Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@64:6f1caa0993d0, 2020-04-03 (annotated)

Committer:
Lightvalve
Date:
Fri Apr 03 14:53:53 2020 +0000
Revision:
64:6f1caa0993d0
Parent:
63:3c6869477483
Child:
65:a2d7c63419c2
200403_3

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
Lightvalve 64:6f1caa0993d0 11 #include "Eigen/Dense.h"
Lightvalve 64:6f1caa0993d0 12 #include "ST_F401_84MHZ.h"
Lightvalve 61:bc8c8270f0ab 13
Lightvalve 61:bc8c8270f0ab 14 using namespace std;
Lightvalve 61:bc8c8270f0ab 15 using namespace Eigen;
Lightvalve 61:bc8c8270f0ab 16 Timer t;
GiJeongKim 0:51c43836c1d7 17
Lightvalve 31:66738bfecec5 18 ///191008////
Lightvalve 31:66738bfecec5 19
jobuuu 7:e9086c72bb22 20 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 21 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 22 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 23 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 24 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 25 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 26 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 27 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 28
Lightvalve 24:ef6e1092e9e6 29
jobuuu 7:e9086c72bb22 30 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 31 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 32 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 33
jobuuu 7:e9086c72bb22 34 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 35 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 36 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 37 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 38
jobuuu 7:e9086c72bb22 39 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 40 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 41 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 42 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 43 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 44 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 45 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 46
jobuuu 7:e9086c72bb22 47 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 48 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 49
jobuuu 7:e9086c72bb22 50 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 51 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 52 CANMessage msg;
Lightvalve 11:82d8768d7351 53 void onMsgReceived()
Lightvalve 11:82d8768d7351 54 {
Lightvalve 11:82d8768d7351 55 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 56 }
jobuuu 2:a1c0a37df760 57
jobuuu 7:e9086c72bb22 58 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 59 State pos;
jobuuu 7:e9086c72bb22 60 State vel;
jobuuu 7:e9086c72bb22 61 State Vout;
jobuuu 7:e9086c72bb22 62 State torq;
jobuuu 7:e9086c72bb22 63 State pres_A;
jobuuu 7:e9086c72bb22 64 State pres_B;
jobuuu 7:e9086c72bb22 65 State cur;
Lightvalve 14:8e7590227d22 66 State valve_pos;
Lightvalve 14:8e7590227d22 67
Lightvalve 14:8e7590227d22 68 State INIT_Vout;
Lightvalve 14:8e7590227d22 69 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 70 State INIT_Pos;
Lightvalve 14:8e7590227d22 71 State INIT_torq;
jobuuu 5:a4319f79457b 72
Lightvalve 19:23b7c1ad8683 73 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 74 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 75 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 76 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 77
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 82 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 84
Lightvalve 63:3c6869477483 85 MatrixXd Input = MatrixXd::Zero(1,22); //input
Lightvalve 61:bc8c8270f0ab 86 MatrixXd h1 = MatrixXd::Zero(22,32);
Lightvalve 61:bc8c8270f0ab 87 MatrixXd h2 = MatrixXd::Zero(32,32);
Lightvalve 61:bc8c8270f0ab 88 MatrixXd h3 = MatrixXd::Zero(32,32);
Lightvalve 61:bc8c8270f0ab 89 MatrixXd hout = MatrixXd::Zero(32,1);
Lightvalve 61:bc8c8270f0ab 90
Lightvalve 61:bc8c8270f0ab 91 MatrixXd b1 = MatrixXd::Zero(32,1);
Lightvalve 61:bc8c8270f0ab 92 MatrixXd b2 = MatrixXd::Zero(32,1);
Lightvalve 61:bc8c8270f0ab 93 MatrixXd b3 = MatrixXd::Zero(32,1);
Lightvalve 61:bc8c8270f0ab 94 MatrixXd bout = MatrixXd::Zero(1,1);
Lightvalve 61:bc8c8270f0ab 95
Lightvalve 61:bc8c8270f0ab 96 MatrixXd X;
Lightvalve 61:bc8c8270f0ab 97 ArrayXf Y;
Lightvalve 61:bc8c8270f0ab 98 float NNoutput;
Lightvalve 63:3c6869477483 99 float input_array[6] ={0.0f};
Lightvalve 62:b5452adfb2cd 100 float position_array[10] = {0.0f};
Lightvalve 61:bc8c8270f0ab 101
Lightvalve 61:bc8c8270f0ab 102
jobuuu 7:e9086c72bb22 103 // =============================================================================
jobuuu 7:e9086c72bb22 104 // =============================================================================
jobuuu 7:e9086c72bb22 105 // =============================================================================
jobuuu 7:e9086c72bb22 106
Lightvalve 12:6f2531038ea4 107 /*******************************************************************************
Lightvalve 12:6f2531038ea4 108 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 109 ******************************************************************************/
Lightvalve 13:747daba9cf59 110 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 111 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 112 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 113 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 114 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 115 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 116 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 117 };
Lightvalve 12:6f2531038ea4 118
Lightvalve 12:6f2531038ea4 119 /*******************************************************************************
Lightvalve 12:6f2531038ea4 120 * CONTROL MODE
Lightvalve 12:6f2531038ea4 121 ******************************************************************************/
Lightvalve 13:747daba9cf59 122 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 123 //control mode
Lightvalve 12:6f2531038ea4 124 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 125 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 126 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 127
Lightvalve 47:fdcb8bd86fd6 128 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 129 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 130 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 131
Lightvalve 12:6f2531038ea4 132 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 133 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 134 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 135
Lightvalve 12:6f2531038ea4 136 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 137 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 138
Lightvalve 14:8e7590227d22 139 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 140 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 141 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 142
Lightvalve 12:6f2531038ea4 143 //utility
Lightvalve 12:6f2531038ea4 144 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 145 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 146 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 147 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 148 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 149 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 150 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 151
Lightvalve 12:6f2531038ea4 152 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 153 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 154 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 155 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 156 };
Lightvalve 12:6f2531038ea4 157
Lightvalve 61:bc8c8270f0ab 158
Lightvalve 61:bc8c8270f0ab 159
GiJeongKim 0:51c43836c1d7 160 int main()
GiJeongKim 0:51c43836c1d7 161 {
Lightvalve 64:6f1caa0993d0 162 F401_init84 myinit(1);
jobuuu 6:df07d3491e3a 163 /*********************************
jobuuu 1:e04e563be5ce 164 *** Initialization
jobuuu 6:df07d3491e3a 165 *********************************/
Lightvalve 57:f4819de54e7a 166 LED = 1;
Lightvalve 61:bc8c8270f0ab 167 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 168
GiJeongKim 0:51c43836c1d7 169 // i2c init
Lightvalve 8:5d2eebdad025 170 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 171 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 172 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 173 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 174 make_delay();
jobuuu 2:a1c0a37df760 175
GiJeongKim 0:51c43836c1d7 176 // // spi init
Lightvalve 16:903b5a4433b4 177 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 178 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 179 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 180 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 181 make_delay();
Lightvalve 21:e5f1a43ea6f9 182
Lightvalve 16:903b5a4433b4 183 //rom
Lightvalve 19:23b7c1ad8683 184 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 185 make_delay();
Lightvalve 13:747daba9cf59 186
GiJeongKim 0:51c43836c1d7 187 // ADC init
jobuuu 5:a4319f79457b 188 Init_ADC();
Lightvalve 11:82d8768d7351 189 make_delay();
jobuuu 2:a1c0a37df760 190
GiJeongKim 0:51c43836c1d7 191 // Pwm init
GiJeongKim 0:51c43836c1d7 192 Init_PWM();
GiJeongKim 0:51c43836c1d7 193 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 194 make_delay();
Lightvalve 13:747daba9cf59 195
Lightvalve 11:82d8768d7351 196 // TMR3 init
Lightvalve 11:82d8768d7351 197 Init_TMR3();
Lightvalve 11:82d8768d7351 198 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 199 make_delay();
Lightvalve 21:e5f1a43ea6f9 200
Lightvalve 50:3c630b5eba9f 201 // TMR2 init
Lightvalve 56:6f50d9d3bfee 202 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 203 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 204 // make_delay();
Lightvalve 21:e5f1a43ea6f9 205
GiJeongKim 0:51c43836c1d7 206 // CAN
jobuuu 2:a1c0a37df760 207 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 208 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 209 make_delay();
Lightvalve 34:bb2ca2fc2a8e 210
Lightvalve 23:59218d4a256d 211 //Timer priority
Lightvalve 23:59218d4a256d 212 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 213 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 214 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 215
Lightvalve 23:59218d4a256d 216 //can.reset();
Lightvalve 19:23b7c1ad8683 217 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 218
GiJeongKim 0:51c43836c1d7 219 // spi _ enc
GiJeongKim 0:51c43836c1d7 220 spi_enc_set_init();
Lightvalve 11:82d8768d7351 221 make_delay();
Lightvalve 13:747daba9cf59 222
Lightvalve 11:82d8768d7351 223 //DAC init
Lightvalve 58:2eade98630e2 224 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 225 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 226 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 227 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 228 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 229 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 230 }
Lightvalve 11:82d8768d7351 231 make_delay();
Lightvalve 13:747daba9cf59 232
Lightvalve 19:23b7c1ad8683 233 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 234 if(i%2==0)
Lightvalve 38:118df027d851 235 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 236 else
Lightvalve 38:118df027d851 237 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 238 }
Lightvalve 61:bc8c8270f0ab 239
Lightvalve 64:6f1caa0993d0 240 printf("systemcoreclock = %d Hz\n", SystemCoreClock);
Lightvalve 64:6f1caa0993d0 241
Lightvalve 64:6f1caa0993d0 242
Lightvalve 61:bc8c8270f0ab 243 Input <<
Lightvalve 63:3c6869477483 244 0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023;
Lightvalve 61:bc8c8270f0ab 245
Lightvalve 61:bc8c8270f0ab 246
Lightvalve 61:bc8c8270f0ab 247 h1 <<
Lightvalve 61:bc8c8270f0ab 248 -0.02454003319144249,0.13071660697460175,0.08675816655158997,0.1402530074119568,-0.24982963502407074,0.12202739715576172,-0.13030944764614105,-0.11353740841150284,-0.2542628347873688,-0.04588286578655243,-0.14282149076461792,-0.2201535552740097,-0.18691661953926086,0.30389177799224854,-0.1729012429714203,-0.12240276485681534,-0.11355798691511154,0.2349482625722885,-0.24878336489200592,0.07184267044067383,-0.3221011161804199,0.08763179183006287,-0.27257153391838074,-0.06490874290466309,-0.06682667881250381,0.1505383551120758,-0.14478006958961487,-0.07367490231990814,0.23569869995117188,-0.1539779156446457,-0.1400003880262375,0.051764924079179764
Lightvalve 61:bc8c8270f0ab 249 ,-0.19842876493930817,0.18337926268577576,0.24467620253562927,-0.29177823662757874,-0.08481606096029282,0.09983056783676147,0.17972804605960846,-0.07474377751350403,-0.1711931675672531,0.12607872486114502,-0.21832025051116943,-0.1755477339029312,-0.010855759494006634,0.2378554791212082,0.03758585453033447,-0.13797838985919952,-0.15582887828350067,0.08006728440523148,0.280606746673584,0.28338202834129333,-0.06711727380752563,-0.09894979000091553,-0.07788881659507751,0.22705963253974915,-0.0012174372095614672,0.240607351064682,0.1039358377456665,0.18501906096935272,-0.03155122324824333,0.08036407828330994,-0.20284514129161835,0.06699042022228241
Lightvalve 61:bc8c8270f0ab 250 ,0.14068114757537842,0.13828633725643158,-0.0034593045711517334,0.1392701119184494,0.01057615876197815,-0.007689331658184528,0.07328304648399353,-0.14162643253803253,-0.04415355995297432,0.09164466708898544,0.24845272302627563,-0.05588914453983307,-0.054479751735925674,0.24456734955310822,-0.2598671317100525,-0.15801946818828583,0.2817283868789673,-0.19191598892211914,0.15788163244724274,0.28144943714141846,0.14735294878482819,-0.12544888257980347,0.11103320121765137,-0.20203278958797455,0.0017974432557821274,0.1191059947013855,-0.12710560858249664,0.1702873408794403,-0.09684925526380539,0.2480504810810089,-0.28676652908325195,-0.17398564517498016
Lightvalve 61:bc8c8270f0ab 251 ,0.04844924807548523,-0.06973694264888763,-0.1682211458683014,-0.3513043522834778,-0.22794683277606964,0.08840374648571014,0.026485737413167953,-0.3492684066295624,0.1813228577375412,0.06481858342885971,0.11471711844205856,0.1854662299156189,-0.12381665408611298,0.35136616230010986,-0.10501053929328918,-0.016016438603401184,0.03148011490702629,-0.17074286937713623,-0.1689852625131607,0.1171770691871643,-0.23076696693897247,-0.07204706966876984,-0.12052477896213531,-0.23881052434444427,-0.004284285008907318,0.11600598692893982,0.10962119698524475,-0.012203623540699482,0.33345603942871094,0.1084047257900238,0.015447823330760002,0.1315833479166031
Lightvalve 61:bc8c8270f0ab 252 ,0.12315890938043594,0.16742177307605743,0.0689031183719635,-0.29923000931739807,-0.10478553920984268,0.0034702986013144255,-0.06286507844924927,-0.3965417146682739,-0.24317654967308044,0.2535353899002075,-0.18702425062656403,0.2042631357908249,0.14613179862499237,0.2476590871810913,-0.20543844997882843,0.15613335371017456,-0.024847690016031265,-0.12820857763290405,0.13289833068847656,-0.033144671469926834,0.09313736855983734,0.19325080513954163,-0.20106908679008484,-0.061102136969566345,-0.028910696506500244,-0.2806609869003296,0.033241331577301025,-0.26521533727645874,0.33587634563446045,-0.13370811939239502,0.21700626611709595,0.008141759783029556
Lightvalve 61:bc8c8270f0ab 253 ,0.3156174421310425,0.033245913684368134,0.24999621510505676,0.14565978944301605,0.02309553697705269,-0.05169738829135895,-0.15119729936122894,-0.10350330173969269,-0.3457512855529785,0.03809545189142227,0.25342249870300293,-0.19578632712364197,-0.05333413928747177,0.09492939710617065,0.17943906784057617,-0.21144242584705353,-0.1867227405309677,-0.23938390612602234,-0.2632395327091217,0.06656297296285629,0.0961865782737732,-0.00792744755744934,0.10312435030937195,0.27112916111946106,-0.12544961273670197,0.17053177952766418,-0.23970040678977966,0.16830605268478394,0.18481910228729248,-0.0010759234428405762,0.049939122051000595,-0.059725455939769745
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Lightvalve 61:bc8c8270f0ab 305
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Lightvalve 61:bc8c8270f0ab 402 ,-1.0489267110824585
Lightvalve 61:bc8c8270f0ab 403 ,0.7445360422134399
Lightvalve 61:bc8c8270f0ab 404 ,0.4031659960746765
Lightvalve 61:bc8c8270f0ab 405 ,-1.0887231826782227
Lightvalve 61:bc8c8270f0ab 406 ,1.5438745021820068
Lightvalve 61:bc8c8270f0ab 407 ,-0.4563482999801636;
Lightvalve 61:bc8c8270f0ab 408
Lightvalve 61:bc8c8270f0ab 409 b2 <<
Lightvalve 61:bc8c8270f0ab 410 -0.10466054826974869
Lightvalve 61:bc8c8270f0ab 411 ,-0.7642630338668823
Lightvalve 61:bc8c8270f0ab 412 ,-1.4564176797866821
Lightvalve 61:bc8c8270f0ab 413 ,-0.528777003288269
Lightvalve 61:bc8c8270f0ab 414 ,-0.7297643423080444
Lightvalve 61:bc8c8270f0ab 415 ,0.2625555098056793
Lightvalve 61:bc8c8270f0ab 416 ,0.389851450920105
Lightvalve 61:bc8c8270f0ab 417 ,-0.33048292994499207
Lightvalve 61:bc8c8270f0ab 418 ,-1.20063054561615
Lightvalve 61:bc8c8270f0ab 419 ,-1.912178635597229
Lightvalve 61:bc8c8270f0ab 420 ,0.31253743171691895
Lightvalve 61:bc8c8270f0ab 421 ,0.6883504390716553
Lightvalve 61:bc8c8270f0ab 422 ,-0.04988760128617287
Lightvalve 61:bc8c8270f0ab 423 ,2.26581072807312
Lightvalve 61:bc8c8270f0ab 424 ,0.13501279056072235
Lightvalve 61:bc8c8270f0ab 425 ,1.132785677909851
Lightvalve 61:bc8c8270f0ab 426 ,-1.8237234354019165
Lightvalve 61:bc8c8270f0ab 427 ,-1.5844906568527222
Lightvalve 61:bc8c8270f0ab 428 ,0.26375624537467957
Lightvalve 61:bc8c8270f0ab 429 ,-0.23789723217487335
Lightvalve 61:bc8c8270f0ab 430 ,0.17283980548381805
Lightvalve 61:bc8c8270f0ab 431 ,0.3692796230316162
Lightvalve 61:bc8c8270f0ab 432 ,0.09335066378116608
Lightvalve 61:bc8c8270f0ab 433 ,-1.0231001377105713
Lightvalve 61:bc8c8270f0ab 434 ,1.2738454341888428
Lightvalve 61:bc8c8270f0ab 435 ,1.44853675365448
Lightvalve 61:bc8c8270f0ab 436 ,0.9071134924888611
Lightvalve 61:bc8c8270f0ab 437 ,8.9274239144288e-05
Lightvalve 61:bc8c8270f0ab 438 ,-0.6323830485343933
Lightvalve 61:bc8c8270f0ab 439 ,-0.4208582937717438
Lightvalve 61:bc8c8270f0ab 440 ,-1.1864360570907593
Lightvalve 61:bc8c8270f0ab 441 ,-1.3916414976119995;
Lightvalve 61:bc8c8270f0ab 442
Lightvalve 61:bc8c8270f0ab 443 b3 <<
Lightvalve 61:bc8c8270f0ab 444 -1.963319182395935
Lightvalve 61:bc8c8270f0ab 445 ,-0.4028509557247162
Lightvalve 61:bc8c8270f0ab 446 ,0.3184174597263336
Lightvalve 61:bc8c8270f0ab 447 ,0.1579766422510147
Lightvalve 61:bc8c8270f0ab 448 ,0.1897633820772171
Lightvalve 61:bc8c8270f0ab 449 ,0.866980791091919
Lightvalve 61:bc8c8270f0ab 450 ,-0.45353031158447266
Lightvalve 61:bc8c8270f0ab 451 ,-0.6562485098838806
Lightvalve 61:bc8c8270f0ab 452 ,0.5865635275840759
Lightvalve 61:bc8c8270f0ab 453 ,0.5033581852912903
Lightvalve 61:bc8c8270f0ab 454 ,-0.14371006190776825
Lightvalve 61:bc8c8270f0ab 455 ,0.050810977816581726
Lightvalve 61:bc8c8270f0ab 456 ,-0.5131177306175232
Lightvalve 61:bc8c8270f0ab 457 ,0.5688209533691406
Lightvalve 61:bc8c8270f0ab 458 ,-1.1428403854370117
Lightvalve 61:bc8c8270f0ab 459 ,-0.3598397970199585
Lightvalve 61:bc8c8270f0ab 460 ,-1.3594286441802979
Lightvalve 61:bc8c8270f0ab 461 ,-1.0192245244979858
Lightvalve 61:bc8c8270f0ab 462 ,-0.2365882694721222
Lightvalve 61:bc8c8270f0ab 463 ,0.5294732451438904
Lightvalve 61:bc8c8270f0ab 464 ,1.530857801437378
Lightvalve 61:bc8c8270f0ab 465 ,1.2039998769760132
Lightvalve 61:bc8c8270f0ab 466 ,-1.0573883056640625
Lightvalve 61:bc8c8270f0ab 467 ,-0.7962622046470642
Lightvalve 61:bc8c8270f0ab 468 ,0.7248114347457886
Lightvalve 61:bc8c8270f0ab 469 ,-0.36519983410835266
Lightvalve 61:bc8c8270f0ab 470 ,-0.07752024382352829
Lightvalve 61:bc8c8270f0ab 471 ,0.767806887626648
Lightvalve 61:bc8c8270f0ab 472 ,0.2635451555252075
Lightvalve 61:bc8c8270f0ab 473 ,-2.3236680030822754
Lightvalve 61:bc8c8270f0ab 474 ,0.06150589883327484
Lightvalve 61:bc8c8270f0ab 475 ,1.0375205278396606;
Lightvalve 61:bc8c8270f0ab 476
Lightvalve 61:bc8c8270f0ab 477 bout <<
Lightvalve 61:bc8c8270f0ab 478 -0.3124803602695465;
Lightvalve 61:bc8c8270f0ab 479
jobuuu 6:df07d3491e3a 480 /************************************
jobuuu 1:e04e563be5ce 481 *** Program is operating!
jobuuu 6:df07d3491e3a 482 *************************************/
GiJeongKim 0:51c43836c1d7 483 while(1) {
Lightvalve 64:6f1caa0993d0 484 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 64:6f1caa0993d0 485 // //i2c
Lightvalve 64:6f1caa0993d0 486 // read_field(i2c_slave_addr1);
Lightvalve 64:6f1caa0993d0 487 // if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 64:6f1caa0993d0 488 // // if(LED==1) {
Lightvalve 64:6f1caa0993d0 489 // // LED=0;
Lightvalve 64:6f1caa0993d0 490 // // } else
Lightvalve 64:6f1caa0993d0 491 // // LED = 1;
Lightvalve 64:6f1caa0993d0 492 // timer_while = 0;
Lightvalve 64:6f1caa0993d0 493 // }
Lightvalve 64:6f1caa0993d0 494 // timer_while ++;
Lightvalve 61:bc8c8270f0ab 495
Lightvalve 64:6f1caa0993d0 496 t.reset();
Lightvalve 64:6f1caa0993d0 497 t.start();
Lightvalve 61:bc8c8270f0ab 498
Lightvalve 64:6f1caa0993d0 499 //X = (((Input*h1+b1.transpose())*h2+b2.transpose())*h3+b3.transpose())*hout+bout.transpose();
Lightvalve 62:b5452adfb2cd 500
Lightvalve 63:3c6869477483 501 // Input <<
Lightvalve 63:3c6869477483 502 // input_array[0],input_array[1],input_array[2],input_array[3],input_array[4];
Lightvalve 62:b5452adfb2cd 503
Lightvalve 61:bc8c8270f0ab 504 X = Input*h1+b1.transpose();
Lightvalve 61:bc8c8270f0ab 505 for(int i=0; i<32; i++){
Lightvalve 61:bc8c8270f0ab 506 if(X(i)<0)
Lightvalve 61:bc8c8270f0ab 507 X(i) = 0;
Lightvalve 61:bc8c8270f0ab 508 }
Lightvalve 61:bc8c8270f0ab 509 X = X*h2+b2.transpose();
Lightvalve 61:bc8c8270f0ab 510 for(int i=0; i<32; i++){
Lightvalve 61:bc8c8270f0ab 511 if(X(i)<0)
Lightvalve 61:bc8c8270f0ab 512 X(i) = 0;
Lightvalve 61:bc8c8270f0ab 513 }
Lightvalve 61:bc8c8270f0ab 514 X = X*h3+b3.transpose();
Lightvalve 61:bc8c8270f0ab 515 for(int i=0; i<32; i++){
Lightvalve 61:bc8c8270f0ab 516 if(X(i)<0)
Lightvalve 61:bc8c8270f0ab 517 X(i) = 0;
Lightvalve 61:bc8c8270f0ab 518 }
Lightvalve 61:bc8c8270f0ab 519 X = X*hout+bout.transpose();
Lightvalve 61:bc8c8270f0ab 520 NNoutput=1.0f/(1.0f+exp(-X(0,0)));
Lightvalve 61:bc8c8270f0ab 521
Lightvalve 64:6f1caa0993d0 522 t.stop();
Lightvalve 63:3c6869477483 523
Lightvalve 62:b5452adfb2cd 524 printf("NNoutput : %f\n", NNoutput);
Lightvalve 62:b5452adfb2cd 525 printf("time : %f\n", t.read());
Lightvalve 61:bc8c8270f0ab 526
Lightvalve 64:6f1caa0993d0 527 wait(1);
Lightvalve 63:3c6869477483 528
Lightvalve 64:6f1caa0993d0 529 //CAN_TX_PWM((int16_t) (t.read() * 1000000.0f)); //1500
Lightvalve 61:bc8c8270f0ab 530
Lightvalve 63:3c6869477483 531 // PWM_out = NNoutput * 24000.0f - 12000.0f;
Lightvalve 63:3c6869477483 532 //
Lightvalve 63:3c6869477483 533 //
Lightvalve 63:3c6869477483 534 // if (PWM_out>0.0f) {
Lightvalve 63:3c6869477483 535 // dtc_v=0.0f;
Lightvalve 63:3c6869477483 536 // dtc_w=PWM_out;
Lightvalve 63:3c6869477483 537 // } else {
Lightvalve 63:3c6869477483 538 // dtc_v=-PWM_out;
Lightvalve 63:3c6869477483 539 // dtc_w=0.0f;
Lightvalve 63:3c6869477483 540 // }
Lightvalve 63:3c6869477483 541 //
Lightvalve 63:3c6869477483 542 // //pwm
Lightvalve 63:3c6869477483 543 // TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 63:3c6869477483 544 // TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 62:b5452adfb2cd 545
Lightvalve 62:b5452adfb2cd 546
Lightvalve 61:bc8c8270f0ab 547
GiJeongKim 0:51c43836c1d7 548 }
jobuuu 1:e04e563be5ce 549 }
jobuuu 1:e04e563be5ce 550
Lightvalve 33:91b17819ec30 551 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 552 {
Lightvalve 14:8e7590227d22 553
Lightvalve 13:747daba9cf59 554 int i = 0;
Lightvalve 48:889798ff9329 555 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 556 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 557 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 558 if(i==0) {
Lightvalve 50:3c630b5eba9f 559 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 560 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 561 } else {
Lightvalve 57:f4819de54e7a 562 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 563 }
Lightvalve 14:8e7590227d22 564 } else {
Lightvalve 50:3c630b5eba9f 565 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 566 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 567 } else {
Lightvalve 57:f4819de54e7a 568 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 569 }
Lightvalve 13:747daba9cf59 570 }
Lightvalve 13:747daba9cf59 571 break;
Lightvalve 13:747daba9cf59 572 }
Lightvalve 13:747daba9cf59 573 }
Lightvalve 14:8e7590227d22 574 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 575 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 576 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 577 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 578 }
Lightvalve 36:a46e63505ed8 579
Lightvalve 57:f4819de54e7a 580 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 581 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 582
Lightvalve 13:747daba9cf59 583 }
jobuuu 6:df07d3491e3a 584
jobuuu 6:df07d3491e3a 585
Lightvalve 30:8d561f16383b 586 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 587 {
Lightvalve 13:747daba9cf59 588 int i = 0;
Lightvalve 13:747daba9cf59 589
Lightvalve 38:118df027d851 590 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 591 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 592 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 593 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 594 }
Lightvalve 38:118df027d851 595
Lightvalve 13:747daba9cf59 596 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 597 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 598 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 599 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 600 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 601 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 602
Lightvalve 13:747daba9cf59 603 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 604
Lightvalve 18:b8adf1582ea3 605 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 606 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 607 if(i==0) {
Lightvalve 48:889798ff9329 608 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 609 } else {
Lightvalve 48:889798ff9329 610 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 611 }
Lightvalve 13:747daba9cf59 612 break;
Lightvalve 13:747daba9cf59 613 }
Lightvalve 13:747daba9cf59 614 }
Lightvalve 59:f308b1656d9c 615 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 616 }
Lightvalve 13:747daba9cf59 617
Lightvalve 14:8e7590227d22 618 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 619 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 620 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 621 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 622 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 623 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 624 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 625 }; // duty
Lightvalve 30:8d561f16383b 626 float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve 34:bb2ca2fc2a8e 627 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 628 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 629 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 630 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 631 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 632 }; // mV
Lightvalve 13:747daba9cf59 633
Lightvalve 30:8d561f16383b 634 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 635 {
Lightvalve 30:8d561f16383b 636 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 637 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 638 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 639 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 640 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 641 } else {
Lightvalve 13:747daba9cf59 642 int idx = 0;
Lightvalve 13:747daba9cf59 643 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 644 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 645 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 646 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 647 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 648 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 649 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 650 break;
Lightvalve 13:747daba9cf59 651 }
Lightvalve 13:747daba9cf59 652 }
Lightvalve 13:747daba9cf59 653 }
Lightvalve 14:8e7590227d22 654
Lightvalve 13:747daba9cf59 655 return PWM_duty;
Lightvalve 13:747daba9cf59 656 }
jobuuu 6:df07d3491e3a 657
Lightvalve 57:f4819de54e7a 658
Lightvalve 57:f4819de54e7a 659
Lightvalve 57:f4819de54e7a 660
Lightvalve 57:f4819de54e7a 661
jobuuu 2:a1c0a37df760 662 /*******************************************************************************
jobuuu 2:a1c0a37df760 663 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 664 *******************************************************************************/
jobuuu 2:a1c0a37df760 665
Lightvalve 51:b46bed7fec80 666 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 667 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 668 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 669 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 670 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 671 {
Lightvalve 19:23b7c1ad8683 672 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 673
Lightvalve 21:e5f1a43ea6f9 674 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 675 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 676 ********************************************************/
Lightvalve 13:747daba9cf59 677
Lightvalve 57:f4819de54e7a 678 //Encoder
Lightvalve 57:f4819de54e7a 679 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 680 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 681 }
Lightvalve 62:b5452adfb2cd 682
Lightvalve 63:3c6869477483 683 // for(int i=0; i<10; i++){
Lightvalve 63:3c6869477483 684 // position_array[i] = position_array[i+1];
Lightvalve 63:3c6869477483 685 // }
Lightvalve 63:3c6869477483 686 // position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
Lightvalve 63:3c6869477483 687 //
Lightvalve 63:3c6869477483 688 // for(int i=0; i<5; i++){
Lightvalve 63:3c6869477483 689 // input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
Lightvalve 63:3c6869477483 690 // }
Lightvalve 61:bc8c8270f0ab 691
Lightvalve 61:bc8c8270f0ab 692 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 693 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 694 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 695 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 696 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 697 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 58:2eade98630e2 698 torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 17:1865016ca2e7 699
Lightvalve 58:2eade98630e2 700 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 701 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 702 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 703 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 704 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 705 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 706 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 707 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 708 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 709
Lightvalve 58:2eade98630e2 710 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 711 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 712 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 713 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 714 }
Lightvalve 58:2eade98630e2 715 }
Lightvalve 61:bc8c8270f0ab 716
Lightvalve 58:2eade98630e2 717 // //Pressure sensor A
Lightvalve 58:2eade98630e2 718 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 719 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 720 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 721 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 722 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 723 // 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 724 //
Lightvalve 58:2eade98630e2 725 //
Lightvalve 58:2eade98630e2 726 // //Pressure sensor B
Lightvalve 58:2eade98630e2 727 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 728 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 729 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 730 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 731
Lightvalve 17:1865016ca2e7 732
Lightvalve 21:e5f1a43ea6f9 733 //Current
Lightvalve 21:e5f1a43ea6f9 734 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 735 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 736 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 737 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 738 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 739 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 740 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 741
Lightvalve 57:f4819de54e7a 742 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 743 }
Lightvalve 11:82d8768d7351 744 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 745 }
Lightvalve 19:23b7c1ad8683 746
Lightvalve 19:23b7c1ad8683 747
Lightvalve 18:b8adf1582ea3 748 int j =0;
Lightvalve 54:647072f5307a 749 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 750 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 751 int cnt_trans = 0;
Lightvalve 48:889798ff9329 752 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 753 int can_rest =0;
Lightvalve 48:889798ff9329 754
Lightvalve 11:82d8768d7351 755 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 756 {
Lightvalve 19:23b7c1ad8683 757 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 758
Lightvalve 57:f4819de54e7a 759 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 760 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 761 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 762 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 763 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 764 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 765 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 766 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 767 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 768 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 769 }
Lightvalve 50:3c630b5eba9f 770
Lightvalve 50:3c630b5eba9f 771 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 772 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 773 cnt_trans++;
Lightvalve 46:2694daea349b 774 torq.err_sum = 0;
Lightvalve 48:889798ff9329 775 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 776 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 777 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 778 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 779 cnt_trans++;
Lightvalve 46:2694daea349b 780 torq.err_sum = 0;
Lightvalve 48:889798ff9329 781 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 782 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 783 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 784 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 785 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 786 } else {
Lightvalve 58:2eade98630e2 787 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 788 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 789 }
Lightvalve 45:35fa6884d0c6 790
Lightvalve 50:3c630b5eba9f 791
Lightvalve 57:f4819de54e7a 792 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 793 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 794
Lightvalve 57:f4819de54e7a 795 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 796 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 797 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 798 } else {
Lightvalve 57:f4819de54e7a 799 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 800 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 801 }
Lightvalve 56:6f50d9d3bfee 802
Lightvalve 56:6f50d9d3bfee 803
Lightvalve 56:6f50d9d3bfee 804
Lightvalve 57:f4819de54e7a 805 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 806
Lightvalve 57:f4819de54e7a 807 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 808 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 809 break;
Lightvalve 13:747daba9cf59 810 }
Lightvalve 14:8e7590227d22 811
Lightvalve 14:8e7590227d22 812 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 813 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 814 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 815 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 816
Lightvalve 14:8e7590227d22 817 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 818 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 819 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 820
Lightvalve 59:f308b1656d9c 821 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 822
Lightvalve 30:8d561f16383b 823 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 824 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 825
Lightvalve 16:903b5a4433b4 826 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 827 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 828 }
Lightvalve 13:747daba9cf59 829 } else {
Lightvalve 58:2eade98630e2 830 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 831 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 832 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 833 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 834
Lightvalve 16:903b5a4433b4 835 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 836
Lightvalve 30:8d561f16383b 837 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 838
Lightvalve 13:747daba9cf59 839 }
Lightvalve 14:8e7590227d22 840 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 841 break;
Lightvalve 19:23b7c1ad8683 842 }
Lightvalve 14:8e7590227d22 843
Lightvalve 50:3c630b5eba9f 844 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 845 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 846 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 847 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 848 // }
Lightvalve 50:3c630b5eba9f 849 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 850 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 851 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 852 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 853 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 854 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 855 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 856 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 857 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 858 // }
Lightvalve 50:3c630b5eba9f 859 //
Lightvalve 50:3c630b5eba9f 860 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 861 // 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 862 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 863 //
Lightvalve 50:3c630b5eba9f 864 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 865 // V_out = 0;
Lightvalve 50:3c630b5eba9f 866 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 867 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 868 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 869 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 870 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 871 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 872 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 873 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 874 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 875 //
Lightvalve 50:3c630b5eba9f 876 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 877 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 878 // // | / | / |/
Lightvalve 50:3c630b5eba9f 879 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 880 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 881 // // /| / | / |
Lightvalve 50:3c630b5eba9f 882 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 883 //
Lightvalve 50:3c630b5eba9f 884 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 885 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 886 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 887 // } else {
Lightvalve 50:3c630b5eba9f 888 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 889 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 890 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 891 // }
Lightvalve 50:3c630b5eba9f 892 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 893 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 894 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 895 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 896 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 897 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 898 // }
Lightvalve 50:3c630b5eba9f 899 // } else {
Lightvalve 50:3c630b5eba9f 900 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 901 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 902 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 903 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 904 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 905 // }
Lightvalve 50:3c630b5eba9f 906 // V_out = 0;
Lightvalve 50:3c630b5eba9f 907 //
Lightvalve 50:3c630b5eba9f 908 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 909 //
Lightvalve 50:3c630b5eba9f 910 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 911 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 912 //
Lightvalve 50:3c630b5eba9f 913 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 914 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 915 // }
Lightvalve 50:3c630b5eba9f 916 // }
Lightvalve 50:3c630b5eba9f 917 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 918 // break;
Lightvalve 50:3c630b5eba9f 919 // }
Lightvalve 14:8e7590227d22 920
Lightvalve 14:8e7590227d22 921 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 922 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 923 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 924 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 925 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 926 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 927 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 928 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 929 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 930 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 931 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 932 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 933 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 934 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 935 }
Lightvalve 29:69f3f5445d6d 936 cnt_findhome++;
Lightvalve 14:8e7590227d22 937
Lightvalve 29:69f3f5445d6d 938 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 939 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 940 } else {
Lightvalve 29:69f3f5445d6d 941 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 942 }
Lightvalve 19:23b7c1ad8683 943
Lightvalve 57:f4819de54e7a 944 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 945 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 59:f308b1656d9c 946 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
Lightvalve 59:f308b1656d9c 947 else pos.ref = pos.ref - 2.0f;
Lightvalve 61:bc8c8270f0ab 948
Lightvalve 59:f308b1656d9c 949 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 950 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 951 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 952 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 953 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 954
Lightvalve 59:f308b1656d9c 955 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 956 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 957
Lightvalve 34:bb2ca2fc2a8e 958
Lightvalve 29:69f3f5445d6d 959 } else {
Lightvalve 29:69f3f5445d6d 960 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 961 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 962 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 963 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 964 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 965 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 966 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 967 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 968 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 969 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 970 }
Lightvalve 29:69f3f5445d6d 971 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 972 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 973 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 59:f308b1656d9c 974 vel.ref = 0.0f;
Lightvalve 19:23b7c1ad8683 975
Lightvalve 29:69f3f5445d6d 976 // input for position control
Lightvalve 61:bc8c8270f0ab 977
Lightvalve 59:f308b1656d9c 978 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 979 alpha_trans = 0.0f;
Lightvalve 59:f308b1656d9c 980 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 981 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 982 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 983 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 984 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 985
Lightvalve 29:69f3f5445d6d 986 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 987 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 988 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 989 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 990 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 991 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 992 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 993 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 994 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 995 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 996 }
Lightvalve 13:747daba9cf59 997 }
Lightvalve 19:23b7c1ad8683 998
Lightvalve 13:747daba9cf59 999 break;
Lightvalve 13:747daba9cf59 1000 }
Lightvalve 14:8e7590227d22 1001
Lightvalve 50:3c630b5eba9f 1002 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1003 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1004 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1005 // else {
Lightvalve 50:3c630b5eba9f 1006 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1007 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1008 // }
Lightvalve 50:3c630b5eba9f 1009 // }
Lightvalve 50:3c630b5eba9f 1010 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1011 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1012 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1013 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1014 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1015 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1016 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1017 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1018 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1019 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1020 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1021 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1022 // }
Lightvalve 50:3c630b5eba9f 1023 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1024 // }
Lightvalve 50:3c630b5eba9f 1025 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1026 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1027 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1028 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1029 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1030 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1031 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1032 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1033 // 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 1034 // // 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 1035 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1036 // }
Lightvalve 50:3c630b5eba9f 1037 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1038 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1039 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1040 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1041 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1042 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1043 // 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 1044 // // 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 1045 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1046 // }
Lightvalve 50:3c630b5eba9f 1047 // }
Lightvalve 50:3c630b5eba9f 1048 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1049 //
Lightvalve 50:3c630b5eba9f 1050 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1051 //
Lightvalve 50:3c630b5eba9f 1052 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1053 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1054 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1055 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1056 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1057 // }
Lightvalve 50:3c630b5eba9f 1058 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1059 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1060 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1061 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1062 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1063 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1064 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1065 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1066 // }
Lightvalve 50:3c630b5eba9f 1067 //
Lightvalve 50:3c630b5eba9f 1068 // }
Lightvalve 50:3c630b5eba9f 1069 // break;
Lightvalve 50:3c630b5eba9f 1070 // }
Lightvalve 50:3c630b5eba9f 1071 //
Lightvalve 50:3c630b5eba9f 1072 // }
Lightvalve 14:8e7590227d22 1073 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1074 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1075 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1076 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1077 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1078
Lightvalve 14:8e7590227d22 1079 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1080 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1081 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1082 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1083 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1084
Lightvalve 38:118df027d851 1085 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1086 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1087 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1088
Lightvalve 30:8d561f16383b 1089 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1090 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1091 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1092 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1093
Lightvalve 30:8d561f16383b 1094 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1095 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1096 }
Lightvalve 13:747daba9cf59 1097 } else {
Lightvalve 57:f4819de54e7a 1098 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1099 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1100 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1101 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1102 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1103 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1104
Lightvalve 16:903b5a4433b4 1105 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1106
Lightvalve 30:8d561f16383b 1107 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1108 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1109 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1110 }
Lightvalve 14:8e7590227d22 1111 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1112 break;
Lightvalve 13:747daba9cf59 1113 }
Lightvalve 14:8e7590227d22 1114
Lightvalve 50:3c630b5eba9f 1115 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1116 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1117 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1118 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1119 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1120 // }
Lightvalve 50:3c630b5eba9f 1121 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1122 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1123 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1124 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1125 // }
Lightvalve 50:3c630b5eba9f 1126 // } else {
Lightvalve 50:3c630b5eba9f 1127 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1128 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1129 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1130 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1131 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1132 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1133 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1134 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1135 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1136 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1137 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1138 //
Lightvalve 50:3c630b5eba9f 1139 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1140 //
Lightvalve 50:3c630b5eba9f 1141 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1142 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1143 // }
Lightvalve 50:3c630b5eba9f 1144 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1145 // break;
Lightvalve 50:3c630b5eba9f 1146 // }
Lightvalve 19:23b7c1ad8683 1147
Lightvalve 50:3c630b5eba9f 1148 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1149 // 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 1150 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1151 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1152 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1153 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1154 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1155 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1156 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1157 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1158 // }
Lightvalve 50:3c630b5eba9f 1159 // break;
Lightvalve 50:3c630b5eba9f 1160 // }
Lightvalve 14:8e7590227d22 1161
Lightvalve 14:8e7590227d22 1162 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1163 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1164 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1165
Lightvalve 14:8e7590227d22 1166 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1167 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1168 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1169 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1170 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1171 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1172 data_num = 0;
Lightvalve 14:8e7590227d22 1173 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1174 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1175 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1176 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1177 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1178 } else {
Lightvalve 13:747daba9cf59 1179 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1180 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1181 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1182 }
Lightvalve 14:8e7590227d22 1183
Lightvalve 17:1865016ca2e7 1184 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1185 int i;
Lightvalve 13:747daba9cf59 1186 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1187 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1188 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1189 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1190 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1191 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1192 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1193 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1194 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1195 }
Lightvalve 13:747daba9cf59 1196 }
Lightvalve 59:f308b1656d9c 1197 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1198 ID_index = 0;
Lightvalve 57:f4819de54e7a 1199 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1200 }
Lightvalve 14:8e7590227d22 1201
Lightvalve 14:8e7590227d22 1202
Lightvalve 13:747daba9cf59 1203 break;
Lightvalve 13:747daba9cf59 1204 }
Lightvalve 14:8e7590227d22 1205
Lightvalve 14:8e7590227d22 1206 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1207 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1208 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1209 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1210 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1211 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1212 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1213 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1214 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1215 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1216 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1217 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1218 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1219 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1220 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1221 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 1222 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1223 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 1224 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1225 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1226 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1227 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 1228 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1229 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1230 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1231 data_num = 0;
Lightvalve 14:8e7590227d22 1232
Lightvalve 30:8d561f16383b 1233 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1234 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1235 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1236
Lightvalve 30:8d561f16383b 1237 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1238 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1239 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1240
Lightvalve 30:8d561f16383b 1241 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1242 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1243 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1244 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1245
Lightvalve 60:64181f1d3e60 1246 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1247 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1248 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1249 DZ_case = -1;
Lightvalve 14:8e7590227d22 1250 } else {
Lightvalve 13:747daba9cf59 1251 DZ_case = 0;
Lightvalve 13:747daba9cf59 1252 }
Lightvalve 61:bc8c8270f0ab 1253
Lightvalve 60:64181f1d3e60 1254 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1255
Lightvalve 13:747daba9cf59 1256 first_check = 1;
Lightvalve 13:747daba9cf59 1257 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1258 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1259 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1260 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1261 DZ_index = 1;
Lightvalve 14:8e7590227d22 1262
Lightvalve 13:747daba9cf59 1263 }
Lightvalve 19:23b7c1ad8683 1264 } else {
Lightvalve 14:8e7590227d22 1265 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1266 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1267 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 1268 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1269 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1270 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1271 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1272 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1273 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1274 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1275 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1276 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1277 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1278 }
Lightvalve 14:8e7590227d22 1279 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1280
Lightvalve 30:8d561f16383b 1281 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1282 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1283 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1284
Lightvalve 14:8e7590227d22 1285 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1286 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1287 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1288 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1289 } else {
Lightvalve 13:747daba9cf59 1290 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1291 }
Lightvalve 14:8e7590227d22 1292
Lightvalve 13:747daba9cf59 1293 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1294 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1295 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1296 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1297 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1298 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1299 DZ_index = 1;
Lightvalve 13:747daba9cf59 1300 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1301 }
Lightvalve 13:747daba9cf59 1302 }
Lightvalve 14:8e7590227d22 1303 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1304 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1305 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 1306 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1307 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1308 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1309 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1310 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1311 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1312 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1313 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1314 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1315 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1316 }
Lightvalve 14:8e7590227d22 1317 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1318
Lightvalve 30:8d561f16383b 1319 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1320 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1321 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1322 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1323 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1324
Lightvalve 14:8e7590227d22 1325 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1326 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1327 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1328 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1329 } else {
Lightvalve 60:64181f1d3e60 1330 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1331 }
Lightvalve 14:8e7590227d22 1332
Lightvalve 13:747daba9cf59 1333 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1334 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1335 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1336 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1337 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1338 first_check = 0;
Lightvalve 33:91b17819ec30 1339 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1340 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1341
Lightvalve 16:903b5a4433b4 1342 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1343
Lightvalve 60:64181f1d3e60 1344 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1345 DZ_index = 1;
Lightvalve 13:747daba9cf59 1346 }
Lightvalve 13:747daba9cf59 1347 }
Lightvalve 14:8e7590227d22 1348 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1349 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1350 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 1351 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1352 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1353 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1354 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1355 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1356 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1357 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1358 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1359 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1360 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1361 }
Lightvalve 14:8e7590227d22 1362 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1363
Lightvalve 30:8d561f16383b 1364 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1365 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1366 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1367
Lightvalve 14:8e7590227d22 1368 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1369 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1370 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1371 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1372 } else {
Lightvalve 13:747daba9cf59 1373 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1374 }
Lightvalve 13:747daba9cf59 1375 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1376 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1377 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1378 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1379 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1380 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1381 DZ_index = 1;
Lightvalve 13:747daba9cf59 1382 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1383 }
Lightvalve 13:747daba9cf59 1384 }
Lightvalve 14:8e7590227d22 1385 } else {
Lightvalve 30:8d561f16383b 1386 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1387 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 1388 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1389 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1390 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1391 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1392 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1393 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1394 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1395 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1396 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1397 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1398 }
Lightvalve 14:8e7590227d22 1399 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1400
Lightvalve 30:8d561f16383b 1401 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1402 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1403 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1404 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1405 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1406
Lightvalve 60:64181f1d3e60 1407 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1408 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1409 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1410 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1411 } else {
Lightvalve 13:747daba9cf59 1412 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1413 }
Lightvalve 14:8e7590227d22 1414
Lightvalve 13:747daba9cf59 1415 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1416 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1417 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1418 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1419 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1420 first_check = 0;
Lightvalve 33:91b17819ec30 1421 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1422 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1423
Lightvalve 59:f308b1656d9c 1424 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1425
Lightvalve 57:f4819de54e7a 1426 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1427 DZ_index = 1;
Lightvalve 13:747daba9cf59 1428 }
Lightvalve 13:747daba9cf59 1429 }
Lightvalve 13:747daba9cf59 1430 }
Lightvalve 14:8e7590227d22 1431 }
Lightvalve 13:747daba9cf59 1432 break;
Lightvalve 13:747daba9cf59 1433 }
Lightvalve 14:8e7590227d22 1434
Lightvalve 14:8e7590227d22 1435 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1436 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1437 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1438 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1439 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1440 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1441 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1442 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1443 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1444 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1445 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1446 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1447 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1448 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1449 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1450 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1451 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1452 first_check = 1;
Lightvalve 13:747daba9cf59 1453 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1454 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1455 ID_index = 0;
Lightvalve 13:747daba9cf59 1456 max_check = 0;
Lightvalve 13:747daba9cf59 1457 min_check = 0;
Lightvalve 13:747daba9cf59 1458 }
Lightvalve 14:8e7590227d22 1459 } else {
Lightvalve 30:8d561f16383b 1460 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1461 //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 1462 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1463 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1464 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1465 data_num = 0;
Lightvalve 57:f4819de54e7a 1466 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1467
Lightvalve 14:8e7590227d22 1468 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1469 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1470 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1471 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1472 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1473 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1474 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1475 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1476 one_period_end = 1;
Lightvalve 13:747daba9cf59 1477 }
Lightvalve 30:8d561f16383b 1478 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1479 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1480 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1481 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1482 }
Lightvalve 14:8e7590227d22 1483
Lightvalve 14:8e7590227d22 1484 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1485 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1486 max_check = 1;
Lightvalve 14:8e7590227d22 1487 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1488 min_check = 1;
Lightvalve 13:747daba9cf59 1489 }
Lightvalve 13:747daba9cf59 1490 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1491
Lightvalve 13:747daba9cf59 1492 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1493 one_period_end = 0;
Lightvalve 13:747daba9cf59 1494 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1495 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1496 }
Lightvalve 14:8e7590227d22 1497
Lightvalve 14:8e7590227d22 1498 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1499
Lightvalve 13:747daba9cf59 1500 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1501 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1502 ID_index = 0;
Lightvalve 13:747daba9cf59 1503 first_check = 0;
Lightvalve 13:747daba9cf59 1504 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1505 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1506 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1507 }
Lightvalve 13:747daba9cf59 1508 }
Lightvalve 13:747daba9cf59 1509 break;
Lightvalve 13:747daba9cf59 1510 }
Lightvalve 58:2eade98630e2 1511
Lightvalve 57:f4819de54e7a 1512 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1513 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1514 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1515 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1516 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1517 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1518 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1519 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1520 }
Lightvalve 57:f4819de54e7a 1521 break;
Lightvalve 57:f4819de54e7a 1522 }
Lightvalve 58:2eade98630e2 1523
Lightvalve 58:2eade98630e2 1524
Lightvalve 57:f4819de54e7a 1525
Lightvalve 57:f4819de54e7a 1526 default:
Lightvalve 57:f4819de54e7a 1527 break;
Lightvalve 57:f4819de54e7a 1528 }
Lightvalve 57:f4819de54e7a 1529
Lightvalve 57:f4819de54e7a 1530 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1531
Lightvalve 57:f4819de54e7a 1532 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1533 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1534 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1535 break;
Lightvalve 57:f4819de54e7a 1536 }
Lightvalve 57:f4819de54e7a 1537
Lightvalve 57:f4819de54e7a 1538 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 57:f4819de54e7a 1539 if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve 57:f4819de54e7a 1540 I_REF = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1541 } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve 57:f4819de54e7a 1542 V_out = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1543 } else { //SW Valve
Lightvalve 57:f4819de54e7a 1544 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1545 V_out = Vout.ref;
Lightvalve 57:f4819de54e7a 1546 }
Lightvalve 58:2eade98630e2 1547
Lightvalve 57:f4819de54e7a 1548 break;
Lightvalve 57:f4819de54e7a 1549 }
Lightvalve 57:f4819de54e7a 1550
Lightvalve 57:f4819de54e7a 1551 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1552 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1553 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 57:f4819de54e7a 1554 vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1555 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 57:f4819de54e7a 1556 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1557
Lightvalve 57:f4819de54e7a 1558 // torque feedback
Lightvalve 58:2eade98630e2 1559 torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1560 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1561
Lightvalve 57:f4819de54e7a 1562 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1563
Lightvalve 57:f4819de54e7a 1564 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1565 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1566 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1567
Lightvalve 57:f4819de54e7a 1568 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1569 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1570 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1571
Lightvalve 57:f4819de54e7a 1572 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1573 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 1574 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1575 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1576 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 1577 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1578 }
Lightvalve 57:f4819de54e7a 1579 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 1580 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1581
Lightvalve 57:f4819de54e7a 1582 // velocity compensation for torque control
Lightvalve 57:f4819de54e7a 1583 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1584 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1585 // 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 1586 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1587 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1588 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1589 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 1590 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1591 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1592 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1593 }
Lightvalve 57:f4819de54e7a 1594 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 1595 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1596 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1597 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1598 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1599
Lightvalve 57:f4819de54e7a 1600 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 57:f4819de54e7a 1601
Lightvalve 57:f4819de54e7a 1602 } else {
Lightvalve 57:f4819de54e7a 1603 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 57:f4819de54e7a 1604
Lightvalve 57:f4819de54e7a 1605 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1606 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1607
Lightvalve 57:f4819de54e7a 1608 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 57:f4819de54e7a 1609 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1610 } else {
Lightvalve 57:f4819de54e7a 1611 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1612 }
Lightvalve 57:f4819de54e7a 1613
Lightvalve 57:f4819de54e7a 1614 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1615 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1616 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1617 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1618 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1619 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1620 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1621 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1622 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1623 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1624 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1625 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1626 }
Lightvalve 57:f4819de54e7a 1627 }
Lightvalve 61:bc8c8270f0ab 1628
Lightvalve 57:f4819de54e7a 1629 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1630
Lightvalve 60:64181f1d3e60 1631 Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1632 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1633
Lightvalve 57:f4819de54e7a 1634 }
Lightvalve 58:2eade98630e2 1635
Lightvalve 57:f4819de54e7a 1636 break;
Lightvalve 57:f4819de54e7a 1637 }
Lightvalve 58:2eade98630e2 1638
Lightvalve 57:f4819de54e7a 1639 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1640 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1641 break;
Lightvalve 57:f4819de54e7a 1642 }
Lightvalve 14:8e7590227d22 1643
Lightvalve 12:6f2531038ea4 1644 default:
Lightvalve 12:6f2531038ea4 1645 break;
Lightvalve 12:6f2531038ea4 1646 }
Lightvalve 14:8e7590227d22 1647
Lightvalve 57:f4819de54e7a 1648
Lightvalve 57:f4819de54e7a 1649 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1650
Lightvalve 57:f4819de54e7a 1651 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1652 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1653 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1654 if (CURRENT_CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1655 double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1656 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1657
Lightvalve 57:f4819de54e7a 1658 I_ERR = I_REF_fil - cur.sen;
Lightvalve 57:f4819de54e7a 1659 I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
Lightvalve 57:f4819de54e7a 1660
Lightvalve 57:f4819de54e7a 1661
Lightvalve 57:f4819de54e7a 1662 // Moog Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1663 double R_model = 539.0f; // ohm
Lightvalve 57:f4819de54e7a 1664 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1665 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1666 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1667 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1668
Lightvalve 57:f4819de54e7a 1669 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1670 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1671 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1672 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1673 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1674 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1675 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1676 }
Lightvalve 57:f4819de54e7a 1677
Lightvalve 57:f4819de54e7a 1678 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1679
Lightvalve 57:f4819de54e7a 1680 VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
Lightvalve 57:f4819de54e7a 1681 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1682 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1683 I_REF_fil_old = I_REF_fil;
Lightvalve 57:f4819de54e7a 1684 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
Lightvalve 57:f4819de54e7a 1685 double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1686
Lightvalve 57:f4819de54e7a 1687 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1688 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1689 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1690 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1691 VALVE_PWM_RAW = V_MAX;
Lightvalve 57:f4819de54e7a 1692 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 57:f4819de54e7a 1693 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1694 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1695 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1696 VALVE_PWM_RAW = -V_MAX;
Lightvalve 57:f4819de54e7a 1697 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 57:f4819de54e7a 1698 }
Lightvalve 57:f4819de54e7a 1699 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1700 } else {
Lightvalve 57:f4819de54e7a 1701 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1702 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1703 }
Lightvalve 57:f4819de54e7a 1704
Lightvalve 57:f4819de54e7a 1705 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1706 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1707 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1708 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1709 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1710 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1711 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1712
Lightvalve 57:f4819de54e7a 1713 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1714
Lightvalve 57:f4819de54e7a 1715 } else {
Lightvalve 57:f4819de54e7a 1716 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1717 }
Lightvalve 57:f4819de54e7a 1718
Lightvalve 57:f4819de54e7a 1719 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1720 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 57:f4819de54e7a 1721 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 57:f4819de54e7a 1722
Lightvalve 57:f4819de54e7a 1723 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 57:f4819de54e7a 1724 if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
Lightvalve 57:f4819de54e7a 1725 else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
Lightvalve 57:f4819de54e7a 1726 else V_out = CUR_PWM_lin;
Lightvalve 57:f4819de54e7a 1727 }
Lightvalve 58:2eade98630e2 1728
Lightvalve 58:2eade98630e2 1729
Lightvalve 14:8e7590227d22 1730
jobuuu 7:e9086c72bb22 1731 /*******************************************************
jobuuu 7:e9086c72bb22 1732 *** PWM
jobuuu 7:e9086c72bb22 1733 ********************************************************/
Lightvalve 49:e7bcfc244d40 1734 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1735 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1736 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1737 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1738 }
Lightvalve 49:e7bcfc244d40 1739 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1740
Lightvalve 19:23b7c1ad8683 1741 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1742 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1743 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1744
Lightvalve 30:8d561f16383b 1745 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1746 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1747 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1748 } else {
jobuuu 2:a1c0a37df760 1749 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1750 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1751 }
Lightvalve 13:747daba9cf59 1752
jobuuu 1:e04e563be5ce 1753 //pwm
Lightvalve 30:8d561f16383b 1754 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1755 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 61:bc8c8270f0ab 1756
Lightvalve 61:bc8c8270f0ab 1757
Lightvalve 57:f4819de54e7a 1758 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1759
Lightvalve 54:647072f5307a 1760 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1761 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1762 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1763 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 1764 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
Lightvalve 54:647072f5307a 1765 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1766 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 1767 }
Lightvalve 57:f4819de54e7a 1768 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1769 if (SENSING_MODE == 0) {
Lightvalve 60:64181f1d3e60 1770 CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
Lightvalve 54:647072f5307a 1771 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1772 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1773 }
Lightvalve 52:8ea76864368a 1774 }
Lightvalve 52:8ea76864368a 1775 }
Lightvalve 56:6f50d9d3bfee 1776 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1777 //valve position
Lightvalve 54:647072f5307a 1778 double t_value = 0;
Lightvalve 57:f4819de54e7a 1779 // if(value>=(float) VALVE_CENTER) {
Lightvalve 57:f4819de54e7a 1780 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1781 // } else {
Lightvalve 57:f4819de54e7a 1782 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 57:f4819de54e7a 1783 // }
Lightvalve 58:2eade98630e2 1784 if(OPERATING_MODE==5) {
Lightvalve 57:f4819de54e7a 1785 t_value = (double) value;
Lightvalve 58:2eade98630e2 1786 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 57:f4819de54e7a 1787 t_value = cur.sen;
Lightvalve 58:2eade98630e2 1788 } else {
Lightvalve 57:f4819de54e7a 1789 t_value = V_out;
Lightvalve 54:647072f5307a 1790 }
Lightvalve 60:64181f1d3e60 1791 CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
Lightvalve 54:647072f5307a 1792 }
Lightvalve 58:2eade98630e2 1793
Lightvalve 58:2eade98630e2 1794
Lightvalve 56:6f50d9d3bfee 1795 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1796 //pressure A and B
Lightvalve 57:f4819de54e7a 1797 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1798 }
Lightvalve 58:2eade98630e2 1799
Lightvalve 57:f4819de54e7a 1800 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1801 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1802 ;
Lightvalve 57:f4819de54e7a 1803 }
Lightvalve 58:2eade98630e2 1804
Lightvalve 56:6f50d9d3bfee 1805 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1806 //PWM
Lightvalve 57:f4819de54e7a 1807 CAN_TX_PWM((int16_t) cur.sen); //1500
Lightvalve 54:647072f5307a 1808 }
Lightvalve 57:f4819de54e7a 1809 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1810 // ;
Lightvalve 57:f4819de54e7a 1811 // }
Lightvalve 56:6f50d9d3bfee 1812 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1813 //valve position
Lightvalve 57:f4819de54e7a 1814 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 54:647072f5307a 1815 }
Lightvalve 20:806196fda269 1816
Lightvalve 54:647072f5307a 1817 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1818 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1819 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1820 // }
Lightvalve 54:647072f5307a 1821 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1822 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1823 //}
Lightvalve 52:8ea76864368a 1824
Lightvalve 54:647072f5307a 1825 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1826 }
Lightvalve 54:647072f5307a 1827 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1828
Lightvalve 20:806196fda269 1829 }
Lightvalve 52:8ea76864368a 1830 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1831
Lightvalve 58:2eade98630e2 1832 }