Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@99:7bbcb3c0fb06, 2020-09-07 (annotated)

Committer:
Lightvalve
Date:
Mon Sep 07 13:24:15 2020 +0000
Revision:
99:7bbcb3c0fb06
Parent:
98:cd1b2da4704f
Child:
100:ac788a23ab07
200907

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 98:cd1b2da4704f 1 //200819-1
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 99:7bbcb3c0fb06 187 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 90:a6cfef34bdce 195 const float h1[num_input][16] = {
Lightvalve 99:7bbcb3c0fb06 196 {0.007510149385780096f,-0.08546054363250732f,0.1069919764995575f,0.08509496599435806f,0.07903794199228287f,-0.1684821993112564f,-0.14487768709659576f,0.042127542197704315f,0.1335487961769104f,-0.05927852913737297f,-0.0996183305978775f,-0.27109065651893616f,-0.9693920612335205f,0.24347235262393951f,-0.2132253646850586f,0.22068142890930176f},
Lightvalve 99:7bbcb3c0fb06 197 {-0.05294409766793251f,-0.041867922991514206f,-0.3256807327270508f,-0.034878261387348175f,-0.07026512175798416f,-0.22861075401306152f,-0.33614084124565125f,-0.18136321008205414f,0.09246346354484558f,0.1471434235572815f,-0.21722227334976196f,-0.18577393889427185f,-0.4844173789024353f,-0.18735669553279877f,-0.17385557293891907f,0.1741510033607483f},
Lightvalve 99:7bbcb3c0fb06 198 {-0.11809398233890533f,0.24660345911979675f,0.30173972249031067f,0.03463539108633995f,-0.20707233250141144f,-0.1771259754896164f,0.2381446659564972f,-0.2242676168680191f,-0.06035080924630165f,0.14598862826824188f,-0.29169777035713196f,-0.06151542067527771f,-0.010369033552706242f,0.1760575920343399f,0.04635167121887207f,0.10507853329181671f},
Lightvalve 99:7bbcb3c0fb06 199 {-0.10466352850198746f,-0.8296989798545837f,0.32952412962913513f,0.5276854634284973f,-2.529895782470703f,-0.7540028095245361f,-0.09605410695075989f,0.008735805749893188f,-0.012529163621366024f,0.25643670558929443f,-0.6958214044570923f,-0.43133997917175293f,-0.10338100045919418f,0.12308220565319061f,-0.2455512434244156f,-0.6582550406455994f},
Lightvalve 99:7bbcb3c0fb06 200 {0.21332372725009918f,1.231316089630127f,-0.004266113042831421f,0.4257567226886749f,2.670463800430298f,0.3019597828388214f,0.10729566216468811f,-0.2997838854789734f,0.49400031566619873f,0.10995209962129593f,-0.8193581104278564f,3.056830644607544f,0.4233405590057373f,0.2199849635362625f,-0.32047349214553833f,-2.6501264572143555f},
Lightvalve 99:7bbcb3c0fb06 201 {0.16043439507484436f,0.16375356912612915f,0.18053469061851501f,0.15874706208705902f,0.49326881766319275f,-0.18800215423107147f,0.13692843914031982f,-0.052282437682151794f,0.10912235081195831f,0.09951689839363098f,-0.14115400612354279f,0.46494060754776f,0.09473246335983276f,0.20486336946487427f,-0.34267646074295044f,-0.2081247717142105f},
Lightvalve 99:7bbcb3c0fb06 202 {-0.025689538568258286f,0.31047874689102173f,-0.20745378732681274f,-0.39484575390815735f,-0.03778747469186783f,0.16397447884082794f,0.04986697435379028f,-0.1702662855386734f,0.31800010800361633f,0.05778607353568077f,0.11649589240550995f,0.5063466429710388f,0.08153628557920456f,0.23025812208652496f,-0.12950116395950317f,0.07613629847764969f},
Lightvalve 99:7bbcb3c0fb06 203 {0.05911523848772049f,0.07395236194133759f,-0.22071924805641174f,0.16563451290130615f,-0.1870768517255783f,-0.1522436887025833f,-0.14863364398479462f,-0.30535879731178284f,-0.08226263523101807f,0.09613479673862457f,-0.04554467648267746f,0.05987131968140602f,0.46468624472618103f,0.03403371572494507f,0.03567907214164734f,0.39236220717430115f},
Lightvalve 99:7bbcb3c0fb06 204 {0.48603588342666626f,0.5314733386039734f,0.08497276902198792f,0.1000022143125534f,-0.3677861988544464f,0.02060365118086338f,-0.06008884310722351f,-0.6738452911376953f,-0.6158071160316467f,0.2879650890827179f,-0.6558405160903931f,0.26084667444229126f,0.1661921739578247f,0.10332033783197403f,-0.2533509433269501f,0.6018178462982178f},
Lightvalve 99:7bbcb3c0fb06 205 {1.1135119199752808f,-0.3734316825866699f,0.15308424830436707f,1.2624794244766235f,-0.650417149066925f,0.09587316960096359f,-0.24796254932880402f,-1.2541205883026123f,-1.1553627252578735f,-0.3928040862083435f,-1.2609866857528687f,-0.5755031704902649f,-0.22819675505161285f,-0.2676277756690979f,0.2889593541622162f,0.8006932735443115f},
Lightvalve 99:7bbcb3c0fb06 206 {2.0074784755706787f,-0.36035993695259094f,0.3083004653453827f,2.080264091491699f,-0.9242044687271118f,-0.07409020513296127f,-0.16864454746246338f,-1.6228060722351074f,-1.9013266563415527f,0.020437130704522133f,-1.6636942625045776f,-0.27511873841285706f,-0.5915750861167908f,-0.08952024579048157f,0.22128799557685852f,0.7325471639633179f},
Lightvalve 99:7bbcb3c0fb06 207 {-1.1312304735183716f,-0.2330935001373291f,-0.33431580662727356f,-1.0449731349945068f,0.48852232098579407f,0.07061628997325897f,0.12717509269714355f,1.2727468013763428f,0.6371821165084839f,0.16494829952716827f,0.33817121386528015f,0.8207710981369019f,0.8829463720321655f,-0.08701321482658386f,0.08701139688491821f,-0.4277694523334503f},
Lightvalve 99:7bbcb3c0fb06 208 {-1.4291173219680786f,0.23869316279888153f,0.16457059979438782f,-1.2995655536651611f,1.0952478647232056f,0.22367849946022034f,-0.19935551285743713f,1.603598713874817f,1.1977624893188477f,-0.1717631220817566f,1.5336147546768188f,0.4629380702972412f,0.5513730645179749f,-0.056743256747722626f,-0.18463733792304993f,-1.18805992603302f},
Lightvalve 99:7bbcb3c0fb06 209 {-1.0462191104888916f,0.2665462791919708f,0.34226056933403015f,-0.8941956758499146f,0.3416290581226349f,-0.21552634239196777f,-0.26534080505371094f,0.7205302715301514f,0.8155190348625183f,-0.2011536955833435f,1.17991042137146f,-0.08060719817876816f,-0.36113303899765015f,-0.12610484659671783f,0.03977322578430176f,-0.5902136564254761f},
Lightvalve 99:7bbcb3c0fb06 210 {-0.14560148119926453f,-0.02252625674009323f,0.1681719720363617f,-0.1556464582681656f,0.3650952875614166f,-0.2068587988615036f,0.034848541021347046f,0.5438522696495056f,0.5561457872390747f,0.0508471354842186f,0.5090703368186951f,-0.8586003184318542f,-0.4583241939544678f,-0.1314639449119568f,0.05539512634277344f,-0.18172568082809448f},
Lightvalve 99:7bbcb3c0fb06 211 {-0.02909262664616108f,-0.5079584717750549f,-0.3353082537651062f,-0.05747748911380768f,-0.3675327003002167f,-0.07392169535160065f,-0.1290850043296814f,-0.0009405362652614713f,0.14379964768886566f,-0.025794681161642075f,0.0013246577000245452f,-0.9464101195335388f,-0.9513437151908875f,-0.0883866474032402f,-0.06837120652198792f,0.11815738677978516f},
Lightvalve 99:7bbcb3c0fb06 212 {-0.11567045748233795f,-0.3691602945327759f,0.13852116465568542f,-0.01976647414267063f,0.46199774742126465f,-0.28755098581314087f,-0.034339070320129395f,0.07069749385118484f,-0.0023305853828787804f,0.04327867925167084f,-0.3838825225830078f,-0.8316290974617004f,0.13108094036579132f,0.339621901512146f,0.24399921298027039f,0.6707003116607666f},
Lightvalve 99:7bbcb3c0fb06 213 {-0.14796499907970428f,-0.5647942423820496f,0.1734175980091095f,-0.0629722997546196f,0.29957687854766846f,-0.21436209976673126f,-0.2993806004524231f,0.1293460875749588f,-0.21757152676582336f,-0.13116419315338135f,-0.24154658615589142f,-0.5120692849159241f,0.13548626005649567f,-0.08094917982816696f,-0.2279004007577896f,0.5226790904998779f},
Lightvalve 99:7bbcb3c0fb06 214 {-0.3319101929664612f,-0.33067721128463745f,-0.2469976395368576f,-0.04556537792086601f,0.24261413514614105f,-0.13033658266067505f,0.22729727625846863f,-0.253555029630661f,-0.38109493255615234f,-0.00568609731271863f,-0.34676215052604675f,-0.9921920895576477f,0.9402884840965271f,0.2126014530658722f,-0.27062278985977173f,0.1358032077550888f},
Lightvalve 99:7bbcb3c0fb06 215 {0.14674143493175507f,2.418966293334961f,0.12642300128936768f,-0.19850504398345947f,0.06300868839025497f,0.33109232783317566f,-0.11801235377788544f,-0.21144138276576996f,0.1037399098277092f,0.008970028720796108f,0.14475513994693756f,0.5237749218940735f,2.1925363540649414f,0.38920214772224426f,0.11879292130470276f,0.12239934504032135f},
Lightvalve 99:7bbcb3c0fb06 216 {-0.705306887626648f,2.034118413925171f,-0.06727775931358337f,0.6462412476539612f,1.3289216756820679f,0.10326699912548065f,0.12837812304496765f,0.4214518070220947f,0.7291567325592041f,-0.2874339520931244f,0.03681035339832306f,2.939788579940796f,1.2139573097229004f,0.39852505922317505f,0.017315596342086792f,-1.4441412687301636f},
Lightvalve 99:7bbcb3c0fb06 217 {0.45346522331237793f,-2.9436068534851074f,0.23416569828987122f,-0.5134108066558838f,-1.8037080764770508f,-0.4450288712978363f,0.2422361671924591f,-0.8234414458274841f,-1.0423285961151123f,0.05485852435231209f,-0.2535739243030548f,-1.1945387125015259f,0.07674559950828552f,0.060260143131017685f,0.05349007248878479f,-0.003740455722436309f},
Lightvalve 99:7bbcb3c0fb06 218 {-0.5714693665504456f,-0.9768184423446655f,-0.3112567365169525f,-1.9414567947387695f,-1.5952306985855103f,0.015514381229877472f,-0.11168576776981354f,0.764859676361084f,0.19867642223834991f,0.28118395805358887f,-0.39430075883865356f,-0.7374793887138367f,2.512695550918579f,-0.09541217237710953f,-0.30238914489746094f,0.4787358343601227f},
Lightvalve 99:7bbcb3c0fb06 219 {-0.555345892906189f,-1.6697070598602295f,-0.2824755012989044f,-0.7568497657775879f,0.45031219720840454f,0.16226015985012054f,-0.23616454005241394f,0.8048242926597595f,0.36109858751296997f,0.17753344774246216f,1.560268521308899f,-0.5632131695747375f,-0.4959094524383545f,0.1592772901058197f,0.22556337714195251f,-0.35344168543815613f},
Lightvalve 99:7bbcb3c0fb06 220 {0.1766999512910843f,-0.5652604103088379f,0.19488027691841125f,0.7946732640266418f,0.5880955457687378f,-0.5453419089317322f,-0.23504149913787842f,0.07649694383144379f,0.2843969166278839f,0.29189184308052063f,1.3644551038742065f,-0.7556276321411133f,-2.278599500656128f,-0.42851537466049194f,0.06556415557861328f,0.21098895370960236f},
Lightvalve 99:7bbcb3c0fb06 221 {0.07895351201295853f,0.024873005226254463f,0.008128523826599121f,0.474301278591156f,0.01219946425408125f,-0.5898025631904602f,0.012576103210449219f,-0.4172956347465515f,0.3102973997592926f,-0.0049124653451144695f,0.6962054967880249f,-0.17802098393440247f,-1.1843446493148804f,-0.49901241064071655f,-0.1611005961894989f,0.050344884395599365f},
Lightvalve 99:7bbcb3c0fb06 222 {0.00933903455734253f,-0.2628028094768524f,0.06349042057991028f,0.30531296133995056f,0.015286270529031754f,-0.2763833999633789f,0.260002464056015f,-0.20313967764377594f,0.10013914108276367f,0.2439035177230835f,-0.02404540590941906f,0.14526239037513733f,-0.3318004310131073f,-0.06318546086549759f,0.10834884643554688f,-0.20485977828502655f},
Lightvalve 65:a2d7c63419c2 223 };
Lightvalve 65:a2d7c63419c2 224
Lightvalve 90:a6cfef34bdce 225 const float h2[16][16] = {
Lightvalve 99:7bbcb3c0fb06 226 {-0.2772485911846161f,-1.2950003147125244f,-0.06966331601142883f,1.824289321899414f,-0.21907491981983185f,2.213404417037964f,0.042268700897693634f,-0.05995963513851166f,-0.43008196353912354f,-0.1415480375289917f,-1.8411319255828857f,-0.2854231894016266f,-1.3981202840805054f,1.0698281526565552f,1.9954484701156616f,2.010364055633545f},
Lightvalve 99:7bbcb3c0fb06 227 {-0.013917648233473301f,-0.08138870447874069f,0.057057321071624756f,0.5897404551506042f,-0.35503754019737244f,0.541278064250946f,-0.47691380977630615f,-0.5193809270858765f,-0.33757925033569336f,0.2895788848400116f,-0.3936273455619812f,-0.401712566614151f,0.2896718680858612f,-0.39747750759124756f,-0.7484328150749207f,0.5164379477500916f},
Lightvalve 90:a6cfef34bdce 228 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 99:7bbcb3c0fb06 229 {-0.007382708135992289f,-0.5117545127868652f,-0.2894435524940491f,1.8271986246109009f,0.08946844935417175f,1.262634515762329f,-0.3673998713493347f,0.27369168400764465f,0.26211628317832947f,0.2953031361103058f,-0.819525420665741f,0.2156951129436493f,0.8843018412590027f,0.3205264210700989f,-0.01071217656135559f,-0.9147164225578308f},
Lightvalve 99:7bbcb3c0fb06 230 {-0.35557547211647034f,0.46062135696411133f,-0.25313520431518555f,0.6578143835067749f,0.036378175020217896f,0.5827115178108215f,-0.36148199439048767f,-0.13511905074119568f,-0.024399548768997192f,-0.39465832710266113f,-0.48801594972610474f,-0.5026572942733765f,0.9545143246650696f,0.33227550983428955f,-0.024628030136227608f,-0.9521510601043701f},
Lightvalve 99:7bbcb3c0fb06 231 {0.3180491328239441f,0.2706754803657532f,-0.3519742488861084f,0.6082568764686584f,-0.3015052080154419f,-0.07025735080242157f,-0.4308614134788513f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.03413962572813034f,-0.028536617755889893f,-0.20959392189979553f,0.3885268270969391f,0.25990504026412964f,-0.3386908173561096f},
Lightvalve 90:a6cfef34bdce 232 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 99:7bbcb3c0fb06 233 {0.005763808265328407f,0.901138186454773f,0.33083590865135193f,-1.1402807235717773f,-0.14358049631118774f,-0.7633211016654968f,-0.33641529083251953f,-0.49347519874572754f,0.2600560486316681f,-0.37898191809654236f,0.5575101375579834f,-0.5000144839286804f,-1.884093165397644f,-0.5353549122810364f,-0.5794888734817505f,0.04782906547188759f},
Lightvalve 99:7bbcb3c0fb06 234 {-0.4748803973197937f,1.0203641653060913f,-0.11379697918891907f,-0.23675832152366638f,0.041274964809417725f,-0.5730250477790833f,-0.3222590982913971f,-0.17671950161457062f,0.06103590130805969f,-0.38046833872795105f,0.1672670841217041f,-0.665808916091919f,0.09403044730424881f,-0.8293164372444153f,-0.830751359462738f,-1.1721166372299194f},
Lightvalve 99:7bbcb3c0fb06 235 {-0.17900170385837555f,0.24768412113189697f,-0.13502129912376404f,0.12973129749298096f,0.12987366318702698f,0.13760869204998016f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.26733100414276123f,0.36837705969810486f,0.3811538517475128f,-0.26114335656166077f,-0.01326712965965271f,-0.21127890050411224f},
Lightvalve 99:7bbcb3c0fb06 236 {-0.4157681465148926f,-0.26375511288642883f,0.0457797646522522f,-0.37343233823776245f,-0.03321319818496704f,-0.48413145542144775f,0.19619226455688477f,-0.20145627856254578f,-0.050184011459350586f,0.12480869889259338f,0.446702778339386f,0.1830996870994568f,-0.10346674919128418f,0.5542023181915283f,-0.43555375933647156f,-1.0851935148239136f},
Lightvalve 99:7bbcb3c0fb06 237 {0.2031182497739792f,0.4563729465007782f,0.3954955041408539f,0.6428529620170593f,0.0033026933670043945f,0.29504287242889404f,-0.45917266607284546f,-0.2633662223815918f,0.3487861454486847f,-0.32520344853401184f,-0.38528770208358765f,-0.32553040981292725f,-2.6672446727752686f,-1.1636950969696045f,0.7120160460472107f,-0.32854530215263367f},
Lightvalve 99:7bbcb3c0fb06 238 {-0.37746307253837585f,0.17546598613262177f,-0.15798500180244446f,-0.3340439200401306f,-0.37393757700920105f,-0.09083233028650284f,-0.023432869464159012f,-0.3284272253513336f,-0.3764709532260895f,0.2424570620059967f,0.09889675676822662f,-0.31593406200408936f,-0.24904464185237885f,0.1861269325017929f,-0.1036602035164833f,-0.3672483563423157f},
Lightvalve 99:7bbcb3c0fb06 239 {-0.1994437873363495f,0.22506126761436462f,-0.2018718123435974f,0.1583995223045349f,0.07545611262321472f,-0.06834666430950165f,-0.11297860741615295f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.2815547287464142f,-0.28632938861846924f,-0.16718891263008118f,0.30169472098350525f,-0.22633033990859985f,-0.11036203056573868f},
Lightvalve 90:a6cfef34bdce 240 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 99:7bbcb3c0fb06 241 {-0.4194699823856354f,0.5423954129219055f,0.12081471085548401f,-0.24402080476284027f,0.29976895451545715f,0.2541932463645935f,-0.3327784240245819f,0.16180357336997986f,-0.3893685042858124f,-0.02222958207130432f,-0.11276795715093613f,-0.34143054485321045f,0.5664615631103516f,-0.053445033729076385f,0.8375953435897827f,0.243302583694458f},
Lightvalve 65:a2d7c63419c2 242 };
Lightvalve 65:a2d7c63419c2 243
Lightvalve 90:a6cfef34bdce 244 const float h3[16][16] = {
Lightvalve 99:7bbcb3c0fb06 245 {-0.36079341173171997f,-0.07178293913602829f,-0.09227152168750763f,-0.3770010769367218f,-0.20116505026817322f,0.0549815408885479f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.26079756021499634f,0.4001283347606659f,0.00983765535056591f,0.32200857996940613f,-0.2931734621524811f,0.1405516117811203f},
Lightvalve 99:7bbcb3c0fb06 246 {0.047732532024383545f,0.3414793908596039f,0.15154126286506653f,-2.4443891048431396f,-0.12036903947591782f,0.2994164824485779f,-0.3198729455471039f,0.06247803568840027f,0.1580536812543869f,-0.4290032386779785f,0.7928521633148193f,-0.4697307348251343f,-1.3968902826309204f,1.0496028661727905f,-0.4007458984851837f,-0.34964969754219055f},
Lightvalve 97:d71c57e3515e 247 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 99:7bbcb3c0fb06 248 {-0.30922991037368774f,0.9416791796684265f,-0.017252547666430473f,-1.943901538848877f,0.013195735402405262f,-0.49353185296058655f,0.20021501183509827f,-0.047183796763420105f,-1.2068167924880981f,-0.6804701089859009f,0.5606593489646912f,0.1098930612206459f,0.8157970905303955f,-0.32578280568122864f,-0.045937977731227875f,-0.04012180492281914f},
Lightvalve 97:d71c57e3515e 249 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve 99:7bbcb3c0fb06 250 {-0.37449589371681213f,-1.0109825134277344f,-1.1120526790618896f,-0.516460657119751f,0.4546630084514618f,-0.10830622911453247f,-0.18732719123363495f,0.1023317277431488f,-0.5616535544395447f,-0.29796507954597473f,-0.8586224317550659f,-0.10938023030757904f,0.34202808141708374f,-0.3437815010547638f,0.11390715837478638f,-0.42449504137039185f},
Lightvalve 99:7bbcb3c0fb06 251 {0.4110594093799591f,0.22258628904819489f,-0.151726633310318f,0.5069118738174438f,0.2633327543735504f,-0.1975315660238266f,-0.08670487999916077f,-0.25336313247680664f,0.09567403793334961f,-0.06259563565254211f,-0.1663835644721985f,0.35313835740089417f,0.33005842566490173f,-0.04149754345417023f,0.3126353323459625f,-0.3391006588935852f},
Lightvalve 99:7bbcb3c0fb06 252 {-0.40892091393470764f,0.16079013049602509f,-0.5589035749435425f,0.0648638904094696f,0.15512557327747345f,0.13415980339050293f,-0.23312048614025116f,-0.390264093875885f,0.15892928838729858f,-0.1559126079082489f,-0.03546514734625816f,-0.0003446042537689209f,-0.42272207140922546f,-0.23001641035079956f,0.07994696497917175f,0.005298197269439697f},
Lightvalve 90:a6cfef34bdce 253 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 90:a6cfef34bdce 254 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 99:7bbcb3c0fb06 255 {0.15459725260734558f,0.1563560962677002f,-2.715458393096924f,0.29225197434425354f,0.004532767925411463f,-0.13399820029735565f,-0.08742031455039978f,0.05785742402076721f,0.4778056740760803f,-0.432364821434021f,1.0425382852554321f,-0.527778685092926f,-0.885683536529541f,-0.9473130702972412f,0.24802905321121216f,0.13823994994163513f},
Lightvalve 99:7bbcb3c0fb06 256 {-0.408692330121994f,-0.15431173145771027f,0.2030905932188034f,0.058152828365564346f,0.11729760468006134f,-0.35118550062179565f,0.03285527229309082f,0.38763079047203064f,-0.17373010516166687f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.39998891949653625f,-0.3768051266670227f,-0.3348248600959778f,0.31507667899131775f},
Lightvalve 99:7bbcb3c0fb06 257 {-0.2991822361946106f,0.4162381589412689f,-0.24455799162387848f,1.4502341747283936f,0.08580417931079865f,-0.06097564101219177f,-0.11253207921981812f,0.34576353430747986f,0.03363130986690521f,-0.35770976543426514f,0.5319743752479553f,-0.36229726672172546f,0.7186808586120605f,-0.5638260841369629f,0.36124154925346375f,-0.16869547963142395f},
Lightvalve 99:7bbcb3c0fb06 258 {-0.2675279378890991f,0.7483115792274475f,-1.0489211082458496f,0.3543209731578827f,0.3239535391330719f,0.1036515012383461f,-0.32875844836235046f,-0.31893211603164673f,0.5136343836784363f,-0.5733040571212769f,-0.35725829005241394f,-0.5610737204551697f,1.1791003942489624f,-2.648066759109497f,0.23093374073505402f,0.03521662577986717f},
Lightvalve 99:7bbcb3c0fb06 259 {-0.015470266342163086f,-0.637820303440094f,1.954310417175293f,-0.10706640034914017f,0.9550812244415283f,-0.9942391514778137f,0.05196094512939453f,-0.11002077907323837f,-0.9482583403587341f,-0.5521947145462036f,0.03016444481909275f,-0.40535640716552734f,-0.30352818965911865f,-0.39103496074676514f,-0.15696723759174347f,-0.644324004650116f},
Lightvalve 99:7bbcb3c0fb06 260 {0.1863725483417511f,0.2030995935201645f,-0.3770821690559387f,0.8871026635169983f,0.22455444931983948f,0.8570596575737f,0.04860696196556091f,0.055102329701185226f,1.3874585628509521f,0.07449810206890106f,-0.16386890411376953f,-0.09843162447214127f,0.3051011860370636f,0.8180931210517883f,-0.27652546763420105f,-0.2139001488685608f},
Lightvalve 66:a8e6799dbce3 261 };
Lightvalve 65:a2d7c63419c2 262
Lightvalve 99:7bbcb3c0fb06 263 const float hout[16] = { 0.45773375034332275f,0.3032819628715515f,-0.6421300172805786f,-0.4649045169353485f,-0.16619624197483063f,0.3455820381641388f,0.0030125975608825684f,0.10301974415779114f,-0.3167792856693268f,-0.0909297913312912f,0.4971315264701843f,-0.036371998488903046f,-0.27461063861846924f,0.8862571716308594f,0.19961613416671753f,0.17008529603481293f };
Lightvalve 66:a8e6799dbce3 264
Lightvalve 99:7bbcb3c0fb06 265 const float b1[16] = { 0.8876581192016602f,1.2934176921844482f,-1.7145336866378784f,0.47413814067840576f,0.5421417355537415f,0.9176424145698547f,-0.058932315558195114f,0.5991071462631226f,0.17831164598464966f,-0.9105180501937866f,0.45373937487602234f,0.8390357494354248f,-1.4578003883361816f,-0.8427186012268066f,-1.087764859199524f,1.3814316987991333f };
Lightvalve 87:471334725012 266
Lightvalve 99:7bbcb3c0fb06 267 const float b2[16] = { -0.2414330244064331f,-0.6640310883522034f,-1.4564176797866821f,-0.46412673592567444f,-0.6939148902893066f,0.19327175617218018f,0.23848557472229004f,-0.49110376834869385f,-1.20063054561615f,-1.912178635597229f,0.7704527974128723f,0.4352988004684448f,0.18021315336227417f,2.032188892364502f,0.36258646845817566f,1.5754528045654297f };
Lightvalve 65:a2d7c63419c2 268
Lightvalve 99:7bbcb3c0fb06 269 const float b3[16] = { -1.963319182395935f,-0.48238012194633484f,0.3164938986301422f,0.14207158982753754f,0.15110278129577637f,0.91092848777771f,-0.45353031158447266f,-0.7655421495437622f,0.5736603140830994f,0.24439877271652222f,-0.008955814875662327f,-0.25053882598876953f,-0.3661997616291046f,-0.7193557024002075f,-1.3624762296676636f,-0.5095552206039429f };
Lightvalve 87:471334725012 270
Lightvalve 99:7bbcb3c0fb06 271 const float bout[1] = { -0.28574320673942566f };
Lightvalve 65:a2d7c63419c2 272
Lightvalve 66:a8e6799dbce3 273
Lightvalve 87:471334725012 274 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 275 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 276
GiJeongKim 0:51c43836c1d7 277 int main()
GiJeongKim 0:51c43836c1d7 278 {
Lightvalve 66:a8e6799dbce3 279
Lightvalve 65:a2d7c63419c2 280 HAL_Init();
Lightvalve 65:a2d7c63419c2 281 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 282
jobuuu 6:df07d3491e3a 283 /*********************************
jobuuu 1:e04e563be5ce 284 *** Initialization
jobuuu 6:df07d3491e3a 285 *********************************/
Lightvalve 69:3995ffeaa786 286 LED = 0;
Lightvalve 61:bc8c8270f0ab 287 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 288
GiJeongKim 0:51c43836c1d7 289 // i2c init
Lightvalve 8:5d2eebdad025 290 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 291 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 292 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 293 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 294 make_delay();
jobuuu 2:a1c0a37df760 295
GiJeongKim 0:51c43836c1d7 296 // // spi init
Lightvalve 16:903b5a4433b4 297 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 298 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 299 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 300 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 301 make_delay();
Lightvalve 21:e5f1a43ea6f9 302
Lightvalve 16:903b5a4433b4 303 //rom
Lightvalve 19:23b7c1ad8683 304 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 305 make_delay();
Lightvalve 13:747daba9cf59 306
GiJeongKim 0:51c43836c1d7 307 // ADC init
jobuuu 5:a4319f79457b 308 Init_ADC();
Lightvalve 11:82d8768d7351 309 make_delay();
jobuuu 2:a1c0a37df760 310
GiJeongKim 0:51c43836c1d7 311 // Pwm init
GiJeongKim 0:51c43836c1d7 312 Init_PWM();
GiJeongKim 0:51c43836c1d7 313 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 314 make_delay();
Lightvalve 13:747daba9cf59 315
Lightvalve 11:82d8768d7351 316 // TMR3 init
Lightvalve 11:82d8768d7351 317 Init_TMR3();
Lightvalve 11:82d8768d7351 318 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 21:e5f1a43ea6f9 320
Lightvalve 50:3c630b5eba9f 321 // TMR2 init
Lightvalve 56:6f50d9d3bfee 322 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 323 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 324 // make_delay();
Lightvalve 21:e5f1a43ea6f9 325
GiJeongKim 0:51c43836c1d7 326 // CAN
jobuuu 2:a1c0a37df760 327 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 328 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 329 make_delay();
Lightvalve 34:bb2ca2fc2a8e 330
Lightvalve 23:59218d4a256d 331 //Timer priority
Lightvalve 23:59218d4a256d 332 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 333 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 334 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 335
Lightvalve 23:59218d4a256d 336 //can.reset();
Lightvalve 19:23b7c1ad8683 337 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 338
GiJeongKim 0:51c43836c1d7 339 // spi _ enc
GiJeongKim 0:51c43836c1d7 340 spi_enc_set_init();
Lightvalve 11:82d8768d7351 341 make_delay();
Lightvalve 13:747daba9cf59 342
Lightvalve 11:82d8768d7351 343 //DAC init
Lightvalve 58:2eade98630e2 344 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 345 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 346 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 347 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 348 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 349 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 350 }
Lightvalve 11:82d8768d7351 351 make_delay();
Lightvalve 13:747daba9cf59 352
Lightvalve 19:23b7c1ad8683 353 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 354 if(i%2==0)
Lightvalve 38:118df027d851 355 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 356 else
Lightvalve 38:118df027d851 357 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 358 }
Lightvalve 61:bc8c8270f0ab 359
Lightvalve 61:bc8c8270f0ab 360
jobuuu 6:df07d3491e3a 361 /************************************
jobuuu 1:e04e563be5ce 362 *** Program is operating!
jobuuu 6:df07d3491e3a 363 *************************************/
GiJeongKim 0:51c43836c1d7 364 while(1) {
Lightvalve 66:a8e6799dbce3 365 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 366 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 367 //i2c
Lightvalve 66:a8e6799dbce3 368
Lightvalve 65:a2d7c63419c2 369 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 370 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 371 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 372 // LED=0;
Lightvalve 65:a2d7c63419c2 373 // } else
Lightvalve 65:a2d7c63419c2 374 // LED = 1;
Lightvalve 65:a2d7c63419c2 375 timer_while = 0;
Lightvalve 66:a8e6799dbce3 376 //}
Lightvalve 66:a8e6799dbce3 377
Lightvalve 66:a8e6799dbce3 378 timer_while ++;
Lightvalve 66:a8e6799dbce3 379
Lightvalve 87:471334725012 380 //LED = 0;
Lightvalve 87:471334725012 381
Lightvalve 73:f80dc3970c99 382 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 383 LED = 0;
Lightvalve 73:f80dc3970c99 384 }
Lightvalve 66:a8e6799dbce3 385
Lightvalve 73:f80dc3970c99 386 else if(NN_Control_Flag == 1) {
Lightvalve 88:d6e591bece22 387 float output1[16] = { 0.0f };
Lightvalve 88:d6e591bece22 388 float output2[16] = { 0.0f };
Lightvalve 88:d6e591bece22 389 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 390 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 391
Lightvalve 88:d6e591bece22 392 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 393 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 394 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 395 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 396 }
Lightvalve 66:a8e6799dbce3 397 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 398 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 399 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 400 }
Lightvalve 66:a8e6799dbce3 401 }
Lightvalve 65:a2d7c63419c2 402
Lightvalve 88:d6e591bece22 403 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 404 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 405 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 406 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 407 }
Lightvalve 66:a8e6799dbce3 408 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 409 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 410 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 411 }
Lightvalve 66:a8e6799dbce3 412 }
Lightvalve 65:a2d7c63419c2 413
Lightvalve 88:d6e591bece22 414 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 415 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 416 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 417 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 66:a8e6799dbce3 419 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 420 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 421 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 422 }
Lightvalve 65:a2d7c63419c2 423 }
Lightvalve 66:a8e6799dbce3 424
Lightvalve 66:a8e6799dbce3 425 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 88:d6e591bece22 426 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 427 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 66:a8e6799dbce3 429 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 430
Lightvalve 66:a8e6799dbce3 431 }
Lightvalve 73:f80dc3970c99 432 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 433 output = output * 20000.0f - 10000.0f;
Lightvalve 99:7bbcb3c0fb06 434 output_normalized = output;
Lightvalve 66:a8e6799dbce3 435 if(output>=0) {
Lightvalve 66:a8e6799dbce3 436 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 437 } else {
Lightvalve 66:a8e6799dbce3 438 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 439 }
Lightvalve 87:471334725012 440
Lightvalve 88:d6e591bece22 441 // // torque feedback
Lightvalve 88:d6e591bece22 442 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 443 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 444 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 445 //
Lightvalve 88:d6e591bece22 446 //
Lightvalve 88:d6e591bece22 447 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 448 //
Lightvalve 88:d6e591bece22 449 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 450 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 451 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 452 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 453 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 454 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 455 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 456 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 457 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 458 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 459 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 460 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 461 // }
Lightvalve 88:d6e591bece22 462 // }
Lightvalve 87:471334725012 463
Lightvalve 69:3995ffeaa786 464
Lightvalve 69:3995ffeaa786 465 if(LED==1) {
Lightvalve 69:3995ffeaa786 466 LED=0;
Lightvalve 69:3995ffeaa786 467 } else
Lightvalve 69:3995ffeaa786 468 LED = 1;
Lightvalve 69:3995ffeaa786 469
Lightvalve 65:a2d7c63419c2 470 }
Lightvalve 62:b5452adfb2cd 471
Lightvalve 87:471334725012 472 //LED = 1;
Lightvalve 69:3995ffeaa786 473
Lightvalve 66:a8e6799dbce3 474
GiJeongKim 0:51c43836c1d7 475 }
jobuuu 1:e04e563be5ce 476 }
jobuuu 1:e04e563be5ce 477
Lightvalve 33:91b17819ec30 478 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 479 {
Lightvalve 14:8e7590227d22 480
Lightvalve 13:747daba9cf59 481 int i = 0;
Lightvalve 48:889798ff9329 482 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 483 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 484 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 485 if(i==0) {
Lightvalve 50:3c630b5eba9f 486 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 487 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 488 } else {
Lightvalve 57:f4819de54e7a 489 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 490 }
Lightvalve 14:8e7590227d22 491 } else {
Lightvalve 50:3c630b5eba9f 492 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 493 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 494 } else {
Lightvalve 57:f4819de54e7a 495 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 496 }
Lightvalve 13:747daba9cf59 497 }
Lightvalve 13:747daba9cf59 498 break;
Lightvalve 13:747daba9cf59 499 }
Lightvalve 13:747daba9cf59 500 }
Lightvalve 14:8e7590227d22 501 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 502 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 503 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 504 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 505 }
Lightvalve 36:a46e63505ed8 506
Lightvalve 57:f4819de54e7a 507 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 508 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 509
Lightvalve 13:747daba9cf59 510 }
jobuuu 6:df07d3491e3a 511
jobuuu 6:df07d3491e3a 512
Lightvalve 30:8d561f16383b 513 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 514 {
Lightvalve 13:747daba9cf59 515 int i = 0;
Lightvalve 13:747daba9cf59 516
Lightvalve 38:118df027d851 517 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 518 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 519 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 520 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 521 }
Lightvalve 38:118df027d851 522
Lightvalve 89:a7b45368ea0f 523 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 524 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 525 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 526 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 527 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 528 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 529
Lightvalve 13:747daba9cf59 530 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 531
Lightvalve 18:b8adf1582ea3 532 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 533 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 534 if(i==0) {
Lightvalve 48:889798ff9329 535 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 536 } else {
Lightvalve 48:889798ff9329 537 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 538 }
Lightvalve 13:747daba9cf59 539 break;
Lightvalve 13:747daba9cf59 540 }
Lightvalve 13:747daba9cf59 541 }
Lightvalve 59:f308b1656d9c 542 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 543 }
Lightvalve 13:747daba9cf59 544
Lightvalve 14:8e7590227d22 545 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 546 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 547 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 548 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 549 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 550 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 551 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 552 }; // duty
Lightvalve 67:c2812cf26c38 553 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 554 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 555 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 556 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 557 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 558 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 559 }; // mV
Lightvalve 13:747daba9cf59 560
Lightvalve 30:8d561f16383b 561 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 562 {
Lightvalve 30:8d561f16383b 563 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 564 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 565 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 566 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 567 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 568 } else {
Lightvalve 13:747daba9cf59 569 int idx = 0;
Lightvalve 13:747daba9cf59 570 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 571 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 572 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 573 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 574 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 575 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 576 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 577 break;
Lightvalve 13:747daba9cf59 578 }
Lightvalve 13:747daba9cf59 579 }
Lightvalve 13:747daba9cf59 580 }
Lightvalve 14:8e7590227d22 581
Lightvalve 13:747daba9cf59 582 return PWM_duty;
Lightvalve 13:747daba9cf59 583 }
jobuuu 6:df07d3491e3a 584
Lightvalve 57:f4819de54e7a 585
Lightvalve 57:f4819de54e7a 586
Lightvalve 57:f4819de54e7a 587
Lightvalve 57:f4819de54e7a 588
jobuuu 2:a1c0a37df760 589 /*******************************************************************************
jobuuu 2:a1c0a37df760 590 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 591 *******************************************************************************/
jobuuu 2:a1c0a37df760 592
Lightvalve 51:b46bed7fec80 593 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 594 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 595 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 596 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 597 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 598 {
Lightvalve 19:23b7c1ad8683 599 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 600
Lightvalve 21:e5f1a43ea6f9 601 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 602 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 603 ********************************************************/
Lightvalve 13:747daba9cf59 604
Lightvalve 57:f4819de54e7a 605 //Encoder
Lightvalve 57:f4819de54e7a 606 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 607 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 608 }
Lightvalve 61:bc8c8270f0ab 609
Lightvalve 61:bc8c8270f0ab 610 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 611 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 612 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 613 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 614 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 615 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 616 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 617
Lightvalve 67:c2812cf26c38 618
Lightvalve 67:c2812cf26c38 619 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 620 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 621 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 622 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 623 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 624
Lightvalve 17:1865016ca2e7 625
Lightvalve 58:2eade98630e2 626 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 627 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 628 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 629 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 630 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 631 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 632 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 633 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 634 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 635
Lightvalve 58:2eade98630e2 636 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 637 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 638 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 639 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 640 }
Lightvalve 58:2eade98630e2 641 }
Lightvalve 61:bc8c8270f0ab 642
Lightvalve 58:2eade98630e2 643 // //Pressure sensor A
Lightvalve 58:2eade98630e2 644 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 645 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 646 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 647 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 648 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 649 // 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 650 //
Lightvalve 58:2eade98630e2 651 //
Lightvalve 58:2eade98630e2 652 // //Pressure sensor B
Lightvalve 58:2eade98630e2 653 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 654 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 655 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 656 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 657
Lightvalve 17:1865016ca2e7 658
Lightvalve 21:e5f1a43ea6f9 659 //Current
Lightvalve 21:e5f1a43ea6f9 660 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 661 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 662 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 663 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 664 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 665 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 666 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 667
Lightvalve 57:f4819de54e7a 668 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 669 }
Lightvalve 11:82d8768d7351 670 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 671 }
Lightvalve 19:23b7c1ad8683 672
Lightvalve 19:23b7c1ad8683 673
Lightvalve 18:b8adf1582ea3 674 int j =0;
Lightvalve 54:647072f5307a 675 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 676 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 677 int cnt_trans = 0;
Lightvalve 48:889798ff9329 678 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 679 int can_rest =0;
Lightvalve 48:889798ff9329 680
Lightvalve 11:82d8768d7351 681 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 682 {
Lightvalve 19:23b7c1ad8683 683 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 684
Lightvalve 57:f4819de54e7a 685 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 686 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 687 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 688 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 689 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 690 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 691 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 692 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 693 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 694 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 695 }
Lightvalve 50:3c630b5eba9f 696
Lightvalve 50:3c630b5eba9f 697 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 698 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 699 cnt_trans++;
Lightvalve 46:2694daea349b 700 torq.err_sum = 0;
Lightvalve 48:889798ff9329 701 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 702 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 703 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 704 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 705 cnt_trans++;
Lightvalve 46:2694daea349b 706 torq.err_sum = 0;
Lightvalve 48:889798ff9329 707 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 708 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 709 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 710 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 711 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 712 } else {
Lightvalve 58:2eade98630e2 713 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 714 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 715 }
Lightvalve 45:35fa6884d0c6 716
Lightvalve 50:3c630b5eba9f 717
Lightvalve 57:f4819de54e7a 718 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 719 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 720
Lightvalve 57:f4819de54e7a 721 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 722 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 723 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 724 } else {
Lightvalve 57:f4819de54e7a 725 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 726 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 727 }
Lightvalve 56:6f50d9d3bfee 728
Lightvalve 56:6f50d9d3bfee 729
Lightvalve 56:6f50d9d3bfee 730
Lightvalve 57:f4819de54e7a 731 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 732
Lightvalve 57:f4819de54e7a 733 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 734 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 735 break;
Lightvalve 13:747daba9cf59 736 }
Lightvalve 14:8e7590227d22 737
Lightvalve 14:8e7590227d22 738 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 739 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 740 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 741 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 742
Lightvalve 14:8e7590227d22 743 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 744 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 745 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 746
Lightvalve 84:c355d3e52bf1 747 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 748
Lightvalve 30:8d561f16383b 749 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 750 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 751
Lightvalve 16:903b5a4433b4 752 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 753 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 754 }
Lightvalve 13:747daba9cf59 755 } else {
Lightvalve 58:2eade98630e2 756 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 757 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 758 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 759 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 760
Lightvalve 16:903b5a4433b4 761 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 762
Lightvalve 30:8d561f16383b 763 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 764
Lightvalve 13:747daba9cf59 765 }
Lightvalve 14:8e7590227d22 766 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 767 break;
Lightvalve 19:23b7c1ad8683 768 }
Lightvalve 14:8e7590227d22 769
Lightvalve 50:3c630b5eba9f 770 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 771 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 772 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 773 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 774 // }
Lightvalve 50:3c630b5eba9f 775 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 776 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 777 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 778 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 779 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 780 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 781 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 782 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 783 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 784 // }
Lightvalve 50:3c630b5eba9f 785 //
Lightvalve 50:3c630b5eba9f 786 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 787 // 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 788 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 789 //
Lightvalve 50:3c630b5eba9f 790 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 791 // V_out = 0;
Lightvalve 50:3c630b5eba9f 792 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 793 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 794 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 795 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 796 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 797 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 798 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 799 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 800 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 801 //
Lightvalve 50:3c630b5eba9f 802 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 803 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 804 // // | / | / |/
Lightvalve 50:3c630b5eba9f 805 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 806 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 807 // // /| / | / |
Lightvalve 50:3c630b5eba9f 808 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 809 //
Lightvalve 50:3c630b5eba9f 810 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 811 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 812 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 813 // } else {
Lightvalve 50:3c630b5eba9f 814 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 815 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 816 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 817 // }
Lightvalve 50:3c630b5eba9f 818 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 819 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 820 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 821 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 822 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 823 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 824 // }
Lightvalve 50:3c630b5eba9f 825 // } else {
Lightvalve 50:3c630b5eba9f 826 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 827 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 828 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 829 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 830 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 831 // }
Lightvalve 50:3c630b5eba9f 832 // V_out = 0;
Lightvalve 50:3c630b5eba9f 833 //
Lightvalve 50:3c630b5eba9f 834 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 835 //
Lightvalve 50:3c630b5eba9f 836 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 837 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 838 //
Lightvalve 50:3c630b5eba9f 839 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 840 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 841 // }
Lightvalve 50:3c630b5eba9f 842 // }
Lightvalve 50:3c630b5eba9f 843 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 844 // break;
Lightvalve 50:3c630b5eba9f 845 // }
Lightvalve 14:8e7590227d22 846
Lightvalve 14:8e7590227d22 847 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 848 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 849 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 850 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 851 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 852 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 853 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 854 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 855 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 856 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 857 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 858 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 859 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 860 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 861 }
Lightvalve 29:69f3f5445d6d 862 cnt_findhome++;
Lightvalve 14:8e7590227d22 863
Lightvalve 29:69f3f5445d6d 864 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 865 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 866 } else {
Lightvalve 29:69f3f5445d6d 867 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 868 }
Lightvalve 19:23b7c1ad8683 869
Lightvalve 57:f4819de54e7a 870 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 871 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 872 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 873 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 874
Lightvalve 59:f308b1656d9c 875 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 876 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 877 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 878 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 879 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 880
Lightvalve 59:f308b1656d9c 881 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 882 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 883
Lightvalve 34:bb2ca2fc2a8e 884
Lightvalve 29:69f3f5445d6d 885 } else {
Lightvalve 29:69f3f5445d6d 886 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 887 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 888 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 889 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 890 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 891 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 892 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 893 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 894 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 895 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 896 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 897
Lightvalve 67:c2812cf26c38 898
Lightvalve 67:c2812cf26c38 899 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 900 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 901 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 902 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 903 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 904 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 905 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 906
Lightvalve 67:c2812cf26c38 907
Lightvalve 29:69f3f5445d6d 908 }
Lightvalve 29:69f3f5445d6d 909 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 910 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 911 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 912 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 913 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 914
Lightvalve 29:69f3f5445d6d 915 // input for position control
Lightvalve 67:c2812cf26c38 916
Lightvalve 67:c2812cf26c38 917 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 918 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 919
Lightvalve 67:c2812cf26c38 920 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 921 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 922 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 923 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 924
Lightvalve 67:c2812cf26c38 925 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 926
Lightvalve 67:c2812cf26c38 927 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 928 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 929 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 930
Lightvalve 67:c2812cf26c38 931 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 932 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 933 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 934
Lightvalve 69:3995ffeaa786 935 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 936 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 937 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 938 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 939 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 940 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 941 }
Lightvalve 67:c2812cf26c38 942 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 943 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 944
Lightvalve 67:c2812cf26c38 945 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 946
Lightvalve 67:c2812cf26c38 947
Lightvalve 67:c2812cf26c38 948
Lightvalve 67:c2812cf26c38 949 } else {
Lightvalve 67:c2812cf26c38 950 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 951 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 954 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 955 } else {
Lightvalve 67:c2812cf26c38 956 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 957 }
Lightvalve 67:c2812cf26c38 958
Lightvalve 67:c2812cf26c38 959 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 960
Lightvalve 67:c2812cf26c38 961 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 962
Lightvalve 67:c2812cf26c38 963 }
Lightvalve 67:c2812cf26c38 964
Lightvalve 67:c2812cf26c38 965
Lightvalve 67:c2812cf26c38 966
Lightvalve 67:c2812cf26c38 967
Lightvalve 59:f308b1656d9c 968 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 969 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 970 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 971 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 972 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 973
Lightvalve 29:69f3f5445d6d 974 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 975 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 976 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 977 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 978 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 979 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 980 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 981 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 982 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 983 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 984 }
Lightvalve 13:747daba9cf59 985 }
Lightvalve 19:23b7c1ad8683 986
Lightvalve 13:747daba9cf59 987 break;
Lightvalve 13:747daba9cf59 988 }
Lightvalve 14:8e7590227d22 989
Lightvalve 50:3c630b5eba9f 990 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 991 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 992 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 993 // else {
Lightvalve 50:3c630b5eba9f 994 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 995 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 996 // }
Lightvalve 50:3c630b5eba9f 997 // }
Lightvalve 50:3c630b5eba9f 998 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 999 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1000 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1001 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1002 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1003 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1004 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1005 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1006 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1007 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1008 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1009 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1010 // }
Lightvalve 50:3c630b5eba9f 1011 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1012 // }
Lightvalve 50:3c630b5eba9f 1013 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1014 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1015 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1016 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1017 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1018 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1019 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1020 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1021 // 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 1022 // // 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 1023 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1024 // }
Lightvalve 50:3c630b5eba9f 1025 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1026 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1027 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1028 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1029 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1030 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1031 // 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 1032 // // 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 1033 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1034 // }
Lightvalve 50:3c630b5eba9f 1035 // }
Lightvalve 50:3c630b5eba9f 1036 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1037 //
Lightvalve 50:3c630b5eba9f 1038 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1039 //
Lightvalve 50:3c630b5eba9f 1040 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1041 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1042 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1043 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1044 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1045 // }
Lightvalve 50:3c630b5eba9f 1046 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1047 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1048 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1049 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1050 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1051 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1052 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1053 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1054 // }
Lightvalve 50:3c630b5eba9f 1055 //
Lightvalve 50:3c630b5eba9f 1056 // }
Lightvalve 50:3c630b5eba9f 1057 // break;
Lightvalve 50:3c630b5eba9f 1058 // }
Lightvalve 50:3c630b5eba9f 1059 //
Lightvalve 50:3c630b5eba9f 1060 // }
Lightvalve 14:8e7590227d22 1061 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1062 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1063 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1064 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1065 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1066
Lightvalve 14:8e7590227d22 1067 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1068 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1069 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1070 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1071 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1072
Lightvalve 38:118df027d851 1073 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1074 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1075 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1076
Lightvalve 30:8d561f16383b 1077 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1078 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1079 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1080 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1081
Lightvalve 30:8d561f16383b 1082 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1083 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1084 }
Lightvalve 13:747daba9cf59 1085 } else {
Lightvalve 57:f4819de54e7a 1086 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1087 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1088 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1089 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1090 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1091 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1092
Lightvalve 16:903b5a4433b4 1093 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1094
Lightvalve 30:8d561f16383b 1095 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1096 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1097 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1098 }
Lightvalve 14:8e7590227d22 1099 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1100 break;
Lightvalve 13:747daba9cf59 1101 }
Lightvalve 14:8e7590227d22 1102
Lightvalve 50:3c630b5eba9f 1103 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1104 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1105 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1106 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1107 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1108 // }
Lightvalve 50:3c630b5eba9f 1109 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1110 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1111 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1112 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1113 // }
Lightvalve 50:3c630b5eba9f 1114 // } else {
Lightvalve 50:3c630b5eba9f 1115 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1116 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1117 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1118 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1119 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1120 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1121 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1122 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1123 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1124 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1125 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1126 //
Lightvalve 50:3c630b5eba9f 1127 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1128 //
Lightvalve 50:3c630b5eba9f 1129 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1130 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1131 // }
Lightvalve 50:3c630b5eba9f 1132 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1133 // break;
Lightvalve 50:3c630b5eba9f 1134 // }
Lightvalve 19:23b7c1ad8683 1135
Lightvalve 50:3c630b5eba9f 1136 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1137 // 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 1138 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1139 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1140 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1141 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1142 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1143 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1144 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1145 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1146 // }
Lightvalve 50:3c630b5eba9f 1147 // break;
Lightvalve 50:3c630b5eba9f 1148 // }
Lightvalve 14:8e7590227d22 1149
Lightvalve 14:8e7590227d22 1150 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1151 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1152 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1153
Lightvalve 14:8e7590227d22 1154 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1155 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1156 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1157 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1158 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1159 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1160 data_num = 0;
Lightvalve 14:8e7590227d22 1161 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1162 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1163 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1164 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1165 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1166 } else {
Lightvalve 13:747daba9cf59 1167 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1168 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1169 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1170 }
Lightvalve 14:8e7590227d22 1171
Lightvalve 17:1865016ca2e7 1172 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1173 int i;
Lightvalve 13:747daba9cf59 1174 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1175 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1176 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1177 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1178 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1179 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1180 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1181 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1182 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1183 }
Lightvalve 13:747daba9cf59 1184 }
Lightvalve 59:f308b1656d9c 1185 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1186 ID_index = 0;
Lightvalve 57:f4819de54e7a 1187 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1188 }
Lightvalve 14:8e7590227d22 1189
Lightvalve 14:8e7590227d22 1190
Lightvalve 13:747daba9cf59 1191 break;
Lightvalve 13:747daba9cf59 1192 }
Lightvalve 14:8e7590227d22 1193
Lightvalve 14:8e7590227d22 1194 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1195 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1196 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1197 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1198 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1199 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1200 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1201 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1202 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1203 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1204 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1205 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1206 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1207 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1208 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1209 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 1210 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1211 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 1212 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1213 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1214 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1215 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 1216 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1217 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1218 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1219 data_num = 0;
Lightvalve 14:8e7590227d22 1220
Lightvalve 30:8d561f16383b 1221 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1222 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1223 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1224
Lightvalve 30:8d561f16383b 1225 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1226 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1227 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1228
Lightvalve 30:8d561f16383b 1229 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1230 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1231 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1232 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1233
Lightvalve 60:64181f1d3e60 1234 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1235 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1236 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1237 DZ_case = -1;
Lightvalve 14:8e7590227d22 1238 } else {
Lightvalve 13:747daba9cf59 1239 DZ_case = 0;
Lightvalve 13:747daba9cf59 1240 }
Lightvalve 61:bc8c8270f0ab 1241
Lightvalve 60:64181f1d3e60 1242 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1243
Lightvalve 13:747daba9cf59 1244 first_check = 1;
Lightvalve 13:747daba9cf59 1245 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1246 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1247 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1248 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1249 DZ_index = 1;
Lightvalve 14:8e7590227d22 1250
Lightvalve 13:747daba9cf59 1251 }
Lightvalve 19:23b7c1ad8683 1252 } else {
Lightvalve 14:8e7590227d22 1253 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1254 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1255 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 1256 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1257 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1258 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1259 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1260 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1261 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1262 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1263 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1264 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1265 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1266 }
Lightvalve 14:8e7590227d22 1267 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1268
Lightvalve 30:8d561f16383b 1269 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1270 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1271 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1272
Lightvalve 14:8e7590227d22 1273 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1274 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1275 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1276 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1277 } else {
Lightvalve 13:747daba9cf59 1278 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1279 }
Lightvalve 14:8e7590227d22 1280
Lightvalve 13:747daba9cf59 1281 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1282 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1283 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1284 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1285 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1286 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1287 DZ_index = 1;
Lightvalve 13:747daba9cf59 1288 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1289 }
Lightvalve 13:747daba9cf59 1290 }
Lightvalve 14:8e7590227d22 1291 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1292 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1293 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 1294 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1295 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1296 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1297 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1298 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1299 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1300 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1301 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1302 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1303 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1304 }
Lightvalve 14:8e7590227d22 1305 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1306
Lightvalve 30:8d561f16383b 1307 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1308 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1309 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1310 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1311 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1312
Lightvalve 14:8e7590227d22 1313 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1314 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1315 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1316 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1317 } else {
Lightvalve 60:64181f1d3e60 1318 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1319 }
Lightvalve 14:8e7590227d22 1320
Lightvalve 13:747daba9cf59 1321 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1322 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1323 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1324 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1325 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1326 first_check = 0;
Lightvalve 33:91b17819ec30 1327 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1328 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1329
Lightvalve 16:903b5a4433b4 1330 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1331
Lightvalve 60:64181f1d3e60 1332 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1333 DZ_index = 1;
Lightvalve 13:747daba9cf59 1334 }
Lightvalve 13:747daba9cf59 1335 }
Lightvalve 14:8e7590227d22 1336 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1337 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1338 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 1339 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1340 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1341 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1342 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1343 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1344 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1345 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1346 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1347 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1348 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1349 }
Lightvalve 14:8e7590227d22 1350 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1351
Lightvalve 30:8d561f16383b 1352 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1353 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1354 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1355
Lightvalve 14:8e7590227d22 1356 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1357 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1358 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1359 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1360 } else {
Lightvalve 13:747daba9cf59 1361 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1362 }
Lightvalve 13:747daba9cf59 1363 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1364 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1365 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1366 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1367 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1368 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1369 DZ_index = 1;
Lightvalve 13:747daba9cf59 1370 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1371 }
Lightvalve 13:747daba9cf59 1372 }
Lightvalve 14:8e7590227d22 1373 } else {
Lightvalve 30:8d561f16383b 1374 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1375 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 1376 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1377 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1378 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1379 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1380 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1381 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1382 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1383 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1384 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1385 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1386 }
Lightvalve 14:8e7590227d22 1387 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1388
Lightvalve 30:8d561f16383b 1389 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1390 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1391 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1392 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1393 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1394
Lightvalve 60:64181f1d3e60 1395 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1396 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1397 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1398 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1399 } else {
Lightvalve 13:747daba9cf59 1400 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1401 }
Lightvalve 14:8e7590227d22 1402
Lightvalve 13:747daba9cf59 1403 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1404 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1405 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1406 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1407 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1408 first_check = 0;
Lightvalve 33:91b17819ec30 1409 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1410 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1411
Lightvalve 59:f308b1656d9c 1412 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1413
Lightvalve 57:f4819de54e7a 1414 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1415 DZ_index = 1;
Lightvalve 13:747daba9cf59 1416 }
Lightvalve 13:747daba9cf59 1417 }
Lightvalve 13:747daba9cf59 1418 }
Lightvalve 14:8e7590227d22 1419 }
Lightvalve 13:747daba9cf59 1420 break;
Lightvalve 13:747daba9cf59 1421 }
Lightvalve 14:8e7590227d22 1422
Lightvalve 14:8e7590227d22 1423 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1424 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1425 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1426 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1427 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1428 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1429 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1430 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1431 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1432 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1433 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1434 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1435 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1436 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1437 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1438 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1439 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1440 first_check = 1;
Lightvalve 13:747daba9cf59 1441 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1442 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1443 ID_index = 0;
Lightvalve 13:747daba9cf59 1444 max_check = 0;
Lightvalve 13:747daba9cf59 1445 min_check = 0;
Lightvalve 13:747daba9cf59 1446 }
Lightvalve 14:8e7590227d22 1447 } else {
Lightvalve 30:8d561f16383b 1448 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1449 //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 1450 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1451 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1452 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1453 data_num = 0;
Lightvalve 57:f4819de54e7a 1454 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1455
Lightvalve 14:8e7590227d22 1456 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1457 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1458 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1459 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1460 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1461 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1462 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1463 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1464 one_period_end = 1;
Lightvalve 13:747daba9cf59 1465 }
Lightvalve 30:8d561f16383b 1466 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1467 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1468 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1469 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1470 }
Lightvalve 14:8e7590227d22 1471
Lightvalve 14:8e7590227d22 1472 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1473 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1474 max_check = 1;
Lightvalve 14:8e7590227d22 1475 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1476 min_check = 1;
Lightvalve 13:747daba9cf59 1477 }
Lightvalve 13:747daba9cf59 1478 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1479
Lightvalve 13:747daba9cf59 1480 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1481 one_period_end = 0;
Lightvalve 13:747daba9cf59 1482 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1483 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1484 }
Lightvalve 14:8e7590227d22 1485
Lightvalve 14:8e7590227d22 1486 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1487
Lightvalve 13:747daba9cf59 1488 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1489 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1490 ID_index = 0;
Lightvalve 13:747daba9cf59 1491 first_check = 0;
Lightvalve 13:747daba9cf59 1492 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1493 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1494 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1495 }
Lightvalve 13:747daba9cf59 1496 }
Lightvalve 13:747daba9cf59 1497 break;
Lightvalve 13:747daba9cf59 1498 }
Lightvalve 58:2eade98630e2 1499
Lightvalve 57:f4819de54e7a 1500 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1501 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1502 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1503 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1504 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1505 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1506 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1507 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1508 }
Lightvalve 57:f4819de54e7a 1509 break;
Lightvalve 57:f4819de54e7a 1510 }
Lightvalve 58:2eade98630e2 1511
Lightvalve 58:2eade98630e2 1512
Lightvalve 57:f4819de54e7a 1513
Lightvalve 57:f4819de54e7a 1514 default:
Lightvalve 57:f4819de54e7a 1515 break;
Lightvalve 57:f4819de54e7a 1516 }
Lightvalve 57:f4819de54e7a 1517
Lightvalve 57:f4819de54e7a 1518 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1519
Lightvalve 57:f4819de54e7a 1520 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1521 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1522 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1523 break;
Lightvalve 57:f4819de54e7a 1524 }
Lightvalve 57:f4819de54e7a 1525
Lightvalve 57:f4819de54e7a 1526 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1527 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1528 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1529 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1530 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1531 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1532 } else {
Lightvalve 67:c2812cf26c38 1533 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1534 }
Lightvalve 58:2eade98630e2 1535
Lightvalve 57:f4819de54e7a 1536 break;
Lightvalve 57:f4819de54e7a 1537 }
Lightvalve 57:f4819de54e7a 1538
Lightvalve 57:f4819de54e7a 1539 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1540 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1541 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1542 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1543 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1544
Lightvalve 67:c2812cf26c38 1545 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1546 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1547 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1548 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1549
Lightvalve 67:c2812cf26c38 1550 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1551
Lightvalve 57:f4819de54e7a 1552 // torque feedback
Lightvalve 67:c2812cf26c38 1553 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1554 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1555
Lightvalve 57:f4819de54e7a 1556 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1557
Lightvalve 57:f4819de54e7a 1558 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1559 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1560 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1561
Lightvalve 57:f4819de54e7a 1562 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1563 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1564 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1565
Lightvalve 69:3995ffeaa786 1566 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1567 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 1568 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1569 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1570 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 1571 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1572 }
Lightvalve 57:f4819de54e7a 1573 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 1574 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1575
Lightvalve 57:f4819de54e7a 1576 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1577 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1578 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1579 // 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 1580 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1581 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1582 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1583 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 1584 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1585 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1586 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1587 }
Lightvalve 57:f4819de54e7a 1588 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 1589 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1590 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1591 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1592 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1593
Lightvalve 57:f4819de54e7a 1594 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1595
Lightvalve 67:c2812cf26c38 1596 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1597 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1598 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1599 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1600 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1601 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1602 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1603 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1604 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1605 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1606 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1607 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1608 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1609 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1610 }
Lightvalve 67:c2812cf26c38 1611 }
Lightvalve 57:f4819de54e7a 1612
Lightvalve 57:f4819de54e7a 1613 } else {
Lightvalve 57:f4819de54e7a 1614 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1615 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1616 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1617
Lightvalve 57:f4819de54e7a 1618 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 1619 + 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 1620
Lightvalve 72:3436ce769b1e 1621 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1622
Lightvalve 72:3436ce769b1e 1623 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1624
Lightvalve 72:3436ce769b1e 1625
Lightvalve 72:3436ce769b1e 1626 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1627 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1628 } else {
Lightvalve 72:3436ce769b1e 1629 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1630 }
Lightvalve 57:f4819de54e7a 1631
Lightvalve 57:f4819de54e7a 1632 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1633 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1634 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1635 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1636 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1637 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1638 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1639 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1640 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1641 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1642 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1643 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1644 }
Lightvalve 57:f4819de54e7a 1645 }
Lightvalve 61:bc8c8270f0ab 1646
Lightvalve 57:f4819de54e7a 1647 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1648
Lightvalve 67:c2812cf26c38 1649 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1650 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1651
Lightvalve 57:f4819de54e7a 1652 }
Lightvalve 72:3436ce769b1e 1653
Lightvalve 72:3436ce769b1e 1654 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1655
Lightvalve 57:f4819de54e7a 1656 break;
Lightvalve 57:f4819de54e7a 1657 }
Lightvalve 58:2eade98630e2 1658
Lightvalve 57:f4819de54e7a 1659 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1660 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1661 break;
Lightvalve 57:f4819de54e7a 1662 }
Lightvalve 14:8e7590227d22 1663
Lightvalve 12:6f2531038ea4 1664 default:
Lightvalve 12:6f2531038ea4 1665 break;
Lightvalve 12:6f2531038ea4 1666 }
Lightvalve 14:8e7590227d22 1667
Lightvalve 57:f4819de54e7a 1668
Lightvalve 57:f4819de54e7a 1669 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1670
Lightvalve 57:f4819de54e7a 1671 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1672 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1673 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1674 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1675 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1676 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1677
Lightvalve 57:f4819de54e7a 1678 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1679 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1680
Lightvalve 57:f4819de54e7a 1681
Lightvalve 57:f4819de54e7a 1682 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1683 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1684 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1685 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1686 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1687 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1688
Lightvalve 57:f4819de54e7a 1689 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1690 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1691 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1692 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1693 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1694 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1695 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1696 }
Lightvalve 57:f4819de54e7a 1697
Lightvalve 57:f4819de54e7a 1698 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1699
Lightvalve 67:c2812cf26c38 1700 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1701 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1702 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1703 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1704 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 67:c2812cf26c38 1705 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1706 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1707
Lightvalve 57:f4819de54e7a 1708 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1709 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1710 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1711 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1712 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1713 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1714 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1715 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1716 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1717 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1718 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1719 }
Lightvalve 57:f4819de54e7a 1720 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1721 } else {
Lightvalve 57:f4819de54e7a 1722 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1723 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1724 }
Lightvalve 57:f4819de54e7a 1725
Lightvalve 57:f4819de54e7a 1726 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1727 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1728 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1729 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1730 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1731 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1732 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1733
Lightvalve 57:f4819de54e7a 1734 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1735
Lightvalve 57:f4819de54e7a 1736 } else {
Lightvalve 57:f4819de54e7a 1737 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1738 }
Lightvalve 57:f4819de54e7a 1739
Lightvalve 57:f4819de54e7a 1740 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1741 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1742 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1743
Lightvalve 57:f4819de54e7a 1744 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1745 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1746 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1747 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1748 }
Lightvalve 89:a7b45368ea0f 1749 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1750 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1751 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1752 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1753
Lightvalve 89:a7b45368ea0f 1754 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1755 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1756 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1757 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1758 }
Lightvalve 67:c2812cf26c38 1759
Lightvalve 67:c2812cf26c38 1760 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1761 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1762 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1763
jobuuu 7:e9086c72bb22 1764 /*******************************************************
jobuuu 7:e9086c72bb22 1765 *** PWM
jobuuu 7:e9086c72bb22 1766 ********************************************************/
Lightvalve 67:c2812cf26c38 1767 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1768 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1769 }
Lightvalve 67:c2812cf26c38 1770
Lightvalve 49:e7bcfc244d40 1771 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1772 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1773 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1774 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1775 }
Lightvalve 49:e7bcfc244d40 1776 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1777
Lightvalve 19:23b7c1ad8683 1778 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1779 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1780 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1781
Lightvalve 30:8d561f16383b 1782 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1783 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1784 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1785 } else {
jobuuu 2:a1c0a37df760 1786 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1787 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1788 }
Lightvalve 13:747daba9cf59 1789
jobuuu 1:e04e563be5ce 1790 //pwm
Lightvalve 30:8d561f16383b 1791 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1792 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1793
Lightvalve 61:bc8c8270f0ab 1794
Lightvalve 57:f4819de54e7a 1795 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1796
Lightvalve 54:647072f5307a 1797 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1798 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1799 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1800 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1801 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1802 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1803 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 1804 }
Lightvalve 57:f4819de54e7a 1805 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1806 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1807 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 1808 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1809 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1810 }
Lightvalve 52:8ea76864368a 1811 }
Lightvalve 52:8ea76864368a 1812 }
Lightvalve 56:6f50d9d3bfee 1813 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1814 //valve position
Lightvalve 54:647072f5307a 1815 double t_value = 0;
Lightvalve 97:d71c57e3515e 1816 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1817 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1818 } else {
Lightvalve 97:d71c57e3515e 1819 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1820 }
Lightvalve 97:d71c57e3515e 1821 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1822 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1823 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1824 // } else {
Lightvalve 97:d71c57e3515e 1825 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1826 // }
Lightvalve 97:d71c57e3515e 1827 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1828 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1829 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1830 // } else {
Lightvalve 97:d71c57e3515e 1831 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1832 // }
Lightvalve 67:c2812cf26c38 1833 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1834 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1835 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1836 }
Lightvalve 58:2eade98630e2 1837
Lightvalve 58:2eade98630e2 1838
Lightvalve 98:cd1b2da4704f 1839 if (flag_data_request[2] == HIGH) {
Lightvalve 89:a7b45368ea0f 1840 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1841 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1842 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1843 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1844 } else {
Lightvalve 89:a7b45368ea0f 1845 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1846 }
Lightvalve 89:a7b45368ea0f 1847 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1848 }
Lightvalve 58:2eade98630e2 1849
Lightvalve 57:f4819de54e7a 1850 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1851 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1852 ;
Lightvalve 57:f4819de54e7a 1853 }
Lightvalve 58:2eade98630e2 1854
Lightvalve 56:6f50d9d3bfee 1855 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1856 //PWM
Lightvalve 73:f80dc3970c99 1857 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1858 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1859 }
Lightvalve 57:f4819de54e7a 1860 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1861 // ;
Lightvalve 57:f4819de54e7a 1862 // }
Lightvalve 56:6f50d9d3bfee 1863 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1864 //valve position
Lightvalve 73:f80dc3970c99 1865 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1866 }
Lightvalve 20:806196fda269 1867
Lightvalve 54:647072f5307a 1868 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1869 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1870 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1871 // }
Lightvalve 54:647072f5307a 1872 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1873 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1874 //}
Lightvalve 52:8ea76864368a 1875
Lightvalve 54:647072f5307a 1876 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1877 }
Lightvalve 54:647072f5307a 1878 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1879
Lightvalve 20:806196fda269 1880 }
Lightvalve 52:8ea76864368a 1881 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1882
Lightvalve 58:2eade98630e2 1883 }