Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@87:471334725012, 2020-07-16 (annotated)

Committer:
Lightvalve
Date:
Thu Jul 16 03:37:10 2020 +0000
Revision:
87:471334725012
Parent:
86:b8ed7abddeb2
Child:
88:d6e591bece22
200716-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 87:471334725012 1 //200716-1
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 65:a2d7c63419c2 187
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 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 87:471334725012 195 const float h1[num_input][16] = {
Lightvalve 87:471334725012 196 {-2.8398470878601074f,0.6193283796310425f,0.12903714179992676f,0.5167921781539917f,-2.9680557250976562f,1.2951633930206299f,-0.17472904920578003f,0.4641677439212799f,-2.412757396697998f,-0.3652467429637909f,-0.2333867847919464f,-2.022353172302246f,-0.26348453760147095f,-0.7644635438919067f,-0.2571594715118408f,-2.0745327472686768f},
Lightvalve 87:471334725012 197 {-2.067868232727051f,0.1564812958240509f,-0.3927857577800751f,0.1317148059606552f,-2.017406702041626f,0.4895585775375366f,-0.4054011106491089f,-0.1517474502325058f,-1.380297064781189f,0.21619710326194763f,-0.2699335813522339f,-0.9855594038963318f,0.23649367690086365f,-0.7913738489151001f,-0.20967772603034973f,-1.2367783784866333f},
Lightvalve 87:471334725012 198 {-1.810051679611206f,0.23925012350082397f,0.36391180753707886f,-0.28798815608024597f,-1.3201149702072144f,0.6065874099731445f,0.2872133255004883f,0.10069674253463745f,-1.121034860610962f,0.03665628656744957f,-0.34347283840179443f,-0.9276648759841919f,-0.0013653822243213654f,-0.3784019947052002f,0.05590221285820007f,-1.5249348878860474f},
Lightvalve 87:471334725012 199 {-1.4985265731811523f,0.3095228374004364f,0.39742106199264526f,0.30592191219329834f,-0.9633183479309082f,0.3891645073890686f,-0.11584559082984924f,0.5953580737113953f,-0.43430089950561523f,-0.2335168570280075f,0.10071082413196564f,-1.4091436862945557f,-0.16311706602573395f,-0.7475653290748596f,-0.2961459457874298f,-1.5017070770263672f},
Lightvalve 87:471334725012 200 {0.1639259159564972f,-0.19264478981494904f,-0.0051451027393341064f,0.18278539180755615f,0.29258835315704346f,-0.16537047922611237f,0.1294034719467163f,-0.48302626609802246f,1.0344970226287842f,0.003881702898070216f,0.35295185446739197f,-1.817507028579712f,-0.06637570261955261f,0.00020343283540569246f,-0.3865056037902832f,-1.2658499479293823f},
Lightvalve 87:471334725012 201 {3.5226595401763916f,-3.8910415172576904f,0.21773302555084229f,0.12742145359516144f,3.8099546432495117f,-3.773838996887207f,0.16514194011688232f,-3.712245464324951f,4.016517639160156f,2.522937774658203f,-0.2422771006822586f,1.597900629043579f,-0.262627512216568f,2.9437081813812256f,-0.4132833778858185f,1.6044585704803467f},
Lightvalve 87:471334725012 202 {0.5298309326171875f,0.645086944103241f,-0.2501986622810364f,-0.6320685744285583f,-0.21611358225345612f,0.5605753064155579f,0.06014183163642883f,0.15844355523586273f,1.091471552848816f,0.3617567718029022f,0.1512620896100998f,0.027080470696091652f,-0.16920821368694305f,0.38405799865722656f,-0.15618428587913513f,1.549833059310913f},
Lightvalve 87:471334725012 203 {1.752773642539978f,0.24747805297374725f,-0.26619744300842285f,-0.22543148696422577f,0.8222247362136841f,-0.032656822353601456f,-0.17925891280174255f,0.3822891414165497f,0.9663873314857483f,-0.29047030210494995f,0.10626212507486343f,0.480464905500412f,0.37580054998397827f,-0.3655668795108795f,0.04303058981895447f,2.2091176509857178f},
Lightvalve 87:471334725012 204 {1.5919779539108276f,0.23339682817459106f,0.10248100757598877f,-0.6890998482704163f,0.7124201059341431f,-0.1378057301044464f,-0.07246989011764526f,-0.1262863576412201f,0.12226836383342743f,0.7040022015571594f,-0.2960217297077179f,1.793251633644104f,0.2337968796491623f,0.3650861084461212f,-0.30555272102355957f,1.9488884210586548f},
Lightvalve 87:471334725012 205 {0.7929409146308899f,-0.19633033871650696f,0.18462657928466797f,-0.41113781929016113f,0.49624335765838623f,0.27704986929893494f,-0.2990540862083435f,0.20519299805164337f,0.26225489377975464f,-0.0009923784527927637f,-0.006844776216894388f,-0.026139043271541595f,0.3769318759441376f,0.23515281081199646f,0.3484981060028076f,1.2790707349777222f},
Lightvalve 87:471334725012 206 {1.0052663087844849f,0.21766312420368195f,0.37182438373565674f,0.03326691314578056f,0.10429742187261581f,0.12684360146522522f,-0.20339298248291016f,0.17294499278068542f,0.07091208547353745f,0.49463531374931335f,0.35001638531684875f,-1.0357372760772705f,-0.06227460876107216f,0.5203415751457214f,0.26688337326049805f,1.0582129955291748f},
Lightvalve 87:471334725012 207 {-0.009967411868274212f,-0.20030762255191803f,-0.40320003032684326f,-0.17532263696193695f,0.07007589191198349f,0.0698668584227562f,0.1533789038658142f,0.5579044818878174f,0.05135143920779228f,0.5766482949256897f,-0.412638396024704f,-0.258128821849823f,0.14867377281188965f,0.5353510975837708f,0.10493969917297363f,1.0005464553833008f},
Lightvalve 87:471334725012 208 {-0.20331288874149323f,-0.21851132810115814f,0.19847965240478516f,0.00805686879903078f,0.007025514263659716f,0.05012793838977814f,-0.2404318004846573f,0.1803596019744873f,-0.9538044929504395f,0.49284112453460693f,-0.10772302746772766f,1.2581406831741333f,0.09621597081422806f,0.9510980844497681f,-0.22268100082874298f,0.22397258877754211f},
Lightvalve 87:471334725012 209 {-0.6508997082710266f,-0.005330599378794432f,0.4127817749977112f,-0.18556444346904755f,-0.6933119893074036f,-0.3204803168773651f,-0.32001304626464844f,-0.1965908706188202f,-1.1774673461914062f,0.3878006637096405f,-0.1934521198272705f,1.7537204027175903f,-0.3080941140651703f,0.6027981638908386f,0.0479682981967926f,-0.4101039469242096f},
Lightvalve 87:471334725012 210 {-0.30106139183044434f,0.007497094571590424f,0.20282304286956787f,0.010503530502319336f,0.032386597245931625f,-0.3577798306941986f,0.04202890396118164f,0.21007822453975677f,-0.5572863817214966f,0.7413191795349121f,-0.2778761684894562f,1.2456766366958618f,0.10794247686862946f,0.47872665524482727f,0.0668090283870697f,-0.8287897109985352f},
Lightvalve 87:471334725012 211 {-0.2796498239040375f,-0.3129813075065613f,-0.40439701080322266f,-0.1320924609899521f,-0.15521378815174103f,-0.3492761254310608f,-0.15568238496780396f,-0.112495556473732f,-0.6156744956970215f,0.48157981038093567f,-0.47240906953811646f,1.4889256954193115f,-0.2668617367744446f,0.2596912980079651f,-0.08245879411697388f,-1.1128588914871216f},
Lightvalve 87:471334725012 212 {-0.37335193157196045f,-0.12954241037368774f,0.16706281900405884f,0.042002953588962555f,0.029660088941454887f,-0.728316605091095f,-0.041414469480514526f,-0.08492930978536606f,-1.3732367753982544f,0.5850858688354492f,-0.3521037995815277f,2.2308602333068848f,0.1164640337228775f,0.3607781231403351f,0.29427415132522583f,-2.0208303928375244f},
Lightvalve 65:a2d7c63419c2 213 };
Lightvalve 65:a2d7c63419c2 214
Lightvalve 87:471334725012 215 const float h2[16][16] = {
Lightvalve 87:471334725012 216 {-2.6471354961395264f,-2.679286479949951f,-0.21649284660816193f,-1.7232879400253296f,-0.21907491981983185f,-2.729369640350342f,-0.284547358751297f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-4.236062049865723f,-4.173418998718262f,-0.23334987461566925f,-0.9168315529823303f,3.094501256942749f,0.9049396514892578f},
Lightvalve 87:471334725012 217 {3.518364667892456f,-4.636336803436279f,-0.0792427808046341f,-2.1648776531219482f,-0.35503754019737244f,-1.789704442024231f,-0.6473678350448608f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-3.1890182495117188f,-1.316067099571228f,0.05698845908045769f,2.936434745788574f,1.0156790018081665f,-2.7771856784820557f},
Lightvalve 87:471334725012 218 {-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 87:471334725012 219 {0.035982225090265274f,-0.3313581943511963f,-0.2894435524940491f,0.3545926511287689f,0.08946844935417175f,0.2831231355667114f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2838204801082611f,0.28033801913261414f,-0.4285939037799835f,-0.15804921090602875f,0.24909892678260803f,-0.06571611762046814f},
Lightvalve 87:471334725012 220 {-1.3361948728561401f,-0.9798497557640076f,-0.39768946170806885f,-0.4999014437198639f,0.036378175020217896f,-1.0754427909851074f,-0.44910115003585815f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.3597677946090698f,-0.884815514087677f,-0.15269401669502258f,-0.39067545533180237f,1.1105893850326538f,0.2311859279870987f},
Lightvalve 87:471334725012 221 {1.95911705493927f,-0.6747143864631653f,-0.49011531472206116f,-2.0458433628082275f,-0.3015052080154419f,-1.1922862529754639f,-0.7310768365859985f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-2.5488033294677734f,1.7947808504104614f,-0.5091095566749573f,1.4733959436416626f,0.379915714263916f,-2.2026352882385254f},
Lightvalve 87:471334725012 222 {-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 87:471334725012 223 {2.4917449951171875f,-2.8453586101531982f,0.18713310360908508f,-1.6128438711166382f,-0.14358049631118774f,-1.4727948904037476f,-0.24004870653152466f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-2.8529953956604004f,-3.938023567199707f,-0.6344656348228455f,1.6513631343841553f,0.7034623622894287f,-1.5733808279037476f},
Lightvalve 87:471334725012 224 {-0.6641551852226257f,-0.12082239240407944f,-0.2573299705982208f,-0.7453504204750061f,0.041274964809417725f,-1.1943076848983765f,-0.591788113117218f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-3.445509433746338f,0.5281965732574463f,-0.5933701395988464f,0.0359068363904953f,0.5833016633987427f,-0.2251288890838623f},
Lightvalve 87:471334725012 225 {-0.5226826071739197f,1.5946403741836548f,-0.21562400460243225f,0.5621151328086853f,0.12987366318702698f,0.19068573415279388f,-0.045690249651670456f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.4805721342563629f,-0.1503297984600067f,0.16193372011184692f,-0.9004831910133362f,-0.9160167574882507f,-0.7731848359107971f},
Lightvalve 87:471334725012 226 {-0.2912669777870178f,0.015835795551538467f,0.0457797646522522f,-0.3523545265197754f,-0.03321319818496704f,-0.4002332091331482f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.19006967544555664f,0.3545852601528168f,-0.3647043704986572f,0.3974943459033966f,-0.41870367527008057f,-0.26338401436805725f},
Lightvalve 87:471334725012 227 {0.3733121156692505f,-1.5026254653930664f,0.24167154729366302f,-5.510858535766602f,0.0033026933670043945f,-1.5894434452056885f,-0.14932051301002502f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-5.323966979980469f,-3.9015135765075684f,-0.4391670525074005f,-0.6654871106147766f,-0.565035343170166f,0.0247567817568779f},
Lightvalve 87:471334725012 228 {-0.26980137825012207f,-0.20259903371334076f,-0.15798500180244446f,0.39488306641578674f,-0.37393757700920105f,0.3695334494113922f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.1016426756978035f,-0.2837170362472534f,0.41839322447776794f,-0.02783525362610817f,-0.13728779554367065f,0.11949998885393143f},
Lightvalve 87:471334725012 229 {-0.4874493479728699f,0.8317313194274902f,-0.24085062742233276f,0.3516998291015625f,0.07545611262321472f,0.16741907596588135f,-0.42260366678237915f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.40794217586517334f,-1.5309667587280273f,-0.3829731047153473f,-1.0989971160888672f,-0.34208887815475464f,-0.3001635670661926f},
Lightvalve 87:471334725012 230 {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 87:471334725012 231 {-1.076820969581604f,4.704056262969971f,-0.023804863914847374f,-3.6752617359161377f,0.29976895451545715f,-1.2358992099761963f,-0.7081507444381714f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-3.34683895111084f,-7.507437229156494f,-0.5566414594650269f,-1.4245333671569824f,-3.6681931018829346f,-0.4027198255062103f},
Lightvalve 65:a2d7c63419c2 232 };
Lightvalve 65:a2d7c63419c2 233
Lightvalve 87:471334725012 234 const float h3[16][16] = {
Lightvalve 87:471334725012 235 {-0.36079341173171997f,-1.8617219924926758f,-1.2575057744979858f,-0.9306641817092896f,0.3558339774608612f,-2.0424766540527344f,0.11611730605363846f,1.256561040878296f,-0.435831755399704f,0.38453155755996704f,-2.9874141216278076f,0.10927560925483704f,-1.1128313541412354f,-2.5368101596832275f,-1.1479690074920654f,-0.39199838042259216f},
Lightvalve 87:471334725012 236 {0.047732532024383545f,-1.2678391933441162f,-2.529970169067383f,2.9182093143463135f,-0.27740737795829773f,-0.7743249535560608f,-0.4142161011695862f,0.22686052322387695f,-0.351260244846344f,-1.1779210567474365f,0.9747219681739807f,-0.40117883682250977f,1.327101707458496f,0.6030343770980835f,-0.22775816917419434f,-3.164977788925171f},
Lightvalve 87:471334725012 237 {0.07903262972831726f,0.22941854596138f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,-0.05057113990187645f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 87:471334725012 238 {-0.30922991037368774f,1.0314021110534668f,0.1642177850008011f,-0.4614163041114807f,-0.13128569722175598f,0.8268561959266663f,0.20021501183509827f,-1.2866121530532837f,-0.5409347414970398f,-0.9091742038726807f,-0.2354840338230133f,0.41021624207496643f,0.35516393184661865f,0.8673098087310791f,1.322227120399475f,1.4147356748580933f},
Lightvalve 87:471334725012 239 {-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 87:471334725012 240 {-0.37449589371681213f,1.8969228267669678f,0.26356711983680725f,0.1305214911699295f,0.4255841374397278f,1.1492807865142822f,-0.18732719123363495f,0.22384825348854065f,-0.9112855792045593f,-0.06272096186876297f,-0.194618821144104f,0.5028096437454224f,-0.5430096983909607f,1.8543678522109985f,1.0055639743804932f,0.5463916659355164f},
Lightvalve 87:471334725012 241 {0.4110594093799591f,-0.10662679374217987f,-0.26057958602905273f,0.37246426939964294f,0.4791482985019684f,-0.2845681607723236f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.039170607924461365f,0.35313835740089417f,0.35766708850860596f,-0.12171289324760437f,0.19238731265068054f,0.04569069296121597f},
Lightvalve 87:471334725012 242 {-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 87:471334725012 243 {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 87:471334725012 244 {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 87:471334725012 245 {0.15459725260734558f,2.152371644973755f,0.005577231291681528f,-0.15224629640579224f,-0.4193795323371887f,0.9709478616714478f,-0.08742031455039978f,-0.3372936546802521f,-0.15335285663604736f,-0.4697112739086151f,0.37293538451194763f,-0.2729160487651825f,0.29973986744880676f,0.8407669067382812f,0.6116405725479126f,0.041041117161512375f},
Lightvalve 87:471334725012 246 {-0.408692330121994f,-1.024823784828186f,0.07979505509138107f,0.9620193243026733f,0.40785548090934753f,-0.19494971632957458f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,-0.39687445759773254f,0.03996849060058594f,0.11638089269399643f,-2.3363451957702637f,-0.1602039635181427f,0.8980573415756226f},
Lightvalve 87:471334725012 247 {-0.2991822361946106f,0.1481817066669464f,-0.004251172766089439f,-0.05932474136352539f,0.3329566717147827f,0.009607115760445595f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,0.028703585267066956f,-0.36229726672172546f,0.35251477360725403f,-0.18715228140354156f,0.2748355269432068f,0.3479139804840088f},
Lightvalve 87:471334725012 248 {-0.2675279378890991f,-0.8848872780799866f,0.2171228677034378f,0.15358519554138184f,0.7216522693634033f,-1.1589571237564087f,-0.5819693803787231f,-7.12623405456543f,-0.5964111685752869f,-2.346191644668579f,0.9024726748466492f,-0.7827144861221313f,0.5923935174942017f,-0.09883228689432144f,-0.274576336145401f,0.9632737040519714f},
Lightvalve 87:471334725012 249 {-0.015470266342163086f,-4.066640853881836f,-0.35172760486602783f,-0.1611492931842804f,0.011647416278719902f,-1.6305570602416992f,-0.16005642712116241f,-1.9158589839935303f,-0.5295083522796631f,-3.62418794631958f,-2.0960512161254883f,-0.5138456225395203f,-1.9036948680877686f,-2.3704395294189453f,-1.1995127201080322f,-0.005027666687965393f},
Lightvalve 87:471334725012 250 {0.1863725483417511f,0.1643422544002533f,-3.06244158744812f,-0.7068259716033936f,-0.37519770860671997f,-0.8317462205886841f,-0.06685321033000946f,-0.9036019444465637f,-0.2971649169921875f,-0.7144879102706909f,-2.9270541667938232f,-0.05449836328625679f,-2.543490171432495f,-2.367345094680786f,-1.3904540538787842f,-0.02221091091632843f},
Lightvalve 66:a8e6799dbce3 251 };
Lightvalve 65:a2d7c63419c2 252
Lightvalve 87:471334725012 253 const float hout[16] = { 0.45773375034332275f,0.3510032594203949f,-0.09271220117807388f,0.23885536193847656f,-0.13681545853614807f,0.8108619451522827f,-0.013286924920976162f,0.7315025329589844f,-0.037878382951021194f,0.07188846170902252f,-0.21298690140247345f,0.053339168429374695f,0.7597355246543884f,0.32502415776252747f,1.824535846710205f,-0.24919147789478302f };
Lightvalve 66:a8e6799dbce3 254
Lightvalve 87:471334725012 255 const float b1[16] = { 2.6026535034179688f,2.6166093349456787f,-1.7145336866378784f,0.05604401230812073f,2.5074756145477295f,1.8178743124008179f,-0.058932315558195114f,2.566000461578369f,2.066876173019409f,-2.594883441925049f,0.573148787021637f,0.8882091641426086f,-0.367378294467926f,-2.1727375984191895f,-1.087764859199524f,3.129455089569092f };
Lightvalve 87:471334725012 256
Lightvalve 87:471334725012 257 const float b2[16] = { 0.854680061340332f,-1.5880934000015259f,-1.5945011377334595f,-1.1204560995101929f,-0.6939148902893066f,-0.8427667021751404f,0.11775382608175278f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-1.1466102600097656f,2.1076982021331787f,-0.33285725116729736f,3.093627452850342f,1.846516489982605f,0.7689627408981323f };
Lightvalve 65:a2d7c63419c2 258
Lightvalve 87:471334725012 259 const float b3[16] = { -1.963319182395935f,1.6035748720169067f,-1.0893652439117432f,1.0509281158447266f,-1.7570738792419434f,-0.17915689945220947f,-0.6738864183425903f,0.7415692210197449f,-0.12905780971050262f,-0.6975569128990173f,-0.5690303444862366f,-0.27897197008132935f,-2.201923131942749f,1.7163525819778442f,-1.6757004261016846f,0.005519242025911808f };
Lightvalve 87:471334725012 260
Lightvalve 87:471334725012 261 const float bout[1] = { 0.3794841468334198f };
Lightvalve 65:a2d7c63419c2 262
Lightvalve 66:a8e6799dbce3 263
Lightvalve 87:471334725012 264 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 265 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 266
GiJeongKim 0:51c43836c1d7 267 int main()
GiJeongKim 0:51c43836c1d7 268 {
Lightvalve 66:a8e6799dbce3 269
Lightvalve 65:a2d7c63419c2 270 HAL_Init();
Lightvalve 65:a2d7c63419c2 271 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 272
jobuuu 6:df07d3491e3a 273 /*********************************
jobuuu 1:e04e563be5ce 274 *** Initialization
jobuuu 6:df07d3491e3a 275 *********************************/
Lightvalve 69:3995ffeaa786 276 LED = 0;
Lightvalve 61:bc8c8270f0ab 277 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 278
GiJeongKim 0:51c43836c1d7 279 // i2c init
Lightvalve 8:5d2eebdad025 280 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 281 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 282 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 283 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 284 make_delay();
jobuuu 2:a1c0a37df760 285
GiJeongKim 0:51c43836c1d7 286 // // spi init
Lightvalve 16:903b5a4433b4 287 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 288 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 289 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 290 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 291 make_delay();
Lightvalve 21:e5f1a43ea6f9 292
Lightvalve 16:903b5a4433b4 293 //rom
Lightvalve 19:23b7c1ad8683 294 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 295 make_delay();
Lightvalve 13:747daba9cf59 296
GiJeongKim 0:51c43836c1d7 297 // ADC init
jobuuu 5:a4319f79457b 298 Init_ADC();
Lightvalve 11:82d8768d7351 299 make_delay();
jobuuu 2:a1c0a37df760 300
GiJeongKim 0:51c43836c1d7 301 // Pwm init
GiJeongKim 0:51c43836c1d7 302 Init_PWM();
GiJeongKim 0:51c43836c1d7 303 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 304 make_delay();
Lightvalve 13:747daba9cf59 305
Lightvalve 11:82d8768d7351 306 // TMR3 init
Lightvalve 11:82d8768d7351 307 Init_TMR3();
Lightvalve 11:82d8768d7351 308 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 309 make_delay();
Lightvalve 21:e5f1a43ea6f9 310
Lightvalve 50:3c630b5eba9f 311 // TMR2 init
Lightvalve 56:6f50d9d3bfee 312 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 313 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 314 // make_delay();
Lightvalve 21:e5f1a43ea6f9 315
GiJeongKim 0:51c43836c1d7 316 // CAN
jobuuu 2:a1c0a37df760 317 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 318 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 34:bb2ca2fc2a8e 320
Lightvalve 23:59218d4a256d 321 //Timer priority
Lightvalve 23:59218d4a256d 322 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 323 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 324 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 325
Lightvalve 23:59218d4a256d 326 //can.reset();
Lightvalve 19:23b7c1ad8683 327 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 328
GiJeongKim 0:51c43836c1d7 329 // spi _ enc
GiJeongKim 0:51c43836c1d7 330 spi_enc_set_init();
Lightvalve 11:82d8768d7351 331 make_delay();
Lightvalve 13:747daba9cf59 332
Lightvalve 11:82d8768d7351 333 //DAC init
Lightvalve 58:2eade98630e2 334 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 335 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 336 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 337 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 338 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 339 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 340 }
Lightvalve 11:82d8768d7351 341 make_delay();
Lightvalve 13:747daba9cf59 342
Lightvalve 19:23b7c1ad8683 343 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 344 if(i%2==0)
Lightvalve 38:118df027d851 345 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 346 else
Lightvalve 38:118df027d851 347 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 348 }
Lightvalve 61:bc8c8270f0ab 349
Lightvalve 61:bc8c8270f0ab 350
jobuuu 6:df07d3491e3a 351 /************************************
jobuuu 1:e04e563be5ce 352 *** Program is operating!
jobuuu 6:df07d3491e3a 353 *************************************/
GiJeongKim 0:51c43836c1d7 354 while(1) {
Lightvalve 66:a8e6799dbce3 355 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 356 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 357 //i2c
Lightvalve 66:a8e6799dbce3 358
Lightvalve 65:a2d7c63419c2 359 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 360 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 361 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 362 // LED=0;
Lightvalve 65:a2d7c63419c2 363 // } else
Lightvalve 65:a2d7c63419c2 364 // LED = 1;
Lightvalve 65:a2d7c63419c2 365 timer_while = 0;
Lightvalve 66:a8e6799dbce3 366 //}
Lightvalve 66:a8e6799dbce3 367
Lightvalve 66:a8e6799dbce3 368 timer_while ++;
Lightvalve 66:a8e6799dbce3 369
Lightvalve 87:471334725012 370 //LED = 0;
Lightvalve 87:471334725012 371
Lightvalve 73:f80dc3970c99 372 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 373 LED = 0;
Lightvalve 73:f80dc3970c99 374 }
Lightvalve 66:a8e6799dbce3 375
Lightvalve 73:f80dc3970c99 376 else if(NN_Control_Flag == 1) {
Lightvalve 66:a8e6799dbce3 377 float output1[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 378 float output2[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 379 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 380 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 381
Lightvalve 66:a8e6799dbce3 382 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 383 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 384 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 385 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 386 }
Lightvalve 66:a8e6799dbce3 387 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 388 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 389 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 390 }
Lightvalve 66:a8e6799dbce3 391 }
Lightvalve 65:a2d7c63419c2 392
Lightvalve 66:a8e6799dbce3 393 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 394 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 395 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 396 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 397 }
Lightvalve 66:a8e6799dbce3 398 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 399 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 400 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 401 }
Lightvalve 66:a8e6799dbce3 402 }
Lightvalve 65:a2d7c63419c2 403
Lightvalve 66:a8e6799dbce3 404 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 405 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 406 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 407 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 408 }
Lightvalve 66:a8e6799dbce3 409 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 410 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 411 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 412 }
Lightvalve 65:a2d7c63419c2 413 }
Lightvalve 66:a8e6799dbce3 414
Lightvalve 66:a8e6799dbce3 415 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 66:a8e6799dbce3 416 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 73:f80dc3970c99 417 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 66:a8e6799dbce3 419 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 420
Lightvalve 66:a8e6799dbce3 421 }
Lightvalve 73:f80dc3970c99 422 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 423 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 424 if(output>=0) {
Lightvalve 66:a8e6799dbce3 425 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 426 } else {
Lightvalve 66:a8e6799dbce3 427 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 428 }
Lightvalve 87:471334725012 429
Lightvalve 87:471334725012 430 // torque feedback
Lightvalve 87:471334725012 431 torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 87:471334725012 432 // torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 87:471334725012 433 torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 87:471334725012 434
Lightvalve 87:471334725012 435
Lightvalve 87:471334725012 436 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 87:471334725012 437
Lightvalve 87:471334725012 438 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 87:471334725012 439 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 87:471334725012 440 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 87:471334725012 441 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 87:471334725012 442 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 87:471334725012 443 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 87:471334725012 444 torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 87:471334725012 445 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 87:471334725012 446 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 87:471334725012 447 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 87:471334725012 448 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 87:471334725012 449 torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 87:471334725012 450 }
Lightvalve 87:471334725012 451 }
Lightvalve 87:471334725012 452
Lightvalve 69:3995ffeaa786 453
Lightvalve 69:3995ffeaa786 454 if(LED==1) {
Lightvalve 69:3995ffeaa786 455 LED=0;
Lightvalve 69:3995ffeaa786 456 } else
Lightvalve 69:3995ffeaa786 457 LED = 1;
Lightvalve 69:3995ffeaa786 458
Lightvalve 65:a2d7c63419c2 459 }
Lightvalve 62:b5452adfb2cd 460
Lightvalve 87:471334725012 461 //LED = 1;
Lightvalve 69:3995ffeaa786 462
Lightvalve 66:a8e6799dbce3 463
GiJeongKim 0:51c43836c1d7 464 }
jobuuu 1:e04e563be5ce 465 }
jobuuu 1:e04e563be5ce 466
Lightvalve 33:91b17819ec30 467 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 468 {
Lightvalve 14:8e7590227d22 469
Lightvalve 13:747daba9cf59 470 int i = 0;
Lightvalve 48:889798ff9329 471 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 472 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 473 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 474 if(i==0) {
Lightvalve 50:3c630b5eba9f 475 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 476 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 477 } else {
Lightvalve 57:f4819de54e7a 478 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 479 }
Lightvalve 14:8e7590227d22 480 } else {
Lightvalve 50:3c630b5eba9f 481 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 482 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 483 } else {
Lightvalve 57:f4819de54e7a 484 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 485 }
Lightvalve 13:747daba9cf59 486 }
Lightvalve 13:747daba9cf59 487 break;
Lightvalve 13:747daba9cf59 488 }
Lightvalve 13:747daba9cf59 489 }
Lightvalve 14:8e7590227d22 490 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 491 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 492 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 493 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 494 }
Lightvalve 36:a46e63505ed8 495
Lightvalve 57:f4819de54e7a 496 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 497 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 498
Lightvalve 13:747daba9cf59 499 }
jobuuu 6:df07d3491e3a 500
jobuuu 6:df07d3491e3a 501
Lightvalve 30:8d561f16383b 502 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 503 {
Lightvalve 13:747daba9cf59 504 int i = 0;
Lightvalve 13:747daba9cf59 505
Lightvalve 38:118df027d851 506 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 507 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 508 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 509 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 510 }
Lightvalve 38:118df027d851 511
Lightvalve 13:747daba9cf59 512 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 513 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 514 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 515 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 516 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 517 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 518
Lightvalve 13:747daba9cf59 519 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 520
Lightvalve 18:b8adf1582ea3 521 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 522 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 523 if(i==0) {
Lightvalve 48:889798ff9329 524 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 525 } else {
Lightvalve 48:889798ff9329 526 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 527 }
Lightvalve 13:747daba9cf59 528 break;
Lightvalve 13:747daba9cf59 529 }
Lightvalve 13:747daba9cf59 530 }
Lightvalve 59:f308b1656d9c 531 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 532 }
Lightvalve 13:747daba9cf59 533
Lightvalve 14:8e7590227d22 534 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 535 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 536 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 537 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 538 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 539 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 540 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 541 }; // duty
Lightvalve 67:c2812cf26c38 542 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 543 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 544 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 545 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 546 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 547 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 548 }; // mV
Lightvalve 13:747daba9cf59 549
Lightvalve 30:8d561f16383b 550 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 551 {
Lightvalve 30:8d561f16383b 552 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 553 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 554 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 555 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 556 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 557 } else {
Lightvalve 13:747daba9cf59 558 int idx = 0;
Lightvalve 13:747daba9cf59 559 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 560 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 561 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 562 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 563 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 564 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 565 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 566 break;
Lightvalve 13:747daba9cf59 567 }
Lightvalve 13:747daba9cf59 568 }
Lightvalve 13:747daba9cf59 569 }
Lightvalve 14:8e7590227d22 570
Lightvalve 13:747daba9cf59 571 return PWM_duty;
Lightvalve 13:747daba9cf59 572 }
jobuuu 6:df07d3491e3a 573
Lightvalve 57:f4819de54e7a 574
Lightvalve 57:f4819de54e7a 575
Lightvalve 57:f4819de54e7a 576
Lightvalve 57:f4819de54e7a 577
jobuuu 2:a1c0a37df760 578 /*******************************************************************************
jobuuu 2:a1c0a37df760 579 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 580 *******************************************************************************/
jobuuu 2:a1c0a37df760 581
Lightvalve 51:b46bed7fec80 582 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 583 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 584 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 585 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 586 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 587 {
Lightvalve 19:23b7c1ad8683 588 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 589
Lightvalve 21:e5f1a43ea6f9 590 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 591 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 592 ********************************************************/
Lightvalve 13:747daba9cf59 593
Lightvalve 57:f4819de54e7a 594 //Encoder
Lightvalve 57:f4819de54e7a 595 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 596 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 597 }
Lightvalve 61:bc8c8270f0ab 598
Lightvalve 61:bc8c8270f0ab 599 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 600 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 601 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 602 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 603 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 604 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 605 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 606
Lightvalve 67:c2812cf26c38 607
Lightvalve 67:c2812cf26c38 608 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 609 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 610 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 611 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 612 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 613
Lightvalve 17:1865016ca2e7 614
Lightvalve 58:2eade98630e2 615 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 616 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 617 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 618 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 619 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 620 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 621 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 622 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 623 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 624
Lightvalve 58:2eade98630e2 625 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 626 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 627 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 628 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 629 }
Lightvalve 58:2eade98630e2 630 }
Lightvalve 61:bc8c8270f0ab 631
Lightvalve 58:2eade98630e2 632 // //Pressure sensor A
Lightvalve 58:2eade98630e2 633 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 634 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 635 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 636 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 637 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 638 // 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 639 //
Lightvalve 58:2eade98630e2 640 //
Lightvalve 58:2eade98630e2 641 // //Pressure sensor B
Lightvalve 58:2eade98630e2 642 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 643 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 644 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 645 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 646
Lightvalve 17:1865016ca2e7 647
Lightvalve 21:e5f1a43ea6f9 648 //Current
Lightvalve 21:e5f1a43ea6f9 649 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 650 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 651 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 652 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 653 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 654 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 655 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 656
Lightvalve 57:f4819de54e7a 657 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 658 }
Lightvalve 11:82d8768d7351 659 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 660 }
Lightvalve 19:23b7c1ad8683 661
Lightvalve 19:23b7c1ad8683 662
Lightvalve 18:b8adf1582ea3 663 int j =0;
Lightvalve 54:647072f5307a 664 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 665 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 666 int cnt_trans = 0;
Lightvalve 48:889798ff9329 667 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 668 int can_rest =0;
Lightvalve 48:889798ff9329 669
Lightvalve 11:82d8768d7351 670 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 671 {
Lightvalve 19:23b7c1ad8683 672 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 673
Lightvalve 57:f4819de54e7a 674 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 675 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 676 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 677 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 678 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 679 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 680 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 681 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 682 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 683 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 684 }
Lightvalve 50:3c630b5eba9f 685
Lightvalve 50:3c630b5eba9f 686 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 687 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 688 cnt_trans++;
Lightvalve 46:2694daea349b 689 torq.err_sum = 0;
Lightvalve 48:889798ff9329 690 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 691 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 692 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 693 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 694 cnt_trans++;
Lightvalve 46:2694daea349b 695 torq.err_sum = 0;
Lightvalve 48:889798ff9329 696 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 697 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 698 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 699 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 700 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 701 } else {
Lightvalve 58:2eade98630e2 702 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 703 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 704 }
Lightvalve 45:35fa6884d0c6 705
Lightvalve 50:3c630b5eba9f 706
Lightvalve 57:f4819de54e7a 707 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 708 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 709
Lightvalve 57:f4819de54e7a 710 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 711 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 712 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 713 } else {
Lightvalve 57:f4819de54e7a 714 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 715 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 716 }
Lightvalve 56:6f50d9d3bfee 717
Lightvalve 56:6f50d9d3bfee 718
Lightvalve 56:6f50d9d3bfee 719
Lightvalve 57:f4819de54e7a 720 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 721
Lightvalve 57:f4819de54e7a 722 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 723 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 724 break;
Lightvalve 13:747daba9cf59 725 }
Lightvalve 14:8e7590227d22 726
Lightvalve 14:8e7590227d22 727 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 728 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 729 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 730 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 731
Lightvalve 14:8e7590227d22 732 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 733 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 734 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 735
Lightvalve 84:c355d3e52bf1 736 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 737
Lightvalve 30:8d561f16383b 738 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 739 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 740
Lightvalve 16:903b5a4433b4 741 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 742 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 743 }
Lightvalve 13:747daba9cf59 744 } else {
Lightvalve 58:2eade98630e2 745 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 746 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 747 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 748 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 749
Lightvalve 16:903b5a4433b4 750 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 751
Lightvalve 30:8d561f16383b 752 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 753
Lightvalve 13:747daba9cf59 754 }
Lightvalve 14:8e7590227d22 755 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 756 break;
Lightvalve 19:23b7c1ad8683 757 }
Lightvalve 14:8e7590227d22 758
Lightvalve 50:3c630b5eba9f 759 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 760 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 761 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 762 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 763 // }
Lightvalve 50:3c630b5eba9f 764 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 765 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 766 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 767 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 768 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 769 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 770 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 771 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 772 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 773 // }
Lightvalve 50:3c630b5eba9f 774 //
Lightvalve 50:3c630b5eba9f 775 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 776 // 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 777 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 778 //
Lightvalve 50:3c630b5eba9f 779 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 780 // V_out = 0;
Lightvalve 50:3c630b5eba9f 781 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 782 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 783 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 784 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 785 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 786 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 787 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 788 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 789 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 790 //
Lightvalve 50:3c630b5eba9f 791 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 792 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 793 // // | / | / |/
Lightvalve 50:3c630b5eba9f 794 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 795 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 796 // // /| / | / |
Lightvalve 50:3c630b5eba9f 797 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 798 //
Lightvalve 50:3c630b5eba9f 799 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 800 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 801 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 802 // } else {
Lightvalve 50:3c630b5eba9f 803 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 804 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 805 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 806 // }
Lightvalve 50:3c630b5eba9f 807 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 808 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 809 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 810 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 811 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 812 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 813 // }
Lightvalve 50:3c630b5eba9f 814 // } else {
Lightvalve 50:3c630b5eba9f 815 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 816 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 817 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 818 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 819 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 820 // }
Lightvalve 50:3c630b5eba9f 821 // V_out = 0;
Lightvalve 50:3c630b5eba9f 822 //
Lightvalve 50:3c630b5eba9f 823 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 824 //
Lightvalve 50:3c630b5eba9f 825 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 826 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 827 //
Lightvalve 50:3c630b5eba9f 828 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 829 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 830 // }
Lightvalve 50:3c630b5eba9f 831 // }
Lightvalve 50:3c630b5eba9f 832 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 833 // break;
Lightvalve 50:3c630b5eba9f 834 // }
Lightvalve 14:8e7590227d22 835
Lightvalve 14:8e7590227d22 836 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 837 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 838 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 839 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 840 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 841 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 842 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 843 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 844 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 845 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 846 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 847 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 848 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 849 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 850 }
Lightvalve 29:69f3f5445d6d 851 cnt_findhome++;
Lightvalve 14:8e7590227d22 852
Lightvalve 29:69f3f5445d6d 853 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 854 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 855 } else {
Lightvalve 29:69f3f5445d6d 856 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 857 }
Lightvalve 19:23b7c1ad8683 858
Lightvalve 57:f4819de54e7a 859 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 860 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 861 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 862 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 863
Lightvalve 59:f308b1656d9c 864 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 865 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 866 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 867 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 868 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 869
Lightvalve 59:f308b1656d9c 870 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 871 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 872
Lightvalve 34:bb2ca2fc2a8e 873
Lightvalve 29:69f3f5445d6d 874 } else {
Lightvalve 29:69f3f5445d6d 875 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 876 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 877 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 878 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 879 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 880 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 881 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 882 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 883 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 884 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 885 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 886
Lightvalve 67:c2812cf26c38 887
Lightvalve 67:c2812cf26c38 888 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 889 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 890 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 891 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 892 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 893 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 894 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 895
Lightvalve 67:c2812cf26c38 896
Lightvalve 29:69f3f5445d6d 897 }
Lightvalve 29:69f3f5445d6d 898 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 899 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 900 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 901 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 902 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 903
Lightvalve 29:69f3f5445d6d 904 // input for position control
Lightvalve 67:c2812cf26c38 905
Lightvalve 67:c2812cf26c38 906 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 907 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 908
Lightvalve 67:c2812cf26c38 909 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 910 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 911 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 912 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 913
Lightvalve 67:c2812cf26c38 914 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 915
Lightvalve 67:c2812cf26c38 916 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 917 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 918 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 919
Lightvalve 67:c2812cf26c38 920 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 921 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 922 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 923
Lightvalve 69:3995ffeaa786 924 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 925 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 926 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 927 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 928 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 929 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 930 }
Lightvalve 67:c2812cf26c38 931 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 932 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 933
Lightvalve 67:c2812cf26c38 934 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 935
Lightvalve 67:c2812cf26c38 936
Lightvalve 67:c2812cf26c38 937
Lightvalve 67:c2812cf26c38 938 } else {
Lightvalve 67:c2812cf26c38 939 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 940 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 941
Lightvalve 67:c2812cf26c38 942 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 943 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 944 } else {
Lightvalve 67:c2812cf26c38 945 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 946 }
Lightvalve 67:c2812cf26c38 947
Lightvalve 67:c2812cf26c38 948 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 949
Lightvalve 67:c2812cf26c38 950 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 951
Lightvalve 67:c2812cf26c38 952 }
Lightvalve 67:c2812cf26c38 953
Lightvalve 67:c2812cf26c38 954
Lightvalve 67:c2812cf26c38 955
Lightvalve 67:c2812cf26c38 956
Lightvalve 59:f308b1656d9c 957 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 958 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 959 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 960 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 961 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 962
Lightvalve 29:69f3f5445d6d 963 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 964 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 965 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 966 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 967 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 968 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 969 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 970 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 971 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 972 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 973 }
Lightvalve 13:747daba9cf59 974 }
Lightvalve 19:23b7c1ad8683 975
Lightvalve 13:747daba9cf59 976 break;
Lightvalve 13:747daba9cf59 977 }
Lightvalve 14:8e7590227d22 978
Lightvalve 50:3c630b5eba9f 979 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 980 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 981 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 982 // else {
Lightvalve 50:3c630b5eba9f 983 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 984 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 985 // }
Lightvalve 50:3c630b5eba9f 986 // }
Lightvalve 50:3c630b5eba9f 987 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 988 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 989 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 990 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 991 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 992 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 993 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 994 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 995 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 996 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 997 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 998 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 999 // }
Lightvalve 50:3c630b5eba9f 1000 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1001 // }
Lightvalve 50:3c630b5eba9f 1002 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1003 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1004 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1005 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1006 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1007 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1008 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1009 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1010 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1011 // // 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 1012 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1013 // }
Lightvalve 50:3c630b5eba9f 1014 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1015 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1016 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1017 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1018 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1019 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1020 // 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 1021 // // 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 1022 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1023 // }
Lightvalve 50:3c630b5eba9f 1024 // }
Lightvalve 50:3c630b5eba9f 1025 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1026 //
Lightvalve 50:3c630b5eba9f 1027 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1028 //
Lightvalve 50:3c630b5eba9f 1029 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1030 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1031 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1032 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1033 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1034 // }
Lightvalve 50:3c630b5eba9f 1035 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1036 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1037 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1038 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1039 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1040 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1041 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1042 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1043 // }
Lightvalve 50:3c630b5eba9f 1044 //
Lightvalve 50:3c630b5eba9f 1045 // }
Lightvalve 50:3c630b5eba9f 1046 // break;
Lightvalve 50:3c630b5eba9f 1047 // }
Lightvalve 50:3c630b5eba9f 1048 //
Lightvalve 50:3c630b5eba9f 1049 // }
Lightvalve 14:8e7590227d22 1050 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1051 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1052 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1053 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1054 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1055
Lightvalve 14:8e7590227d22 1056 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1057 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1058 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1059 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1060 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1061
Lightvalve 38:118df027d851 1062 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1063 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1064 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1065
Lightvalve 30:8d561f16383b 1066 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1067 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1068 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1069 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1070
Lightvalve 30:8d561f16383b 1071 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1072 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1073 }
Lightvalve 13:747daba9cf59 1074 } else {
Lightvalve 57:f4819de54e7a 1075 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1076 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1077 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1078 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1079 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1080 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1081
Lightvalve 16:903b5a4433b4 1082 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1083
Lightvalve 30:8d561f16383b 1084 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1085 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1086 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1087 }
Lightvalve 14:8e7590227d22 1088 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1089 break;
Lightvalve 13:747daba9cf59 1090 }
Lightvalve 14:8e7590227d22 1091
Lightvalve 50:3c630b5eba9f 1092 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1093 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1094 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1095 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1096 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1097 // }
Lightvalve 50:3c630b5eba9f 1098 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1099 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1100 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1101 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1102 // }
Lightvalve 50:3c630b5eba9f 1103 // } else {
Lightvalve 50:3c630b5eba9f 1104 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1105 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1106 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1107 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1108 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1109 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1110 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1111 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1112 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1113 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1114 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1115 //
Lightvalve 50:3c630b5eba9f 1116 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1117 //
Lightvalve 50:3c630b5eba9f 1118 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1119 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1120 // }
Lightvalve 50:3c630b5eba9f 1121 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1122 // break;
Lightvalve 50:3c630b5eba9f 1123 // }
Lightvalve 19:23b7c1ad8683 1124
Lightvalve 50:3c630b5eba9f 1125 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1126 // 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 1127 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1128 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1129 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1130 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1131 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1132 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1133 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1134 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1135 // }
Lightvalve 50:3c630b5eba9f 1136 // break;
Lightvalve 50:3c630b5eba9f 1137 // }
Lightvalve 14:8e7590227d22 1138
Lightvalve 14:8e7590227d22 1139 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1140 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1141 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1142
Lightvalve 14:8e7590227d22 1143 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1144 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1145 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1146 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1147 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1148 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1149 data_num = 0;
Lightvalve 14:8e7590227d22 1150 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1151 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1152 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1153 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1154 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1155 } else {
Lightvalve 13:747daba9cf59 1156 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1157 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1158 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1159 }
Lightvalve 14:8e7590227d22 1160
Lightvalve 17:1865016ca2e7 1161 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1162 int i;
Lightvalve 13:747daba9cf59 1163 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1164 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1165 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1166 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1167 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1168 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1169 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1170 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1171 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1172 }
Lightvalve 13:747daba9cf59 1173 }
Lightvalve 59:f308b1656d9c 1174 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1175 ID_index = 0;
Lightvalve 57:f4819de54e7a 1176 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1177 }
Lightvalve 14:8e7590227d22 1178
Lightvalve 14:8e7590227d22 1179
Lightvalve 13:747daba9cf59 1180 break;
Lightvalve 13:747daba9cf59 1181 }
Lightvalve 14:8e7590227d22 1182
Lightvalve 14:8e7590227d22 1183 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1184 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1185 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1186 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1187 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1188 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1189 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1190 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1191 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1192 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1193 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1194 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1195 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1196 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1197 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1198 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1199 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1200 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 1201 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1202 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1203 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1204 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 1205 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1206 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1207 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1208 data_num = 0;
Lightvalve 14:8e7590227d22 1209
Lightvalve 30:8d561f16383b 1210 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1211 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1212 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1213
Lightvalve 30:8d561f16383b 1214 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1215 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1216 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1217
Lightvalve 30:8d561f16383b 1218 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1219 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1220 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1221 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1222
Lightvalve 60:64181f1d3e60 1223 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1224 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1225 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1226 DZ_case = -1;
Lightvalve 14:8e7590227d22 1227 } else {
Lightvalve 13:747daba9cf59 1228 DZ_case = 0;
Lightvalve 13:747daba9cf59 1229 }
Lightvalve 61:bc8c8270f0ab 1230
Lightvalve 60:64181f1d3e60 1231 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1232
Lightvalve 13:747daba9cf59 1233 first_check = 1;
Lightvalve 13:747daba9cf59 1234 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1235 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1236 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1237 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1238 DZ_index = 1;
Lightvalve 14:8e7590227d22 1239
Lightvalve 13:747daba9cf59 1240 }
Lightvalve 19:23b7c1ad8683 1241 } else {
Lightvalve 14:8e7590227d22 1242 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1243 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1244 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 1245 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1246 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1247 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1248 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1249 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1250 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1251 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1252 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1253 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1254 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1255 }
Lightvalve 14:8e7590227d22 1256 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1257
Lightvalve 30:8d561f16383b 1258 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1259 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1260 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1261
Lightvalve 14:8e7590227d22 1262 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1263 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1264 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1265 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1266 } else {
Lightvalve 13:747daba9cf59 1267 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1268 }
Lightvalve 14:8e7590227d22 1269
Lightvalve 13:747daba9cf59 1270 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1271 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1272 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1273 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1274 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1275 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1276 DZ_index = 1;
Lightvalve 13:747daba9cf59 1277 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1278 }
Lightvalve 13:747daba9cf59 1279 }
Lightvalve 14:8e7590227d22 1280 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1281 if(VALVE_DZ_timer < (int) (1.0f * (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 60:64181f1d3e60 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 61:bc8c8270f0ab 1295
Lightvalve 30:8d561f16383b 1296 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1297 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1298 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1299 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1300 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1301
Lightvalve 14:8e7590227d22 1302 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1303 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1304 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1305 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1306 } else {
Lightvalve 60:64181f1d3e60 1307 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1308 }
Lightvalve 14:8e7590227d22 1309
Lightvalve 13:747daba9cf59 1310 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1311 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1312 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1313 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1314 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1315 first_check = 0;
Lightvalve 33:91b17819ec30 1316 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1317 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1318
Lightvalve 16:903b5a4433b4 1319 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1320
Lightvalve 60:64181f1d3e60 1321 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1322 DZ_index = 1;
Lightvalve 13:747daba9cf59 1323 }
Lightvalve 13:747daba9cf59 1324 }
Lightvalve 14:8e7590227d22 1325 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1326 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1327 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 1328 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1329 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1330 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1331 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1332 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1333 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1334 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1335 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1336 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1337 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1338 }
Lightvalve 14:8e7590227d22 1339 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1340
Lightvalve 30:8d561f16383b 1341 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1342 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1343 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1344
Lightvalve 14:8e7590227d22 1345 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1346 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1347 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1348 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1349 } else {
Lightvalve 13:747daba9cf59 1350 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1351 }
Lightvalve 13:747daba9cf59 1352 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1353 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1354 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1355 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1356 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1357 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1358 DZ_index = 1;
Lightvalve 13:747daba9cf59 1359 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1360 }
Lightvalve 13:747daba9cf59 1361 }
Lightvalve 14:8e7590227d22 1362 } else {
Lightvalve 30:8d561f16383b 1363 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1364 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 1365 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1366 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1367 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1368 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1369 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1370 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1371 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1372 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1373 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1374 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1375 }
Lightvalve 14:8e7590227d22 1376 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1377
Lightvalve 30:8d561f16383b 1378 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1379 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1380 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1381 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1382 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1383
Lightvalve 60:64181f1d3e60 1384 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1385 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1386 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1387 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1388 } else {
Lightvalve 13:747daba9cf59 1389 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1390 }
Lightvalve 14:8e7590227d22 1391
Lightvalve 13:747daba9cf59 1392 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1393 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1394 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1395 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1396 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1397 first_check = 0;
Lightvalve 33:91b17819ec30 1398 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1399 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1400
Lightvalve 59:f308b1656d9c 1401 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1402
Lightvalve 57:f4819de54e7a 1403 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1404 DZ_index = 1;
Lightvalve 13:747daba9cf59 1405 }
Lightvalve 13:747daba9cf59 1406 }
Lightvalve 13:747daba9cf59 1407 }
Lightvalve 14:8e7590227d22 1408 }
Lightvalve 13:747daba9cf59 1409 break;
Lightvalve 13:747daba9cf59 1410 }
Lightvalve 14:8e7590227d22 1411
Lightvalve 14:8e7590227d22 1412 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1413 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1414 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1415 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1416 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1417 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1418 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1419 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1420 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1421 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1422 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1423 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1424 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1425 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1426 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1427 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1428 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1429 first_check = 1;
Lightvalve 13:747daba9cf59 1430 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1431 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1432 ID_index = 0;
Lightvalve 13:747daba9cf59 1433 max_check = 0;
Lightvalve 13:747daba9cf59 1434 min_check = 0;
Lightvalve 13:747daba9cf59 1435 }
Lightvalve 14:8e7590227d22 1436 } else {
Lightvalve 30:8d561f16383b 1437 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1438 //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 1439 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1440 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1441 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1442 data_num = 0;
Lightvalve 57:f4819de54e7a 1443 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1444
Lightvalve 14:8e7590227d22 1445 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1446 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1447 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1448 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1449 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1450 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1451 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1452 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1453 one_period_end = 1;
Lightvalve 13:747daba9cf59 1454 }
Lightvalve 30:8d561f16383b 1455 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1456 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1457 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1458 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1459 }
Lightvalve 14:8e7590227d22 1460
Lightvalve 14:8e7590227d22 1461 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1462 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1463 max_check = 1;
Lightvalve 14:8e7590227d22 1464 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1465 min_check = 1;
Lightvalve 13:747daba9cf59 1466 }
Lightvalve 13:747daba9cf59 1467 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1468
Lightvalve 13:747daba9cf59 1469 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1470 one_period_end = 0;
Lightvalve 13:747daba9cf59 1471 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1472 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1473 }
Lightvalve 14:8e7590227d22 1474
Lightvalve 14:8e7590227d22 1475 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1476
Lightvalve 13:747daba9cf59 1477 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1478 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1479 ID_index = 0;
Lightvalve 13:747daba9cf59 1480 first_check = 0;
Lightvalve 13:747daba9cf59 1481 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1482 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1483 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1484 }
Lightvalve 13:747daba9cf59 1485 }
Lightvalve 13:747daba9cf59 1486 break;
Lightvalve 13:747daba9cf59 1487 }
Lightvalve 58:2eade98630e2 1488
Lightvalve 57:f4819de54e7a 1489 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1490 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1491 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1492 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1493 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1494 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1495 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1496 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1497 }
Lightvalve 57:f4819de54e7a 1498 break;
Lightvalve 57:f4819de54e7a 1499 }
Lightvalve 58:2eade98630e2 1500
Lightvalve 58:2eade98630e2 1501
Lightvalve 57:f4819de54e7a 1502
Lightvalve 57:f4819de54e7a 1503 default:
Lightvalve 57:f4819de54e7a 1504 break;
Lightvalve 57:f4819de54e7a 1505 }
Lightvalve 57:f4819de54e7a 1506
Lightvalve 57:f4819de54e7a 1507 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1508
Lightvalve 57:f4819de54e7a 1509 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1510 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1511 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1512 break;
Lightvalve 57:f4819de54e7a 1513 }
Lightvalve 57:f4819de54e7a 1514
Lightvalve 57:f4819de54e7a 1515 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1516 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1517 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1518 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1519 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1520 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1521 } else {
Lightvalve 67:c2812cf26c38 1522 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1523 }
Lightvalve 58:2eade98630e2 1524
Lightvalve 57:f4819de54e7a 1525 break;
Lightvalve 57:f4819de54e7a 1526 }
Lightvalve 57:f4819de54e7a 1527
Lightvalve 57:f4819de54e7a 1528 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1529 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1530 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1531 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1532 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1533
Lightvalve 67:c2812cf26c38 1534 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1535 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1536 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1537 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1538
Lightvalve 67:c2812cf26c38 1539 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1540
Lightvalve 57:f4819de54e7a 1541 // torque feedback
Lightvalve 67:c2812cf26c38 1542 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1543 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1544
Lightvalve 57:f4819de54e7a 1545 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1546
Lightvalve 57:f4819de54e7a 1547 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1548 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1549 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1550
Lightvalve 57:f4819de54e7a 1551 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1552 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1553 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1554
Lightvalve 69:3995ffeaa786 1555 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1556 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 1557 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1558 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1559 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1560 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1561 }
Lightvalve 57:f4819de54e7a 1562 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 1563 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1564
Lightvalve 57:f4819de54e7a 1565 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1566 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1567 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1568 // 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 1569 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1570 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1571 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1572 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 1573 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1574 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1575 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1576 }
Lightvalve 57:f4819de54e7a 1577 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 1578 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1579 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1580 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1581 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1582
Lightvalve 57:f4819de54e7a 1583 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1584
Lightvalve 67:c2812cf26c38 1585 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1586 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1587 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1588 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1589 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1590 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1591 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1592 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1593 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1594 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1595 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1596 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1597 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1598 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1599 }
Lightvalve 67:c2812cf26c38 1600 }
Lightvalve 57:f4819de54e7a 1601
Lightvalve 57:f4819de54e7a 1602 } else {
Lightvalve 57:f4819de54e7a 1603 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1604 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1605 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1606
Lightvalve 57:f4819de54e7a 1607 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 1608 + 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 1609
Lightvalve 72:3436ce769b1e 1610 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 1611
Lightvalve 72:3436ce769b1e 1612 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1613
Lightvalve 72:3436ce769b1e 1614
Lightvalve 72:3436ce769b1e 1615 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1616 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1617 } else {
Lightvalve 72:3436ce769b1e 1618 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1619 }
Lightvalve 57:f4819de54e7a 1620
Lightvalve 57:f4819de54e7a 1621 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1622 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1623 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1624 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1625 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1626 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1627 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1628 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1629 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1630 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1631 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1632 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1633 }
Lightvalve 57:f4819de54e7a 1634 }
Lightvalve 61:bc8c8270f0ab 1635
Lightvalve 57:f4819de54e7a 1636 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1637
Lightvalve 67:c2812cf26c38 1638 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1639 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1640
Lightvalve 57:f4819de54e7a 1641 }
Lightvalve 72:3436ce769b1e 1642
Lightvalve 72:3436ce769b1e 1643 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1644
Lightvalve 57:f4819de54e7a 1645 break;
Lightvalve 57:f4819de54e7a 1646 }
Lightvalve 58:2eade98630e2 1647
Lightvalve 57:f4819de54e7a 1648 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1649 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1650 break;
Lightvalve 57:f4819de54e7a 1651 }
Lightvalve 14:8e7590227d22 1652
Lightvalve 12:6f2531038ea4 1653 default:
Lightvalve 12:6f2531038ea4 1654 break;
Lightvalve 12:6f2531038ea4 1655 }
Lightvalve 14:8e7590227d22 1656
Lightvalve 57:f4819de54e7a 1657
Lightvalve 57:f4819de54e7a 1658 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1659
Lightvalve 57:f4819de54e7a 1660 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1661 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1662 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1663 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1664 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1665 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1666
Lightvalve 57:f4819de54e7a 1667 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1668 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1669
Lightvalve 57:f4819de54e7a 1670
Lightvalve 57:f4819de54e7a 1671 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1672 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1673 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1674 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1675 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1676 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1677
Lightvalve 57:f4819de54e7a 1678 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1679 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1680 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1681 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1682 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1683 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1684 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1685 }
Lightvalve 57:f4819de54e7a 1686
Lightvalve 57:f4819de54e7a 1687 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1688
Lightvalve 67:c2812cf26c38 1689 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1690 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1691 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1692 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1693 // 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 1694 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1695 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1696
Lightvalve 57:f4819de54e7a 1697 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1698 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1699 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1700 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1701 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1702 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1703 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1704 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1705 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1706 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1707 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1708 }
Lightvalve 57:f4819de54e7a 1709 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1710 } else {
Lightvalve 57:f4819de54e7a 1711 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1712 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1713 }
Lightvalve 57:f4819de54e7a 1714
Lightvalve 57:f4819de54e7a 1715 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1716 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1717 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1718 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1719 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1720 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1721 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1722
Lightvalve 57:f4819de54e7a 1723 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1724
Lightvalve 57:f4819de54e7a 1725 } else {
Lightvalve 57:f4819de54e7a 1726 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1727 }
Lightvalve 57:f4819de54e7a 1728
Lightvalve 57:f4819de54e7a 1729 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1730 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1731 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1732
Lightvalve 57:f4819de54e7a 1733 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1734 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1735 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1736 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1737 }
Lightvalve 67:c2812cf26c38 1738
Lightvalve 67:c2812cf26c38 1739 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1740 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1741 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1742
jobuuu 7:e9086c72bb22 1743 /*******************************************************
jobuuu 7:e9086c72bb22 1744 *** PWM
jobuuu 7:e9086c72bb22 1745 ********************************************************/
Lightvalve 67:c2812cf26c38 1746 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1747 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1748 }
Lightvalve 67:c2812cf26c38 1749
Lightvalve 49:e7bcfc244d40 1750 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1751 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1752 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1753 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1754 }
Lightvalve 49:e7bcfc244d40 1755 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1756
Lightvalve 19:23b7c1ad8683 1757 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1758 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1759 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1760
Lightvalve 30:8d561f16383b 1761 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1762 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1763 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1764 } else {
jobuuu 2:a1c0a37df760 1765 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1766 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1767 }
Lightvalve 13:747daba9cf59 1768
jobuuu 1:e04e563be5ce 1769 //pwm
Lightvalve 30:8d561f16383b 1770 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1771 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1772
Lightvalve 61:bc8c8270f0ab 1773
Lightvalve 57:f4819de54e7a 1774 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1775
Lightvalve 54:647072f5307a 1776 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1777 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1778 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1779 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1780 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1781 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1782 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 1783 }
Lightvalve 57:f4819de54e7a 1784 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1785 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1786 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 1787 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1788 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 1789 }
Lightvalve 52:8ea76864368a 1790 }
Lightvalve 52:8ea76864368a 1791 }
Lightvalve 56:6f50d9d3bfee 1792 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1793 //valve position
Lightvalve 54:647072f5307a 1794 double t_value = 0;
Lightvalve 67:c2812cf26c38 1795 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 67:c2812cf26c38 1796 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1797 } else {
Lightvalve 67:c2812cf26c38 1798 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1799 }
Lightvalve 67:c2812cf26c38 1800 // if(OPERATING_MODE==5) {
Lightvalve 67:c2812cf26c38 1801 // t_value = (double) value;
Lightvalve 67:c2812cf26c38 1802 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 67:c2812cf26c38 1803 // t_value = cur.sen;
Lightvalve 57:f4819de54e7a 1804 // } else {
Lightvalve 67:c2812cf26c38 1805 // t_value = V_out;
Lightvalve 67:c2812cf26c38 1806 // }
Lightvalve 67:c2812cf26c38 1807 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1808 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1809 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1810 }
Lightvalve 58:2eade98630e2 1811
Lightvalve 58:2eade98630e2 1812
Lightvalve 56:6f50d9d3bfee 1813 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1814 //pressure A and B
Lightvalve 57:f4819de54e7a 1815 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1816 }
Lightvalve 58:2eade98630e2 1817
Lightvalve 57:f4819de54e7a 1818 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1819 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1820 ;
Lightvalve 57:f4819de54e7a 1821 }
Lightvalve 58:2eade98630e2 1822
Lightvalve 56:6f50d9d3bfee 1823 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1824 //PWM
Lightvalve 73:f80dc3970c99 1825 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1826 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1827 }
Lightvalve 57:f4819de54e7a 1828 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1829 // ;
Lightvalve 57:f4819de54e7a 1830 // }
Lightvalve 56:6f50d9d3bfee 1831 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1832 //valve position
Lightvalve 73:f80dc3970c99 1833 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 1834 }
Lightvalve 20:806196fda269 1835
Lightvalve 54:647072f5307a 1836 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1837 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1838 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1839 // }
Lightvalve 54:647072f5307a 1840 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1841 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1842 //}
Lightvalve 52:8ea76864368a 1843
Lightvalve 54:647072f5307a 1844 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1845 }
Lightvalve 54:647072f5307a 1846 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1847
Lightvalve 20:806196fda269 1848 }
Lightvalve 52:8ea76864368a 1849 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1850
Lightvalve 58:2eade98630e2 1851 }