lightvalve	14:8e7590227d22	1498
Lightvalve	14:8e7590227d22	1499	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1500	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1501	max_check = 1;
Lightvalve	14:8e7590227d22	1502	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1503	min_check = 1;
Lightvalve	13:747daba9cf59	1504	}
Lightvalve	13:747daba9cf59	1505	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1506
Lightvalve	13:747daba9cf59	1507	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1508	one_period_end = 0;
Lightvalve	13:747daba9cf59	1509	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1510	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1511	}
Lightvalve	14:8e7590227d22	1512
Lightvalve	14:8e7590227d22	1513	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1514
Lightvalve	13:747daba9cf59	1515	VALVE_POS_NUM = ID_index;
Lightvalve	59:f308b1656d9c	1516	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1517	ID_index = 0;
Lightvalve	13:747daba9cf59	1518	first_check = 0;
Lightvalve	13:747daba9cf59	1519	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1520	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1521	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1522	}
Lightvalve	13:747daba9cf59	1523	}
Lightvalve	13:747daba9cf59	1524	break;
Lightvalve	13:747daba9cf59	1525	}
Lightvalve	58:2eade98630e2	1526
Lightvalve	57:f4819de54e7a	1527	case MODE_SYSTEM_ID: {
Lightvalve	57:f4819de54e7a	1528	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	57:f4819de54e7a	1529	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1530	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1531	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1532	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1533	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1534	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1535	}
Lightvalve	57:f4819de54e7a	1536	break;
Lightvalve	57:f4819de54e7a	1537	}
Lightvalve	58:2eade98630e2	1538
Lightvalve	58:2eade98630e2	1539
Lightvalve	57:f4819de54e7a	1540
Lightvalve	57:f4819de54e7a	1541	default:
Lightvalve	57:f4819de54e7a	1542	break;
Lightvalve	57:f4819de54e7a	1543	}
Lightvalve	57:f4819de54e7a	1544
Lightvalve	57:f4819de54e7a	1545	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1546
Lightvalve	57:f4819de54e7a	1547	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1548	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1549	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1550	break;
Lightvalve	57:f4819de54e7a	1551	}
Lightvalve	57:f4819de54e7a	1552
Lightvalve	57:f4819de54e7a	1553	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	67:c2812cf26c38	1554	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	57:f4819de54e7a	1555	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:f308b1656d9c	1556	V_out = Vout.ref;
Lightvalve	67:c2812cf26c38	1557	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	67:c2812cf26c38	1558	V_out = valve_pos.ref;
Lightvalve	67:c2812cf26c38	1559	} else {
Lightvalve	67:c2812cf26c38	1560	I_REF = valve_pos.ref * 0.001f;
Lightvalve	57:f4819de54e7a	1561	}
Lightvalve	58:2eade98630e2	1562
Lightvalve	57:f4819de54e7a	1563	break;
Lightvalve	57:f4819de54e7a	1564	}
Lightvalve	57:f4819de54e7a	1565
Lightvalve	57:f4819de54e7a	1566	case MODE_JOINT_CONTROL: {
Lightvalve	137:ccf70b9b1705	1567
Lightvalve	138:a843f32ced33	1568
Lightvalve	57:f4819de54e7a	1569	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1570	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	1571	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1572	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	1573
Lightvalve	67:c2812cf26c38	1574	//K & D Low Pass Filter
Lightvalve	67:c2812cf26c38	1575	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	67:c2812cf26c38	1576	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	67:c2812cf26c38	1577	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	67:c2812cf26c38	1578
Lightvalve	139:15621998925b	1579	// torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	139:15621998925b	1580	torq_ref = torq.ref;
Lightvalve	57:f4819de54e7a	1581
Lightvalve	57:f4819de54e7a	1582	// torque feedback
Lightvalve	67:c2812cf26c38	1583	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1584	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1585
Lightvalve	57:f4819de54e7a	1586	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1587
Lightvalve	57:f4819de54e7a	1588	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1589	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1590	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1591
Lightvalve	57:f4819de54e7a	1592	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1593	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1594	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1595
Lightvalve	69:3995ffeaa786	1596	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1597	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	1598	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	1599	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1600	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	1601	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1602	}
Lightvalve	57:f4819de54e7a	1603	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	1604	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1605
Lightvalve	57:f4819de54e7a	1606	// velocity compensation for torque control
Lightvalve	69:3995ffeaa786	1607	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1608	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1609	// 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	1610	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1611	// L feedforward velocity
Lightvalve	69:3995ffeaa786	1612	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1613	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	1614	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1615	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1616	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1617	}
Lightvalve	57:f4819de54e7a	1618	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	1619	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1620	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1621	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1622	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1623
Lightvalve	57:f4819de54e7a	1624	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	67:c2812cf26c38	1625
Lightvalve	67:c2812cf26c38	1626	// Anti-windup for FT
Lightvalve	67:c2812cf26c38	1627	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	67:c2812cf26c38	1628	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	67:c2812cf26c38	1629	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	67:c2812cf26c38	1630	if (I_REF > I_MAX) {
Lightvalve	67:c2812cf26c38	1631	double I_rem = I_REF - I_MAX;
Lightvalve	67:c2812cf26c38	1632	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1633	I_REF = I_MAX;
Lightvalve	67:c2812cf26c38	1634	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1635	} else if (I_REF < -I_MAX) {
Lightvalve	67:c2812cf26c38	1636	double I_rem = I_REF - (-I_MAX);
Lightvalve	67:c2812cf26c38	1637	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1638	I_REF = -I_MAX;
Lightvalve	67:c2812cf26c38	1639	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1640	}
Lightvalve	67:c2812cf26c38	1641	}
Lightvalve	57:f4819de54e7a	1642
Lightvalve	57:f4819de54e7a	1643	} else {
Lightvalve	57:f4819de54e7a	1644	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	72:3436ce769b1e	1645	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	72:3436ce769b1e	1646	float VALVE_POS_RAW = 0.0f;
Lightvalve	72:3436ce769b1e	1647
Lightvalve	57:f4819de54e7a	1648	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	1649	+ 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	1650
Lightvalve	72:3436ce769b1e	1651	VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve	72:3436ce769b1e	1652
Lightvalve	72:3436ce769b1e	1653	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	72:3436ce769b1e	1654
Lightvalve	72:3436ce769b1e	1655
Lightvalve	72:3436ce769b1e	1656	if (VALVE_POS_RAW >= 0) {
Lightvalve	72:3436ce769b1e	1657	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1658	} else {
Lightvalve	72:3436ce769b1e	1659	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1660	}
Lightvalve	57:f4819de54e7a	1661
Lightvalve	57:f4819de54e7a	1662	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	139:15621998925b	1663	double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1664	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1665	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1666	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1667	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1668	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1669	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1670	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1671	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1672	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1673	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1674	}
Lightvalve	57:f4819de54e7a	1675	}
Lightvalve	61:bc8c8270f0ab	1676
Lightvalve	57:f4819de54e7a	1677	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1678
Lightvalve	67:c2812cf26c38	1679	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	60:64181f1d3e60	1680	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1681
Lightvalve	57:f4819de54e7a	1682	}
Lightvalve	72:3436ce769b1e	1683
Lightvalve	72:3436ce769b1e	1684	torq_ref_past = torq_ref;
Lightvalve	58:2eade98630e2	1685
Lightvalve	133:22ab22818e01	1686
Lightvalve	57:f4819de54e7a	1687	break;
Lightvalve	57:f4819de54e7a	1688	}
Lightvalve	58:2eade98630e2	1689
Lightvalve	57:f4819de54e7a	1690	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1691	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1692	break;
Lightvalve	57:f4819de54e7a	1693	}
Lightvalve	138:a843f32ced33	1694
Lightvalve	138:a843f32ced33	1695	case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve	138:a843f32ced33	1696
Lightvalve	138:a843f32ced33	1697
Lightvalve	139:15621998925b	1698	float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve	139:15621998925b	1699	float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve	138:a843f32ced33	1700
Lightvalve	139:15621998925b	1701	// float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve	139:15621998925b	1702	// float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve	138:a843f32ced33	1703	V = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve	138:a843f32ced33	1704
Lightvalve	138:a843f32ced33	1705
Lightvalve	139:15621998925b	1706	float f3 = -AmmAmmbeta0.000001f0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve	138:a843f32ced33	1707
Lightvalve	138:a843f32ced33	1708	float g3_prime = 0.0f;
Lightvalve	138:a843f32ced33	1709	if (torq.sen > Amm(Ps-Pt)0.000001f){
Lightvalve	138:a843f32ced33	1710	g3_prime = 1.0f;
Lightvalve	138:a843f32ced33	1711	} else if (torq.sen < -Amm(Ps-Pt)0.000001f) {
Lightvalve	138:a843f32ced33	1712	g3_prime = -1.0f;
Lightvalve	138:a843f32ced33	1713	} else {
Lightvalve	138:a843f32ced33	1714	if ((value-VALVE_CENTER) > 0) {
Lightvalve	138:a843f32ced33	1715	g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve	139:15621998925b	1716	// g3_prime = sqrt(Ps-Pt);
Lightvalve	138:a843f32ced33	1717	} else {
Lightvalve	138:a843f32ced33	1718	g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve	139:15621998925b	1719	// g3_prime = sqrt(Ps-Pt);
Lightvalve	138:a843f32ced33	1720	}
Lightvalve	138:a843f32ced33	1721	}
Lightvalve	138:a843f32ced33	1722	float tau = 0.01f;
Lightvalve	142:43026242815a	1723	float K_valve = 0.0004f;
Lightvalve	138:a843f32ced33	1724
Lightvalve	138:a843f32ced33	1725	float x_v = 0.0f; //x_v : -1~1
Lightvalve	138:a843f32ced33	1726	if(value>=VALVE_CENTER) {
Lightvalve	138:a843f32ced33	1727	x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	138:a843f32ced33	1728	} else {
Lightvalve	138:a843f32ced33	1729	x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	138:a843f32ced33	1730	}
Lightvalve	138:a843f32ced33	1731	float f4 = -x_v/tau;
Lightvalve	138:a843f32ced33	1732	float g4 = K_valve/tau;
Lightvalve	138:a843f32ced33	1733
Lightvalve	139:15621998925b	1734	float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve	138:a843f32ced33	1735
Lightvalve	138:a843f32ced33	1736	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	138:a843f32ced33	1737	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	138:a843f32ced33	1738	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	138:a843f32ced33	1739
Lightvalve	138:a843f32ced33	1740	torq.err = torq.ref - torq.sen; //[N]
Lightvalve	138:a843f32ced33	1741	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	138:a843f32ced33	1742
Lightvalve	142:43026242815a	1743	float k3 = 20000.0f; //2000
Lightvalve	142:43026242815a	1744	float k4 = 10.0f;
Lightvalve	142:43026242815a	1745	float rho3 = 3.2f;
Lightvalve	142:43026242815a	1746	float rho4 = 25000000.0f;
Lightvalve	139:15621998925b	1747	float x_4_des = (-f3 + torq_ref_dot - k3(-torq.err))/(gamma_hatg3_prime);
Lightvalve	138:a843f32ced33	1748	if (x_4_des > 1) x_4_des = 1;
Lightvalve	138:a843f32ced33	1749	else if (x_4_des < -1) x_4_des = -1;
Lightvalve	139:15621998925b	1750
Lightvalve	139:15621998925b	1751	if (x_4_des > 0) {
Lightvalve	139:15621998925b	1752	valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve	139:15621998925b	1753	} else {
Lightvalve	139:15621998925b	1754	valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve	139:15621998925b	1755	}
Lightvalve	139:15621998925b	1756
Lightvalve	139:15621998925b	1757
Lightvalve	138:a843f32ced33	1758	float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve	138:a843f32ced33	1759	x_4_des_old = x_4_des;
Lightvalve	138:a843f32ced33	1760
Lightvalve	139:15621998925b	1761	V_out = (-f4 + x_4_des_dot - k4(x_v-x_4_des)- rho3/rho4gamma_hatg3_prime(-torq.err))/g4;
Lightvalve	138:a843f32ced33	1762
Lightvalve	142:43026242815a	1763	float rho_gamma = 50000.0f;//5000
Lightvalve	139:15621998925b	1764	float gamma_hat_dot = rho3(-torq.err)/rho_gamma((-f3+torq_ref_dot-k3(-torq.err))/gamma_hat + g3_prime(x_v-x_4_des));
Lightvalve	138:a843f32ced33	1765	gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve	138:a843f32ced33	1766	break;
Lightvalve	138:a843f32ced33	1767	}
Lightvalve	14:8e7590227d22	1768
Lightvalve	12:6f2531038ea4	1769	default:
Lightvalve	12:6f2531038ea4	1770	break;
Lightvalve	12:6f2531038ea4	1771	}
Lightvalve	14:8e7590227d22	1772
Lightvalve	57:f4819de54e7a	1773
Lightvalve	57:f4819de54e7a	1774	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1775
Lightvalve	57:f4819de54e7a	1776	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1777	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1778	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1779	if (CURRENT_CONTROL_MODE) {
Lightvalve	67:c2812cf26c38	1780	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1781	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1782
Lightvalve	57:f4819de54e7a	1783	I_ERR = I_REF_fil - cur.sen;
Lightvalve	67:c2812cf26c38	1784	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	57:f4819de54e7a	1785
Lightvalve	57:f4819de54e7a	1786
Lightvalve	57:f4819de54e7a	1787	// Moog Valve Current Control Gain
Lightvalve	67:c2812cf26c38	1788	double R_model = 500.0f; // ohm
Lightvalve	57:f4819de54e7a	1789	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1790	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1791	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1792	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1793
Lightvalve	57:f4819de54e7a	1794	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1795	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1796	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1797	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1798	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1799	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1800	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1801	}
Lightvalve	57:f4819de54e7a	1802
Lightvalve	57:f4819de54e7a	1803	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1804
Lightvalve	67:c2812cf26c38	1805	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	57:f4819de54e7a	1806	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	57:f4819de54e7a	1807	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1808	I_REF_fil_old = I_REF_fil;
Lightvalve	67:c2812cf26c38	1809	// 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	1810	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	67:c2812cf26c38	1811	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1812
Lightvalve	57:f4819de54e7a	1813	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1814	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1815	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1816	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1817	VALVE_PWM_RAW = V_MAX;
Lightvalve	67:c2812cf26c38	1818	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1819	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1820	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1821	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1822	VALVE_PWM_RAW = -V_MAX;
Lightvalve	67:c2812cf26c38	1823	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1824	}
Lightvalve	57:f4819de54e7a	1825	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1826	} else {
Lightvalve	57:f4819de54e7a	1827	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1828	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1829	}
Lightvalve	57:f4819de54e7a	1830
Lightvalve	57:f4819de54e7a	1831	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1832	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1833	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1834	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1835	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1836	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1837	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1838
Lightvalve	57:f4819de54e7a	1839	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1840
Lightvalve	57:f4819de54e7a	1841	} else {
Lightvalve	57:f4819de54e7a	1842	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1843	}
Lightvalve	57:f4819de54e7a	1844
Lightvalve	57:f4819de54e7a	1845	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1846	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	67:c2812cf26c38	1847	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	57:f4819de54e7a	1848
Lightvalve	57:f4819de54e7a	1849	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	67:c2812cf26c38	1850	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	67:c2812cf26c38	1851	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	67:c2812cf26c38	1852	else V_out = (float) (CUR_PWM_lin);
Lightvalve	57:f4819de54e7a	1853	}
Lightvalve	89:a7b45368ea0f	1854	else { //////////////////////////sw valve
Lightvalve	89:a7b45368ea0f	1855	// Output Voltage Linearization
Lightvalve	135:79885a39c161	1856	// double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	135:79885a39c161	1857	// double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	89:a7b45368ea0f	1858
Lightvalve	89:a7b45368ea0f	1859	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	135:79885a39c161	1860	// if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	135:79885a39c161	1861	// else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	135:79885a39c161	1862	// else V_out = (float) (CUR_PWM_lin);
Lightvalve	135:79885a39c161	1863
Lightvalve	135:79885a39c161	1864	if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve	135:79885a39c161	1865	else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve	135:79885a39c161	1866	else V_out = 0.0f;
Lightvalve	89:a7b45368ea0f	1867	}
Lightvalve	67:c2812cf26c38	1868
Lightvalve	67:c2812cf26c38	1869	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	67:c2812cf26c38	1870	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	67:c2812cf26c38	1871	// else V_out = V_out;
Lightvalve	67:c2812cf26c38	1872
jobuuu	7:e9086c72bb22	1873	/*******************************************************
jobuuu	7:e9086c72bb22	1874	*** PWM
jobuuu	7:e9086c72bb22	1875	********************************************************/
Lightvalve	67:c2812cf26c38	1876	if(DIR_VALVE<0){
Lightvalve	67:c2812cf26c38	1877	V_out = -V_out;
Lightvalve	67:c2812cf26c38	1878	}
Lightvalve	67:c2812cf26c38	1879
Lightvalve	49:e7bcfc244d40	1880	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1881	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1882	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1883	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1884	}
Lightvalve	49:e7bcfc244d40	1885	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1886
Lightvalve	19:23b7c1ad8683	1887	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1888	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1889	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1890
Lightvalve	30:8d561f16383b	1891	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1892	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1893	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1894	} else {
jobuuu	2:a1c0a37df760	1895	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1896	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1897	}
Lightvalve	13:747daba9cf59	1898
jobuuu	1:e04e563be5ce	1899	//pwm
Lightvalve	30:8d561f16383b	1900	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1901	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	67:c2812cf26c38	1902
Lightvalve	61:bc8c8270f0ab	1903
Lightvalve	57:f4819de54e7a	1904	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1905
Lightvalve	54:647072f5307a	1906	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1907	if (flag_data_request[0] == HIGH) {
Lightvalve	57:f4819de54e7a	1908	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1909	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1910	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1911	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	1912	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	1913	}
Lightvalve	57:f4819de54e7a	1914	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1915	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1916	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	1917	} else if (SENSING_MODE == 1) {
Lightvalve	67:c2812cf26c38	1918	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	1919	}
Lightvalve	52:8ea76864368a	1920	}
Lightvalve	52:8ea76864368a	1921	}
Lightvalve	56:6f50d9d3bfee	1922	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1923	//valve position
Lightvalve	54:647072f5307a	1924	double t_value = 0;
Lightvalve	97:d71c57e3515e	1925	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	97:d71c57e3515e	1926	t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1927	} else {
Lightvalve	97:d71c57e3515e	1928	t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1929	}
Lightvalve	97:d71c57e3515e	1930	// if(OPERATING_MODE==5) {
Lightvalve	97:d71c57e3515e	1931	// if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	97:d71c57e3515e	1932	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1933	// } else {
Lightvalve	97:d71c57e3515e	1934	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1935	// }
Lightvalve	97:d71c57e3515e	1936	//t_value = (double) value;
Lightvalve	97:d71c57e3515e	1937	// } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	97:d71c57e3515e	1938	// t_value = cur.sen * 1000.0f;
Lightvalve	89:a7b45368ea0f	1939	// } else {
Lightvalve	97:d71c57e3515e	1940	// t_value = V_out;
Lightvalve	89:a7b45368ea0f	1941	// }
Lightvalve	67:c2812cf26c38	1942	CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve	67:c2812cf26c38	1943	//CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve	67:c2812cf26c38	1944	//CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve	54:647072f5307a	1945	}
Lightvalve	58:2eade98630e2	1946
Lightvalve	58:2eade98630e2	1947
Lightvalve	131:d08121ac87ba	1948	if (flag_data_request[2] == LOW) {
Lightvalve	89:a7b45368ea0f	1949	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve	89:a7b45368ea0f	1950	double t_value = 0;
Lightvalve	89:a7b45368ea0f	1951	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	131:d08121ac87ba	1952	t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1953	} else {
Lightvalve	131:d08121ac87ba	1954	t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1955	}
Lightvalve	139:15621998925b	1956	CAN_TX_PRES((int16_t) (t_value), (int16_t) (torq.ref)); // 1400
Lightvalve	55:b25725257569	1957	}
Lightvalve	58:2eade98630e2	1958
Lightvalve	57:f4819de54e7a	1959	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1960	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1961	;
Lightvalve	57:f4819de54e7a	1962	}
Lightvalve	58:2eade98630e2	1963
Lightvalve	139:15621998925b	1964	if (flag_data_request[3] == LOW) {
Lightvalve	54:647072f5307a	1965	//PWM
Lightvalve	73:f80dc3970c99	1966	//CAN_TX_PWM((int16_t) value); //1500
Lightvalve	139:15621998925b	1967	CAN_TX_PWM((int16_t) gamma_hat); //1500
Lightvalve	54:647072f5307a	1968	}
Lightvalve	57:f4819de54e7a	1969	//for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1970	// ;
Lightvalve	57:f4819de54e7a	1971	// }
Lightvalve	56:6f50d9d3bfee	1972	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1973	//valve position
Lightvalve	73:f80dc3970c99	1974	CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve	54:647072f5307a	1975	}
Lightvalve	20:806196fda269	1976
Lightvalve	54:647072f5307a	1977	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1978	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1979	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1980	// }
Lightvalve	54:647072f5307a	1981	//if (flag_delay_test == 1){
Lightvalve	58:2eade98630e2	1982	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1983	//}
Lightvalve	52:8ea76864368a	1984
Lightvalve	54:647072f5307a	1985	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1986	}
Lightvalve	54:647072f5307a	1987	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1988
Lightvalve	20:806196fda269	1989	}
Lightvalve	52:8ea76864368a	1990	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1991
Lightvalve	58:2eade98630e2	1992	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	03 Apr 2020
Imports:	5
Forks:	0
Commits:	257
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@142:43026242815a, 2020-10-08 (annotated)

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