HydraulicControlBoard_Learning - for learning

Users » Lightvalve » Code » HydraulicControlBoard_Learning

Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

main.cpp@121:89396c37b03e, 2020-09-15 (annotated)

Committer:: Lightvalve
Date:: Tue Sep 15 00:22:01 2020 +0000
Revision:: 121:89396c37b03e
Parent:: 120:17398540bb1c
Child:: 122:dcb3ce3056a0

200915-1

Who changed what in which revision?

User	Revision	Line number	New contents of line
Lightvalve	121:89396c37b03e	1	//200915-1
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	112:8dcb1600cb90	195	const float h1[num_input][16] = {
Lightvalve	120:17398540bb1c	196	{-0.12538549304008484f,-0.1297602355480194f,0.11304140090942383f,0.2742859721183777f,-0.8250300288200378f,-0.04229236766695976f,-0.15306922793388367f,-0.4135235548019409f,-0.2961782217025757f,-0.07852207124233246f,-1.1915283203125f,0.01317680161446333f,-0.25207650661468506f,-0.014075362123548985f,-0.22528137266635895f,-0.6198574304580688f},
Lightvalve	120:17398540bb1c	197	{-0.19888468086719513f,0.4962921142578125f,-0.3440950810909271f,-0.04722340777516365f,-0.9384036064147949f,0.008911640383303165f,-0.3551466166973114f,-0.5058884024620056f,-0.11596696078777313f,0.14010098576545715f,-1.1150455474853516f,-0.7881326079368591f,0.21576932072639465f,-0.6239233016967773f,-0.1836855560541153f,-0.5878320336341858f},
Lightvalve	120:17398540bb1c	198	{-0.03559984266757965f,0.06665316969156265f,0.3188004493713379f,-0.23797664046287537f,-0.8946518898010254f,0.33254438638687134f,0.2516096830368042f,-0.4437709152698517f,-0.18694481253623962f,0.14209488034248352f,-0.7290050387382507f,-0.47835156321525574f,0.0697505995631218f,0.009985013864934444f,0.04897245764732361f,-0.5600040555000305f},
Lightvalve	120:17398540bb1c	199	{-0.06218857690691948f,0.0055004083551466465f,0.34815579652786255f,0.3614911139011383f,-0.9616373777389526f,0.4737781584262848f,-0.10148510336875916f,-0.19577272236347198f,-0.02599596232175827f,0.25770917534828186f,0.10352985560894012f,-0.025867044925689697f,-0.09092411398887634f,0.37447765469551086f,-0.2594349980354309f,-0.29302236437797546f},
Lightvalve	120:17398540bb1c	200	{-1.0256245136260986f,3.3244986534118652f,-0.004507303237915039f,-0.4295147955417633f,-0.2665431797504425f,1.2085310220718384f,0.11336228251457214f,0.5614469647407532f,-0.020764315500855446f,0.09357579052448273f,2.153151750564575f,-2.3825974464416504f,-0.19526953995227814f,1.485861897468567f,-0.33859342336654663f,-1.0096709728240967f},
Lightvalve	120:17398540bb1c	201	{0.33760398626327515f,0.15137788653373718f,0.19074231386184692f,0.28160399198532104f,0.06776947528123856f,0.15706767141819f,0.1446705460548401f,-0.59229576587677f,-0.01898665726184845f,0.09772954136133194f,-0.2321673035621643f,-0.43289390206336975f,-0.22538399696350098f,0.2040676772594452f,-0.36205175518989563f,-0.5129569172859192f},
Lightvalve	120:17398540bb1c	202	{0.0647188276052475f,0.385019987821579f,-0.21918344497680664f,-0.3794626295566559f,-0.4691496193408966f,0.5222136974334717f,0.05268651247024536f,-0.654662549495697f,0.2718934714794159f,0.053434062749147415f,0.024371149018406868f,-0.27870720624923706f,-0.1430879831314087f,0.2003219723701477f,-0.13682329654693604f,-0.31295764446258545f},
Lightvalve	120:17398540bb1c	203	{0.04983292520046234f,0.1452646702528f,-0.23319895565509796f,0.12819106876850128f,-0.46857011318206787f,0.32018986344337463f,-0.15703755617141724f,-0.6967725157737732f,-0.023273874074220657f,0.0937250480055809f,-0.04469524696469307f,-0.625782310962677f,0.33592408895492554f,-0.06288835406303406f,0.03769642114639282f,-0.12413319200277328f},
Lightvalve	120:17398540bb1c	204	{0.22675682604312897f,0.5973165035247803f,0.08977723121643066f,-0.2428070604801178f,-0.3495730757713318f,0.6904239058494568f,-0.06348633766174316f,-0.7936407327651978f,-0.2829691469669342f,0.2962890565395355f,-0.49142125248908997f,-0.2163258045911789f,0.2159746140241623f,-0.12937478721141815f,-0.2676756680011749f,-0.09756138920783997f},
Lightvalve	120:17398540bb1c	205	{0.056595273315906525f,0.04809652268886566f,0.16173982620239258f,0.020012572407722473f,-0.09903427213430405f,0.9706398844718933f,-0.26198261976242065f,-0.5410996675491333f,-0.05274199694395065f,-0.42306792736053467f,-0.33324792981147766f,-0.8957317471504211f,0.3466741442680359f,-0.6731507182121277f,0.3052974343299866f,-0.2763424217700958f},
Lightvalve	120:17398540bb1c	206	{0.5586411952972412f,0.43095552921295166f,0.32573211193084717f,0.4262547492980957f,-0.23946885764598846f,0.853289008140564f,-0.17817988991737366f,-0.5030534267425537f,-0.41963163018226624f,0.01310235820710659f,-0.10254285484552383f,-0.6943825483322144f,-0.03343270346522331f,-0.5341449975967407f,0.23379981517791748f,-0.5737422108650208f},
Lightvalve	120:17398540bb1c	207	{-0.43968984484672546f,-0.5982950925827026f,-0.3532183766365051f,-0.09305038303136826f,0.02779853157699108f,-0.31271958351135254f,0.13436567783355713f,0.3002631366252899f,-0.1767670065164566f,0.16469384729862213f,-0.5442917943000793f,-0.09487488865852356f,0.10150864720344543f,-0.1174691766500473f,0.09193113446235657f,-0.398308128118515f},
Lightvalve	120:17398540bb1c	208	{-0.29969802498817444f,-0.20802512764930725f,0.173875629901886f,-0.03646260127425194f,0.2339116930961609f,-0.025851814076304436f,-0.21062730252742767f,0.1728522628545761f,-0.1958557665348053f,-0.19184263050556183f,-0.16906322538852692f,-0.3767596185207367f,0.03815969452261925f,-0.034190502017736435f,-0.19507692754268646f,-0.6954120993614197f},
Lightvalve	120:17398540bb1c	209	{-0.5445505380630493f,-0.06667868793010712f,0.36161231994628906f,-0.3853375017642975f,-0.18679115176200867f,-0.17434139549732208f,-0.2803434431552887f,-0.1055828109383583f,-0.1492249220609665f,-0.22327004373073578f,-0.096988745033741f,-0.4720779061317444f,-0.33747512102127075f,-0.01742616668343544f,0.04202204942703247f,-0.3880178928375244f},
Lightvalve	120:17398540bb1c	210	{-0.30601173639297485f,0.6010074019432068f,0.1776806116104126f,-0.3648182153701782f,0.37388876080513f,-0.3927247226238251f,0.036818891763687134f,0.47357508540153503f,0.2354845255613327f,0.042778871953487396f,0.21399913728237152f,-1.0210378170013428f,0.033867064863443375f,0.33429262042045593f,0.058527231216430664f,-0.4199855625629425f},
Lightvalve	120:17398540bb1c	211	{-0.34438514709472656f,2.2698769569396973f,-0.3542669713497162f,-0.528469979763031f,-0.13626305758953094f,-2.7937612533569336f,-0.13638360798358917f,0.16776393353939056f,0.1462515890598297f,-0.03840259462594986f,1.0126919746398926f,-1.1838299036026f,-0.24433782696723938f,2.422633171081543f,-0.07223698496818542f,-0.3419298827648163f},
Lightvalve	120:17398540bb1c	212	{0.6194776892662048f,-2.516664743423462f,0.14635330438613892f,0.9439404606819153f,-0.4982180595397949f,2.151139259338379f,-0.03628063201904297f,-1.0738998651504517f,-0.08571594953536987f,0.0396052785217762f,-2.8291807174682617f,1.5088356733322144f,0.20211462676525116f,-2.522641181945801f,0.25779521465301514f,-0.026165809482336044f},
Lightvalve	120:17398540bb1c	213	{0.06352996081113815f,-0.05066967010498047f,0.18322283029556274f,0.03522790968418121f,-0.4696357548236847f,0.25518545508384705f,-0.3163079023361206f,-0.27377328276634216f,-0.3872103691101074f,-0.14478269219398499f,-0.6481943726539612f,0.3252601623535156f,0.25736236572265625f,-0.651495099067688f,-0.2407861351966858f,0.20217441022396088f},
Lightvalve	120:17398540bb1c	214	{-0.2707156240940094f,-0.923464834690094f,-0.2609631419181824f,0.26111695170402527f,0.2789458930492401f,-0.7849046587944031f,0.2401489019393921f,-0.3799836337566376f,-0.38324639201164246f,-0.012600225396454334f,-0.6569547653198242f,0.7391843199729919f,0.07483898103237152f,0.7388472557067871f,-0.28592410683631897f,-0.06940817087888718f},
Lightvalve	120:17398540bb1c	215	{0.14886534214019775f,-1.379183292388916f,0.1335710883140564f,-0.2705114483833313f,-0.1318787783384323f,-1.0396175384521484f,-0.1246849000453949f,-0.2070637196302414f,-0.1831875741481781f,0.0033268898259848356f,-0.176667258143425f,1.1407310962677002f,0.18566201627254486f,1.2869547605514526f,0.1255095899105072f,0.5903193950653076f},
Lightvalve	120:17398540bb1c	216	{-0.46475258469581604f,-1.7666163444519043f,-0.07108169794082642f,0.0038260819856077433f,-0.08281804621219635f,-1.5454415082931519f,0.13563674688339233f,0.305400013923645f,-0.3685535192489624f,-0.30845415592193604f,-0.4078262448310852f,0.7521111965179443f,-0.22504742443561554f,1.6817525625228882f,0.01829466223716736f,0.7402373552322388f},
Lightvalve	120:17398540bb1c	217	{-0.5450851917266846f,-1.325493335723877f,0.24740570783615112f,-0.5695751309394836f,0.3641650676727295f,-1.0611701011657715f,0.25593245029449463f,0.29514080286026f,-0.09460391849279404f,0.05305565521121025f,0.11546958982944489f,0.6832703351974487f,0.14349237084388733f,1.1527934074401855f,0.056514471769332886f,0.6130792498588562f},
Lightvalve	120:17398540bb1c	218	{-0.07460365444421768f,-0.3792673945426941f,-0.3288555443286896f,-0.2455163151025772f,-0.24700762331485748f,-0.4440239369869232f,-0.11800059676170349f,0.14122913777828217f,-0.29557308554649353f,0.2819157540798187f,0.260654479265213f,0.4827042520046234f,-0.06022251769900322f,0.44099026918411255f,-0.3194865584373474f,0.6340256929397583f},
Lightvalve	120:17398540bb1c	219	{-0.1879761815071106f,-0.2528689503669739f,-0.29844698309898376f,-0.5101702809333801f,0.339926540851593f,0.3075282871723175f,-0.249517560005188f,0.331373929977417f,-0.4385988116264343f,0.16865456104278564f,0.20783667266368866f,-0.0021506110206246376f,0.23602595925331116f,0.34091079235076904f,0.23831695318222046f,0.06740475445985794f},
Lightvalve	120:17398540bb1c	220	{-0.025915497913956642f,-0.1714746356010437f,0.20589900016784668f,-0.04402639716863632f,0.10800769180059433f,-0.639302134513855f,-0.2483310103416443f,0.1761297583580017f,-0.16761073470115662f,0.28876426815986633f,-0.0992262214422226f,-0.07243049889802933f,-0.3015822470188141f,-0.017708564177155495f,0.06927120685577393f,-0.09717927873134613f},
Lightvalve	120:17398540bb1c	221	{-0.429812490940094f,0.1543487310409546f,0.008588135242462158f,-0.5760452151298523f,-0.2914566993713379f,-0.2223208248615265f,0.013287186622619629f,-0.08880852162837982f,0.1582227200269699f,-0.024031326174736023f,0.3269001841545105f,-0.5358487367630005f,-0.009665273129940033f,-0.29968416690826416f,-0.1702093929052353f,-0.03628617152571678f},
Lightvalve	120:17398540bb1c	222	{-0.34342706203460693f,-0.039361659437417984f,0.06708025932312012f,-0.05964343994855881f,0.043768007308244705f,-0.27679672837257385f,0.27470332384109497f,-0.0833902433514595f,-0.11639530956745148f,0.2393946647644043f,0.49262282252311707f,-0.8204572796821594f,0.01190573163330555f,0.30590832233428955f,0.11447501182556152f,-0.21693718433380127f},
Lightvalve	65:a2d7c63419c2	223	};
Lightvalve	65:a2d7c63419c2	224
Lightvalve	112:8dcb1600cb90	225	const float h2[16][16] = {
Lightvalve	120:17398540bb1c	226	{-0.40168216824531555f,0.5186493396759033f,-0.06966331601142883f,-0.9802365303039551f,-0.21907491981983185f,0.6322985291481018f,0.09174512326717377f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.3015476167201996f,0.15160076320171356f,0.12968102097511292f,0.321427583694458f,0.3973703384399414f,0.7016607522964478f},
Lightvalve	120:17398540bb1c	227	{-0.17964878678321838f,-19.759550094604492f,0.057057321071624756f,0.14957964420318604f,-0.35503754019737244f,-18.96450424194336f,-0.6501030325889587f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.3818602561950684f,-7.4136576652526855f,0.33698758482933044f,-1.7448585033416748f,-2.7991631031036377f,-10.538856506347656f},
Lightvalve	112:8dcb1600cb90	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	120:17398540bb1c	229	{-0.23776614665985107f,0.20758849382400513f,-0.2894435524940491f,0.21407021582126617f,0.08946844935417175f,-0.8848502039909363f,-0.3794410824775696f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.11218374967575073f,0.07981710880994797f,-0.404754102230072f,0.6458055973052979f,0.37363240122795105f,-0.5949528217315674f},
Lightvalve	120:17398540bb1c	230	{-0.4611620008945465f,0.4566289186477661f,-0.25313520431518555f,0.27121683955192566f,0.036378175020217896f,0.12893712520599365f,-0.19370491802692413f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.2024049311876297f,-0.5216248035430908f,0.10077962279319763f,-0.422469824552536f,-0.2906075417995453f,-0.42898765206336975f},
Lightvalve	120:17398540bb1c	231	{0.08551257848739624f,-0.8909131288528442f,-0.3519742488861084f,0.2551344633102417f,-0.3015052080154419f,1.128373384475708f,-0.6188379526138306f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.31142207980155945f,-0.8247268795967102f,-0.20959392189979553f,0.9023554921150208f,0.3796950578689575f,-2.667577028274536f},
Lightvalve	112:8dcb1600cb90	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	120:17398540bb1c	233	{-0.06052946671843529f,0.42518696188926697f,0.33083590865135193f,-0.3584161102771759f,-0.14358049631118774f,-0.3736359179019928f,-0.21919091045856476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.38830283284187317f,-0.7548213005065918f,-0.31673234701156616f,-0.31882062554359436f,0.2643463909626007f,-0.020919619128108025f},
Lightvalve	120:17398540bb1c	234	{-0.25820738077163696f,0.30604642629623413f,-0.11379697918891907f,0.1305476427078247f,0.041274964809417725f,-0.2976079285144806f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.011476963758468628f,-0.3197441101074219f,-0.37024784088134766f,-0.2545563280582428f,-0.3413182497024536f,-0.24413029849529266f},
Lightvalve	120:17398540bb1c	235	{-0.17419426143169403f,0.23410338163375854f,-0.13502129912376404f,0.12825390696525574f,0.12987366318702698f,0.10837459564208984f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.2463141530752182f,0.36859747767448425f,0.3811538517475128f,-0.2518221437931061f,0.0015065826009958982f,-0.22126294672489166f},
Lightvalve	120:17398540bb1c	236	{-0.5818582773208618f,-0.9885985851287842f,0.0457797646522522f,-1.0289779901504517f,-0.03321319818496704f,-0.10241472721099854f,-0.1456492394208908f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,0.03015293926000595f,-0.1720106303691864f,-0.3647043704986572f,-0.26887544989585876f,0.043931350111961365f,-1.271228551864624f},
Lightvalve	120:17398540bb1c	237	{-0.023775232955813408f,0.4065960645675659f,0.3954955041408539f,0.12153828144073486f,0.0033026933670043945f,-0.34759125113487244f,-0.46868860721588135f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.4603039026260376f,-0.684657633304596f,0.0820283591747284f,-0.7265788912773132f,0.4195437729358673f,0.7041466236114502f},
Lightvalve	120:17398540bb1c	238	{-0.3727343678474426f,-0.14289318025112152f,-0.15798500180244446f,0.3409014940261841f,-0.37393757700920105f,0.33053267002105713f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.06061609461903572f,-0.3116716742515564f,0.41839322447776794f,-0.10966654866933823f,-0.16619719564914703f,0.13714851438999176f},
Lightvalve	120:17398540bb1c	239	{-0.5560265779495239f,0.7481104135513306f,-0.2018718123435974f,-0.4556296467781067f,0.07545611262321472f,-1.7956639528274536f,-0.5900709629058838f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,1.6568773984909058f,-1.7330076694488525f,-0.16718891263008118f,-2.74723219871521f,0.004431179724633694f,-0.960465669631958f},
Lightvalve	112:8dcb1600cb90	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	120:17398540bb1c	241	{-0.5551757216453552f,0.8669682145118713f,0.12081471085548401f,-0.34179648756980896f,0.29976895451545715f,-0.03801266476511955f,-0.23086988925933838f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-0.0883992463350296f,-0.21656711399555206f,-0.19991017878055573f,-1.109067440032959f,0.42645376920700073f,0.903927206993103f},
Lightvalve	65:a2d7c63419c2	242	};
Lightvalve	65:a2d7c63419c2	243
Lightvalve	112:8dcb1600cb90	244	const float h3[16][16] = {
Lightvalve	120:17398540bb1c	245	{-0.36079341173171997f,-0.1728317141532898f,0.0832991823554039f,-0.2757801115512848f,-0.014608257450163364f,-0.07343047857284546f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.19365239143371582f,0.22657039761543274f,-0.4084663987159729f,0.15862074494361877f},
Lightvalve	120:17398540bb1c	246	{0.047732532024383545f,0.07508695870637894f,-0.40331459045410156f,-2.776319980621338f,-0.10381913185119629f,-0.224410742521286f,-0.3198729455471039f,0.06247803568840027f,-0.026402181014418602f,-0.9442688226699829f,0.649472713470459f,-0.3128277659416199f,-0.1413102000951767f,-1.077832579612732f,-0.426487535238266f,-0.34495070576667786f},
Lightvalve	115:f41863b95e6f	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	120:17398540bb1c	248	{-0.30922991037368774f,-0.4433991611003876f,0.4574945271015167f,0.09743720293045044f,-0.0694722980260849f,0.14645597338676453f,0.20021501183509827f,0.07002416253089905f,-0.24844947457313538f,-0.365601509809494f,-0.2854161858558655f,0.41021624207496643f,0.10841058939695358f,0.03622414171695709f,0.07073167711496353f,-0.040545202791690826f},
Lightvalve	112:8dcb1600cb90	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	120:17398540bb1c	250	{-0.37449589371681213f,0.02758697420358658f,-0.748950719833374f,3.097226619720459f,0.16600477695465088f,0.3010225296020508f,-0.18732719123363495f,0.22384825348854065f,-0.39487534761428833f,-0.2469484806060791f,-1.296645164489746f,0.03210585191845894f,1.1341166496276855f,-5.499073505401611f,0.7008980512619019f,-0.3663637042045593f},
Lightvalve	120:17398540bb1c	251	{0.4110594093799591f,0.41326889395713806f,-0.1446264535188675f,0.2394024282693863f,0.15542545914649963f,0.02894638292491436f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.09694360196590424f,0.23209775984287262f,0.21062560379505157f,-0.3391006588935852f},
Lightvalve	113:4535bc97a1db	252	{-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve	115:f41863b95e6f	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	112:8dcb1600cb90	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	120:17398540bb1c	255	{0.15459725260734558f,0.9851001501083374f,-0.5585569143295288f,-4.768768787384033f,-4.561844348907471f,-0.06768854707479477f,-0.08742031455039978f,0.05785742402076721f,-0.7121787667274475f,-0.7615283727645874f,-0.2505240738391876f,-0.4624474048614502f,0.17736832797527313f,0.07977358996868134f,1.0232466459274292f,0.12484536319971085f},
Lightvalve	120:17398540bb1c	256	{-0.408692330121994f,-0.6701602935791016f,0.3410312831401825f,3.574692726135254f,1.6209317445755005f,-0.1792183518409729f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,2.006563901901245f,-0.15693505108356476f,-3.104768991470337f,0.31507769227027893f},
Lightvalve	120:17398540bb1c	257	{-0.2991822361946106f,0.3794580399990082f,-0.07897943258285522f,-0.05932474136352539f,0.08582660555839539f,0.24227938055992126f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.16869547963142395f},
Lightvalve	120:17398540bb1c	258	{-0.2675279378890991f,0.6613599061965942f,-0.5254913568496704f,0.5071489214897156f,-0.8461319208145142f,-0.028701091185212135f,-0.32875844836235046f,-0.31893211603164673f,-0.8966178297996521f,-1.0070687532424927f,-4.600563049316406f,-0.5409274101257324f,2.186650276184082f,-9.456685066223145f,0.5640637874603271f,0.011688347905874252f},
Lightvalve	120:17398540bb1c	259	{-0.015470266342163086f,-1.0990486145019531f,0.36706429719924927f,-2.238311290740967f,1.893033504486084f,-0.9363606572151184f,0.05196094512939453f,-0.008358269929885864f,-0.43764856457710266f,-0.5347727537155151f,-0.9336159825325012f,-0.2734082341194153f,0.16708572208881378f,-0.05967127904295921f,-0.8606027364730835f,-0.6590554714202881f},
Lightvalve	120:17398540bb1c	260	{0.1863725483417511f,0.10718924552202225f,-0.20982491970062256f,6.906591415405273f,3.032275915145874f,0.411905974149704f,0.04860696196556091f,0.17769548296928406f,-0.2722950279712677f,0.3353809714317322f,0.8508809804916382f,0.03773829713463783f,2.3911309242248535f,4.472320079803467f,0.3127724826335907f,-0.14473260939121246f},
Lightvalve	66:a8e6799dbce3	261	};
Lightvalve	65:a2d7c63419c2	262
Lightvalve	120:17398540bb1c	263	const float hout[16] = { 0.45773375034332275f,0.3902415931224823f,-0.11512358486652374f,-0.18819743394851685f,-0.7611111402511597f,0.141798734664917f,0.0030125975608825684f,0.15066689252853394f,-0.07033118605613708f,-0.07679157704114914f,-0.12265626341104507f,-0.1242092102766037f,-0.20101481676101685f,0.2781880497932434f,0.12302208691835403f,-0.00921870581805706f };
Lightvalve	66:a8e6799dbce3	264
Lightvalve	120:17398540bb1c	265	const float b1[16] = { 0.6857439279556274f,0.8585952520370483f,-1.7145336866378784f,0.4170946180820465f,1.0364162921905518f,1.8229438066482544f,-0.058932315558195114f,0.5788186192512512f,0.48582303524017334f,-0.9250008463859558f,0.3594502806663513f,1.5126398801803589f,-0.3694119453430176f,-1.401212215423584f,-1.087764859199524f,1.1468214988708496f };
Lightvalve	87:471334725012	266
Lightvalve	120:17398540bb1c	267	const float b2[16] = { -0.46634921431541443f,-1.174963116645813f,-1.4564176797866821f,-0.7021169662475586f,-0.6939148902893066f,1.0442237854003906f,-0.016787389293313026f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.9218783378601074f,1.205435872077942f,-0.07918518036603928f,1.5303215980529785f,1.0930001735687256f,2.110299587249756f };
Lightvalve	65:a2d7c63419c2	268
Lightvalve	120:17398540bb1c	269	const float b3[16] = { -1.963319182395935f,-0.47111451625823975f,-0.1743324249982834f,0.8459889888763428f,0.4399511516094208f,-0.047738414257764816f,-0.45353031158447266f,-0.6562485098838806f,-0.035808175802230835f,-0.08489542454481125f,-1.1606186628341675f,-0.10742253065109253f,-0.42785224318504333f,-0.04730849713087082f,-1.0170482397079468f,-0.5944331884384155f };
Lightvalve	87:471334725012	270
Lightvalve	120:17398540bb1c	271	const float bout[1] = { -0.47615566849708557f };
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	117:7141c0517b82	387
Lightvalve	117:7141c0517b82	388	int ind = 0;
Lightvalve	117:7141c0517b82	389	for(int i=0; i<numpast_u; i++) {
Lightvalve	118:af86e883dcb4	390	input_NN[ind] = u_past[time_interval*i];
Lightvalve	117:7141c0517b82	391	ind = ind + 1;
Lightvalve	117:7141c0517b82	392	}
Lightvalve	117:7141c0517b82	393
Lightvalve	117:7141c0517b82	394	for(int i=0; i<numpast_x; i++) {
Lightvalve	118:af86e883dcb4	395	input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve	117:7141c0517b82	396	ind = ind + 1;
Lightvalve	117:7141c0517b82	397	}
Lightvalve	117:7141c0517b82	398	input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	117:7141c0517b82	399	ind = ind + 1;
Lightvalve	121:89396c37b03e	400
Lightvalve	121:89396c37b03e	401	for(int i=0; i<numfuture_x; i++) {
Lightvalve	121:89396c37b03e	402	input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve	121:89396c37b03e	403	ind = ind + 1;
Lightvalve	121:89396c37b03e	404	}
Lightvalve	117:7141c0517b82	405
Lightvalve	117:7141c0517b82	406	for(int i=0; i<numpast_f; i++) {
Lightvalve	118:af86e883dcb4	407	input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve	117:7141c0517b82	408	ind = ind + 1;
Lightvalve	117:7141c0517b82	409	}
Lightvalve	117:7141c0517b82	410	input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	117:7141c0517b82	411	ind = ind + 1;
Lightvalve	117:7141c0517b82	412	for(int i=0; i<numfuture_f; i++) {
Lightvalve	118:af86e883dcb4	413	input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve	118:af86e883dcb4	414	// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve	117:7141c0517b82	415	ind = ind + 1;
Lightvalve	117:7141c0517b82	416	}
Lightvalve	117:7141c0517b82	417
Lightvalve	112:8dcb1600cb90	418	float output1[16] = { 0.0f };
Lightvalve	112:8dcb1600cb90	419	float output2[16] = { 0.0f };
Lightvalve	112:8dcb1600cb90	420	float output3[16] = { 0.0f };
Lightvalve	66:a8e6799dbce3	421	float output = 0.0f;
Lightvalve	65:a2d7c63419c2	422
Lightvalve	112:8dcb1600cb90	423	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	68:328e1be06f5d	424	for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve	66:a8e6799dbce3	425	output1[index2] = output1[index2]
Lightvalve	73:f80dc3970c99	426	+ h1[index1][index2] * input_NN[index1];
Lightvalve	66:a8e6799dbce3	427	}
Lightvalve	66:a8e6799dbce3	428	output1[index2] = output1[index2] + b1[index2];
Lightvalve	66:a8e6799dbce3	429	if (output1[index2] < 0) {
Lightvalve	66:a8e6799dbce3	430	output1[index2] = 0;
Lightvalve	66:a8e6799dbce3	431	}
Lightvalve	66:a8e6799dbce3	432	}
Lightvalve	65:a2d7c63419c2	433
Lightvalve	112:8dcb1600cb90	434	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	112:8dcb1600cb90	435	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	436	output2[index2] = output2[index2]
Lightvalve	66:a8e6799dbce3	437	+ h2[index1][index2] * output1[index1];
Lightvalve	66:a8e6799dbce3	438	}
Lightvalve	66:a8e6799dbce3	439	output2[index2] = output2[index2] + b2[index2];
Lightvalve	66:a8e6799dbce3	440	if (output2[index2] < 0) {
Lightvalve	66:a8e6799dbce3	441	output2[index2] = 0;
Lightvalve	66:a8e6799dbce3	442	}
Lightvalve	66:a8e6799dbce3	443	}
Lightvalve	65:a2d7c63419c2	444
Lightvalve	112:8dcb1600cb90	445	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	112:8dcb1600cb90	446	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	447	output3[index2] = output3[index2]
Lightvalve	66:a8e6799dbce3	448	+ h3[index1][index2] * output2[index1];
Lightvalve	66:a8e6799dbce3	449	}
Lightvalve	66:a8e6799dbce3	450	output3[index2] = output3[index2] + b3[index2];
Lightvalve	66:a8e6799dbce3	451	if (output3[index2] < 0) {
Lightvalve	66:a8e6799dbce3	452	output3[index2] = 0;
Lightvalve	66:a8e6799dbce3	453	}
Lightvalve	65:a2d7c63419c2	454	}
Lightvalve	66:a8e6799dbce3	455
Lightvalve	66:a8e6799dbce3	456	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	112:8dcb1600cb90	457	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	73:f80dc3970c99	458	output = output + hout[index1] * output3[index1];
Lightvalve	66:a8e6799dbce3	459	}
Lightvalve	66:a8e6799dbce3	460	output = output + bout[index2];
Lightvalve	73:f80dc3970c99	461
Lightvalve	66:a8e6799dbce3	462	}
Lightvalve	73:f80dc3970c99	463	output = 1.0f/(1.0f+exp(-output));
Lightvalve	101:50159049a518	464	output_normalized = output;
Lightvalve	68:328e1be06f5d	465	output = output * 20000.0f - 10000.0f;
Lightvalve	101:50159049a518	466
Lightvalve	66:a8e6799dbce3	467	if(output>=0) {
Lightvalve	66:a8e6799dbce3	468	valve_pos.ref = output0.0001f((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	66:a8e6799dbce3	469	} else {
Lightvalve	66:a8e6799dbce3	470	valve_pos.ref = -output0.0001f((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	65:a2d7c63419c2	471	}
Lightvalve	87:471334725012	472
Lightvalve	88:d6e591bece22	473	// // torque feedback
Lightvalve	88:d6e591bece22	474	// torq.err = f_past[0] - torq.sen; //[N]
Lightvalve	88:d6e591bece22	475	//// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	88:d6e591bece22	476	// torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve	88:d6e591bece22	477	//
Lightvalve	88:d6e591bece22	478	//
Lightvalve	88:d6e591bece22	479	// 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	480	//
Lightvalve	88:d6e591bece22	481	// if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	88:d6e591bece22	482	// double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	88:d6e591bece22	483	// if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	88:d6e591bece22	484	// double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	485	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	486	// valve_pos.ref = VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	487	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	488	// } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	88:d6e591bece22	489	// double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	490	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	491	// valve_pos.ref = VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	492	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	493	// }
Lightvalve	88:d6e591bece22	494	// }
Lightvalve	87:471334725012	495
Lightvalve	69:3995ffeaa786	496
Lightvalve	69:3995ffeaa786	497	if(LED==1) {
Lightvalve	69:3995ffeaa786	498	LED=0;
Lightvalve	69:3995ffeaa786	499	} else
Lightvalve	69:3995ffeaa786	500	LED = 1;
Lightvalve	69:3995ffeaa786	501
Lightvalve	65:a2d7c63419c2	502	}
Lightvalve	62:b5452adfb2cd	503
Lightvalve	87:471334725012	504	//LED = 1;
Lightvalve	69:3995ffeaa786	505
Lightvalve	66:a8e6799dbce3	506
GiJeongKim	0:51c43836c1d7	507	}
jobuuu	1:e04e563be5ce	508	}
jobuuu	1:e04e563be5ce	509
Lightvalve	33:91b17819ec30	510	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	511	{
Lightvalve	14:8e7590227d22	512
Lightvalve	13:747daba9cf59	513	int i = 0;
Lightvalve	48:889798ff9329	514	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	515	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	516	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	517	if(i==0) {
Lightvalve	50:3c630b5eba9f	518	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	519	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	520	} else {
Lightvalve	57:f4819de54e7a	521	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	522	}
Lightvalve	14:8e7590227d22	523	} else {
Lightvalve	50:3c630b5eba9f	524	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	57:f4819de54e7a	525	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	526	} else {
Lightvalve	57:f4819de54e7a	527	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	528	}
Lightvalve	13:747daba9cf59	529	}
Lightvalve	13:747daba9cf59	530	break;
Lightvalve	13:747daba9cf59	531	}
Lightvalve	13:747daba9cf59	532	}
Lightvalve	14:8e7590227d22	533	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	534	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	535	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	536	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	537	}
Lightvalve	36:a46e63505ed8	538
Lightvalve	57:f4819de54e7a	539	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	540	return Ref_Valve_Pos_FF;
Lightvalve	50:3c630b5eba9f	541
Lightvalve	13:747daba9cf59	542	}
jobuuu	6:df07d3491e3a	543
jobuuu	6:df07d3491e3a	544
Lightvalve	30:8d561f16383b	545	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	546	{
Lightvalve	13:747daba9cf59	547	int i = 0;
Lightvalve	13:747daba9cf59	548
Lightvalve	38:118df027d851	549	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	550	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	551	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	552	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	553	}
Lightvalve	38:118df027d851	554
Lightvalve	89:a7b45368ea0f	555	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	556	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	557	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	558	valve_pos_err_sum += valve_pos_err;
Lightvalve	89:a7b45368ea0f	559	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	89:a7b45368ea0f	560	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	561
Lightvalve	13:747daba9cf59	562	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	563
Lightvalve	18:b8adf1582ea3	564	for(i=0; i<24; i++) {
Lightvalve	89:a7b45368ea0f	565	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	566	if(i==0) {
Lightvalve	48:889798ff9329	567	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	568	} else {
Lightvalve	48:889798ff9329	569	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	570	}
Lightvalve	13:747daba9cf59	571	break;
Lightvalve	13:747daba9cf59	572	}
Lightvalve	13:747daba9cf59	573	}
Lightvalve	59:f308b1656d9c	574	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	575	}
Lightvalve	13:747daba9cf59	576
Lightvalve	14:8e7590227d22	577	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	578	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	579	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	580	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	581	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	582	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	583	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	584	}; // duty
Lightvalve	67:c2812cf26c38	585	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	586	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	67:c2812cf26c38	587	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	67:c2812cf26c38	588	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	67:c2812cf26c38	589	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	67:c2812cf26c38	590	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	591	}; // mV
Lightvalve	13:747daba9cf59	592
Lightvalve	30:8d561f16383b	593	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	594	{
Lightvalve	30:8d561f16383b	595	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	596	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	597	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	598	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	599	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	600	} else {
Lightvalve	13:747daba9cf59	601	int idx = 0;
Lightvalve	13:747daba9cf59	602	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	603	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	604	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	605	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	606	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	607	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	608	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	609	break;
Lightvalve	13:747daba9cf59	610	}
Lightvalve	13:747daba9cf59	611	}
Lightvalve	13:747daba9cf59	612	}
Lightvalve	14:8e7590227d22	613
Lightvalve	13:747daba9cf59	614	return PWM_duty;
Lightvalve	13:747daba9cf59	615	}
jobuuu	6:df07d3491e3a	616
Lightvalve	57:f4819de54e7a	617
Lightvalve	57:f4819de54e7a	618
Lightvalve	57:f4819de54e7a	619
Lightvalve	57:f4819de54e7a	620
jobuuu	2:a1c0a37df760	621	/*******************************************************************************
jobuuu	2:a1c0a37df760	622	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	623	*******************************************************************************/
jobuuu	2:a1c0a37df760	624
Lightvalve	51:b46bed7fec80	625	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	626	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	627	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	628	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	629	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	630	{
Lightvalve	19:23b7c1ad8683	631	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	632
Lightvalve	21:e5f1a43ea6f9	633	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	634	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	635	********************************************************/
Lightvalve	13:747daba9cf59	636
Lightvalve	57:f4819de54e7a	637	//Encoder
Lightvalve	57:f4819de54e7a	638	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	639	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	640	}
Lightvalve	61:bc8c8270f0ab	641
Lightvalve	61:bc8c8270f0ab	642	ADC1->CR2 \|= 0x40000000;
Lightvalve	58:2eade98630e2	643	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	644	// Torque Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	645	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	58:2eade98630e2	646	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	58:2eade98630e2	647	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	67:c2812cf26c38	648	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	67:c2812cf26c38	649
Lightvalve	67:c2812cf26c38	650
Lightvalve	67:c2812cf26c38	651	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	67:c2812cf26c38	652	//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	67:c2812cf26c38	653	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	67:c2812cf26c38	654	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	67:c2812cf26c38	655	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	67:c2812cf26c38	656
Lightvalve	17:1865016ca2e7	657
Lightvalve	58:2eade98630e2	658	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	659	// Pressure Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	660	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	58:2eade98630e2	661	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	58:2eade98630e2	662	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	58:2eade98630e2	663	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	58:2eade98630e2	664	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	58:2eade98630e2	665	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	58:2eade98630e2	666	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	667
Lightvalve	58:2eade98630e2	668	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	58:2eade98630e2	669	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	670	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	58:2eade98630e2	671	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	672	}
Lightvalve	58:2eade98630e2	673	}
Lightvalve	61:bc8c8270f0ab	674
Lightvalve	58:2eade98630e2	675	// //Pressure sensor A
Lightvalve	58:2eade98630e2	676	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	58:2eade98630e2	677	// //while((ADC1->SR & 0b10));
Lightvalve	58:2eade98630e2	678	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	679	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	58:2eade98630e2	680	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	58:2eade98630e2	681	// 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	682	//
Lightvalve	58:2eade98630e2	683	//
Lightvalve	58:2eade98630e2	684	// //Pressure sensor B
Lightvalve	58:2eade98630e2	685	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	686	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	58:2eade98630e2	687	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	58:2eade98630e2	688	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	689
Lightvalve	17:1865016ca2e7	690
Lightvalve	21:e5f1a43ea6f9	691	//Current
Lightvalve	21:e5f1a43ea6f9	692	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	693	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	694	//while((ADC3->SR & 0b10));
Lightvalve	51:b46bed7fec80	695	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	696	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	697	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	698	//cur.sen = raw_cur;
Lightvalve	58:2eade98630e2	699
Lightvalve	57:f4819de54e7a	700	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	701	}
Lightvalve	11:82d8768d7351	702	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	703	}
Lightvalve	19:23b7c1ad8683	704
Lightvalve	19:23b7c1ad8683	705
Lightvalve	18:b8adf1582ea3	706	int j =0;
Lightvalve	54:647072f5307a	707	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	708	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	709	int cnt_trans = 0;
Lightvalve	48:889798ff9329	710	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	711	int can_rest =0;
Lightvalve	48:889798ff9329	712
Lightvalve	11:82d8768d7351	713	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	714	{
Lightvalve	19:23b7c1ad8683	715	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	716
Lightvalve	57:f4819de54e7a	717	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	718	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	719	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	720	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	721	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	722	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	723	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	724	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	725	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	726	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	727	}
Lightvalve	50:3c630b5eba9f	728
Lightvalve	50:3c630b5eba9f	729	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	730	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	731	cnt_trans++;
Lightvalve	46:2694daea349b	732	torq.err_sum = 0;
Lightvalve	48:889798ff9329	733	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	734	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	735	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	736	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	737	cnt_trans++;
Lightvalve	46:2694daea349b	738	torq.err_sum = 0;
Lightvalve	48:889798ff9329	739	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	740	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	741	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	58:2eade98630e2	742	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	743	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	744	} else {
Lightvalve	58:2eade98630e2	745	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	746	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	747	}
Lightvalve	45:35fa6884d0c6	748
Lightvalve	50:3c630b5eba9f	749
Lightvalve	57:f4819de54e7a	750	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	751	int CONTROL_MODE = 0;
Lightvalve	58:2eade98630e2	752
Lightvalve	57:f4819de54e7a	753	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	754	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	755	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	756	} else {
Lightvalve	57:f4819de54e7a	757	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	758	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	759	}
Lightvalve	56:6f50d9d3bfee	760
Lightvalve	56:6f50d9d3bfee	761
Lightvalve	56:6f50d9d3bfee	762
Lightvalve	57:f4819de54e7a	763	// UTILITY MODE ------------------------------------------------------------
Lightvalve	56:6f50d9d3bfee	764
Lightvalve	57:f4819de54e7a	765	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	766	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	767	break;
Lightvalve	13:747daba9cf59	768	}
Lightvalve	14:8e7590227d22	769
Lightvalve	14:8e7590227d22	770	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	771	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	772	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	773	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	774
Lightvalve	14:8e7590227d22	775	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	776	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	777	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	778
Lightvalve	84:c355d3e52bf1	779	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	780
Lightvalve	30:8d561f16383b	781	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	59:f308b1656d9c	782	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	50:3c630b5eba9f	783
Lightvalve	16:903b5a4433b4	784	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	785	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	786	}
Lightvalve	13:747daba9cf59	787	} else {
Lightvalve	58:2eade98630e2	788	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	789	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	790	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	791	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	792
Lightvalve	16:903b5a4433b4	793	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	794
Lightvalve	30:8d561f16383b	795	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	796
Lightvalve	13:747daba9cf59	797	}
Lightvalve	14:8e7590227d22	798	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	799	break;
Lightvalve	19:23b7c1ad8683	800	}
Lightvalve	14:8e7590227d22	801
Lightvalve	50:3c630b5eba9f	802	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	803	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	804	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	805	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	806	// }
Lightvalve	50:3c630b5eba9f	807	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	808	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	809	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	810	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	811	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	812	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	813	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	814	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	815	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	816	// }
Lightvalve	50:3c630b5eba9f	817	//
Lightvalve	50:3c630b5eba9f	818	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	819	// 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	820	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	821	//
Lightvalve	50:3c630b5eba9f	822	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	823	// V_out = 0;
Lightvalve	50:3c630b5eba9f	824	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	825	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	826	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	827	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	828	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	829	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	830	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	831	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	832	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	833	//
Lightvalve	50:3c630b5eba9f	834	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	835	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	836	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	837	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	838	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	839	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	840	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	841	//
Lightvalve	50:3c630b5eba9f	842	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	843	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	844	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	845	// } else {
Lightvalve	50:3c630b5eba9f	846	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	847	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	848	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	849	// }
Lightvalve	50:3c630b5eba9f	850	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	851	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	852	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	853	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	854	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	855	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	856	// }
Lightvalve	50:3c630b5eba9f	857	// } else {
Lightvalve	50:3c630b5eba9f	858	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	859	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	860	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	861	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	862	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	863	// }
Lightvalve	50:3c630b5eba9f	864	// V_out = 0;
Lightvalve	50:3c630b5eba9f	865	//
Lightvalve	50:3c630b5eba9f	866	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	867	//
Lightvalve	50:3c630b5eba9f	868	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	869	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	870	//
Lightvalve	50:3c630b5eba9f	871	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	872	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	873	// }
Lightvalve	50:3c630b5eba9f	874	// }
Lightvalve	50:3c630b5eba9f	875	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	876	// break;
Lightvalve	50:3c630b5eba9f	877	// }
Lightvalve	14:8e7590227d22	878
Lightvalve	14:8e7590227d22	879	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	880	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	881	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	882	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	883	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	59:f308b1656d9c	884	pos.ref = pos.sen;
Lightvalve	59:f308b1656d9c	885	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	886	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	887	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	67:c2812cf26c38	888	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	889	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	890	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	891	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	892	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	893	}
Lightvalve	29:69f3f5445d6d	894	cnt_findhome++;
Lightvalve	14:8e7590227d22	895
Lightvalve	29:69f3f5445d6d	896	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	897	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	898	} else {
Lightvalve	29:69f3f5445d6d	899	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	900	}
Lightvalve	19:23b7c1ad8683	901
Lightvalve	57:f4819de54e7a	902	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	903	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	67:c2812cf26c38	904	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	67:c2812cf26c38	905	else pos.ref = pos.ref - 12.0f;
Lightvalve	61:bc8c8270f0ab	906
Lightvalve	59:f308b1656d9c	907	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	59:f308b1656d9c	908	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	909	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	59:f308b1656d9c	910	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	911	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	912
Lightvalve	59:f308b1656d9c	913	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	59:f308b1656d9c	914	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	915
Lightvalve	34:bb2ca2fc2a8e	916
Lightvalve	29:69f3f5445d6d	917	} else {
Lightvalve	29:69f3f5445d6d	918	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	67:c2812cf26c38	919	// ENC_SET_ZERO();
Lightvalve	29:69f3f5445d6d	920	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	921	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	922	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	923	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	924	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	925	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	926	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	927	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	928	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	67:c2812cf26c38	929
Lightvalve	67:c2812cf26c38	930
Lightvalve	67:c2812cf26c38	931	cnt_findhome = 0;
Lightvalve	67:c2812cf26c38	932	pos.ref = 0.0f;
Lightvalve	67:c2812cf26c38	933	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	934	pos.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	935	vel.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	936	//FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	67:c2812cf26c38	937	//CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	938
Lightvalve	67:c2812cf26c38	939
Lightvalve	29:69f3f5445d6d	940	}
Lightvalve	29:69f3f5445d6d	941	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	942	int T_move = 2*TMR_FREQ_5k;
Lightvalve	59:f308b1656d9c	943	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	944	//pos.ref = 0.0f;
Lightvalve	59:f308b1656d9c	945	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	946
Lightvalve	29:69f3f5445d6d	947	// input for position control
Lightvalve	67:c2812cf26c38	948
Lightvalve	67:c2812cf26c38	949	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	950	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	951
Lightvalve	67:c2812cf26c38	952	double torq_ref = 0.0f;
Lightvalve	67:c2812cf26c38	953	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	954	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	67:c2812cf26c38	955	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	956
Lightvalve	67:c2812cf26c38	957	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	67:c2812cf26c38	958
Lightvalve	67:c2812cf26c38	959	double I_REF_POS = 0.0f;
Lightvalve	67:c2812cf26c38	960	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	67:c2812cf26c38	961	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	67:c2812cf26c38	962
Lightvalve	67:c2812cf26c38	963	double temp_vel_pos = 0.0f;
Lightvalve	67:c2812cf26c38	964	double temp_vel_torq = 0.0f;
Lightvalve	67:c2812cf26c38	965	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	67:c2812cf26c38	966
Lightvalve	69:3995ffeaa786	967	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	67:c2812cf26c38	968	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	969	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	970	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	67:c2812cf26c38	971	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	972	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:c2812cf26c38	973	}
Lightvalve	67:c2812cf26c38	974	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	975	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	976
Lightvalve	67:c2812cf26c38	977	I_REF = I_REF_POS;
Lightvalve	67:c2812cf26c38	978
Lightvalve	67:c2812cf26c38	979
Lightvalve	67:c2812cf26c38	980
Lightvalve	67:c2812cf26c38	981	} else {
Lightvalve	67:c2812cf26c38	982	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	67:c2812cf26c38	983	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	984
Lightvalve	67:c2812cf26c38	985	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	67:c2812cf26c38	986	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	67:c2812cf26c38	987	} else {
Lightvalve	67:c2812cf26c38	988	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	67:c2812cf26c38	989	}
Lightvalve	67:c2812cf26c38	990
Lightvalve	67:c2812cf26c38	991	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	67:c2812cf26c38	992
Lightvalve	67:c2812cf26c38	993	V_out = (float) Vout.ref;
Lightvalve	67:c2812cf26c38	994
Lightvalve	67:c2812cf26c38	995	}
Lightvalve	67:c2812cf26c38	996
Lightvalve	67:c2812cf26c38	997
Lightvalve	67:c2812cf26c38	998
Lightvalve	67:c2812cf26c38	999
Lightvalve	59:f308b1656d9c	1000	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	59:f308b1656d9c	1001	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	1002	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	59:f308b1656d9c	1003	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	1004	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	1005
Lightvalve	29:69f3f5445d6d	1006	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	1007	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	1008	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	1009	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1010	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1011	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1012	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1013	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1014	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	1015	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	1016	}
Lightvalve	13:747daba9cf59	1017	}
Lightvalve	19:23b7c1ad8683	1018
Lightvalve	13:747daba9cf59	1019	break;
Lightvalve	13:747daba9cf59	1020	}
Lightvalve	14:8e7590227d22	1021
Lightvalve	50:3c630b5eba9f	1022	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	1023	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	1024	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	1025	// else {
Lightvalve	50:3c630b5eba9f	1026	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1027	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	1028	// }
Lightvalve	50:3c630b5eba9f	1029	// }
Lightvalve	50:3c630b5eba9f	1030	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	1031	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	1032	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1033	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	1034	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1035	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1036	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	1037	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1038	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	1039	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	1040	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	1041	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	1042	// }
Lightvalve	50:3c630b5eba9f	1043	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	1044	// }
Lightvalve	50:3c630b5eba9f	1045	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	1046	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	1047	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	1048	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1049	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1050	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1051	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1052	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1053	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	1054	// // 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	1055	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1056	// }
Lightvalve	50:3c630b5eba9f	1057	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	1058	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1059	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1060	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1061	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1062	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1063	// 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	1064	// // 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	1065	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1066	// }
Lightvalve	50:3c630b5eba9f	1067	// }
Lightvalve	50:3c630b5eba9f	1068	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	1069	//
Lightvalve	50:3c630b5eba9f	1070	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1071	//
Lightvalve	50:3c630b5eba9f	1072	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	1073	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	1074	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	1075	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	1076	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	1077	// }
Lightvalve	50:3c630b5eba9f	1078	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	1079	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1080	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	1081	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	1082	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	1083	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	1084	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1085	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	1086	// }
Lightvalve	50:3c630b5eba9f	1087	//
Lightvalve	50:3c630b5eba9f	1088	// }
Lightvalve	50:3c630b5eba9f	1089	// break;
Lightvalve	50:3c630b5eba9f	1090	// }
Lightvalve	50:3c630b5eba9f	1091	//
Lightvalve	50:3c630b5eba9f	1092	// }
Lightvalve	14:8e7590227d22	1093	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1094	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1095	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1096	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1097	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1098
Lightvalve	14:8e7590227d22	1099	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1100	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1101	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1102	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1103	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1104
Lightvalve	38:118df027d851	1105	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	1106	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	1107	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	1108
Lightvalve	30:8d561f16383b	1109	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1110	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1111	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1112	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1113
Lightvalve	30:8d561f16383b	1114	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1115	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1116	}
Lightvalve	13:747daba9cf59	1117	} else {
Lightvalve	57:f4819de54e7a	1118	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1119	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1120	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1121	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1122	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1123	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1124
Lightvalve	16:903b5a4433b4	1125	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1126
Lightvalve	30:8d561f16383b	1127	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1128	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1129	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1130	}
Lightvalve	14:8e7590227d22	1131	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1132	break;
Lightvalve	13:747daba9cf59	1133	}
Lightvalve	14:8e7590227d22	1134
Lightvalve	50:3c630b5eba9f	1135	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	1136	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1137	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1138	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1139	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	1140	// }
Lightvalve	50:3c630b5eba9f	1141	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1142	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1143	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1144	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	1145	// }
Lightvalve	50:3c630b5eba9f	1146	// } else {
Lightvalve	50:3c630b5eba9f	1147	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1148	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	1149	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1150	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	1151	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1152	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	1153	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1154	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	1155	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	1156	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	1157	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	1158	//
Lightvalve	50:3c630b5eba9f	1159	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1160	//
Lightvalve	50:3c630b5eba9f	1161	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1162	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1163	// }
Lightvalve	50:3c630b5eba9f	1164	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	1165	// break;
Lightvalve	50:3c630b5eba9f	1166	// }
Lightvalve	19:23b7c1ad8683	1167
Lightvalve	50:3c630b5eba9f	1168	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	1169	// 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	1170	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	1171	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1172	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1173	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	1174	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1175	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	1176	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	1177	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1178	// }
Lightvalve	50:3c630b5eba9f	1179	// break;
Lightvalve	50:3c630b5eba9f	1180	// }
Lightvalve	14:8e7590227d22	1181
Lightvalve	14:8e7590227d22	1182	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	59:f308b1656d9c	1183	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1184	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1185
Lightvalve	14:8e7590227d22	1186	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	60:64181f1d3e60	1187	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1188	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	59:f308b1656d9c	1189	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1190	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1191	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1192	data_num = 0;
Lightvalve	14:8e7590227d22	1193	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1194	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1195	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1196	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	59:f308b1656d9c	1197	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1198	} else {
Lightvalve	13:747daba9cf59	1199	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1200	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1201	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1202	}
Lightvalve	14:8e7590227d22	1203
Lightvalve	17:1865016ca2e7	1204	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1205	int i;
Lightvalve	13:747daba9cf59	1206	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1207	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1208	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1209	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1210	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1211	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1212	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1213	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1214	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1215	}
Lightvalve	13:747daba9cf59	1216	}
Lightvalve	59:f308b1656d9c	1217	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1218	ID_index = 0;
Lightvalve	57:f4819de54e7a	1219	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1220	}
Lightvalve	14:8e7590227d22	1221
Lightvalve	14:8e7590227d22	1222
Lightvalve	13:747daba9cf59	1223	break;
Lightvalve	13:747daba9cf59	1224	}
Lightvalve	14:8e7590227d22	1225
Lightvalve	14:8e7590227d22	1226	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	59:f308b1656d9c	1227	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1228	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1229	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1230	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1231	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1232	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1233	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1234	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1235	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1236	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1237	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1238	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1239	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1240	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1241	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	1242	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1243	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	1244	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1245	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1246	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1247	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	1248	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1249	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1250	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1251	data_num = 0;
Lightvalve	14:8e7590227d22	1252
Lightvalve	30:8d561f16383b	1253	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1254	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1255	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1256
Lightvalve	30:8d561f16383b	1257	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1258	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1259	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1260
Lightvalve	30:8d561f16383b	1261	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1262	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1263	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1264	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1265
Lightvalve	60:64181f1d3e60	1266	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	1267	DZ_case = 1;
Lightvalve	60:64181f1d3e60	1268	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	1269	DZ_case = -1;
Lightvalve	14:8e7590227d22	1270	} else {
Lightvalve	13:747daba9cf59	1271	DZ_case = 0;
Lightvalve	13:747daba9cf59	1272	}
Lightvalve	61:bc8c8270f0ab	1273
Lightvalve	60:64181f1d3e60	1274	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	1275
Lightvalve	13:747daba9cf59	1276	first_check = 1;
Lightvalve	13:747daba9cf59	1277	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1278	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1279	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1280	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1281	DZ_index = 1;
Lightvalve	14:8e7590227d22	1282
Lightvalve	13:747daba9cf59	1283	}
Lightvalve	19:23b7c1ad8683	1284	} else {
Lightvalve	14:8e7590227d22	1285	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1286	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1287	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	1288	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1289	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1290	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1291	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1292	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1293	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1294	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1295	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1296	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1297	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1298	}
Lightvalve	14:8e7590227d22	1299	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1300
Lightvalve	30:8d561f16383b	1301	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1302	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1303	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1304
Lightvalve	14:8e7590227d22	1305	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1306	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1307	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1308	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1309	} else {
Lightvalve	13:747daba9cf59	1310	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1311	}
Lightvalve	14:8e7590227d22	1312
Lightvalve	13:747daba9cf59	1313	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1314	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1315	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1316	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1317	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1318	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1319	DZ_index = 1;
Lightvalve	13:747daba9cf59	1320	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1321	}
Lightvalve	13:747daba9cf59	1322	}
Lightvalve	14:8e7590227d22	1323	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1324	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1325	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	1326	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1327	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1328	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1329	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1330	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1331	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1332	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1333	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1334	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1335	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1336	}
Lightvalve	14:8e7590227d22	1337	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1338
Lightvalve	30:8d561f16383b	1339	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1340	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1341	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1342	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1343	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1344
Lightvalve	14:8e7590227d22	1345	if((FINAL_POS - START_POS)>100) {
Lightvalve	60:64181f1d3e60	1346	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1347	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1348	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1349	} else {
Lightvalve	60:64181f1d3e60	1350	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1351	}
Lightvalve	14:8e7590227d22	1352
Lightvalve	13:747daba9cf59	1353	VALVE_DZ_timer = 0;
Lightvalve	60:64181f1d3e60	1354	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1355	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1356	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1357	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1358	first_check = 0;
Lightvalve	33:91b17819ec30	1359	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1360	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1361
Lightvalve	16:903b5a4433b4	1362	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1363
Lightvalve	60:64181f1d3e60	1364	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1365	DZ_index = 1;
Lightvalve	13:747daba9cf59	1366	}
Lightvalve	13:747daba9cf59	1367	}
Lightvalve	14:8e7590227d22	1368	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1369	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1370	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	1371	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1372	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1373	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1374	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1375	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1376	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1377	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1378	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1379	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1380	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1381	}
Lightvalve	14:8e7590227d22	1382	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1383
Lightvalve	30:8d561f16383b	1384	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1385	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1386	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1387
Lightvalve	14:8e7590227d22	1388	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1389	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1390	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1391	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1392	} else {
Lightvalve	13:747daba9cf59	1393	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1394	}
Lightvalve	13:747daba9cf59	1395	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1396	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1397	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1398	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1399	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1400	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1401	DZ_index = 1;
Lightvalve	13:747daba9cf59	1402	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1403	}
Lightvalve	13:747daba9cf59	1404	}
Lightvalve	14:8e7590227d22	1405	} else {
Lightvalve	30:8d561f16383b	1406	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1407	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	1408	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1409	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1410	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1411	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1412	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1413	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1414	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1415	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1416	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1417	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1418	}
Lightvalve	14:8e7590227d22	1419	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1420
Lightvalve	30:8d561f16383b	1421	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1422	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1423	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1424	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1425	FINAL_POS = pos.sen;
Lightvalve	61:bc8c8270f0ab	1426
Lightvalve	60:64181f1d3e60	1427	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1428	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1429	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1430	DZ_DIRECTION = -1;
Lightvalve	60:64181f1d3e60	1431	} else {
Lightvalve	13:747daba9cf59	1432	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1433	}
Lightvalve	14:8e7590227d22	1434
Lightvalve	13:747daba9cf59	1435	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1436	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1437	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1438	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1439	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1440	first_check = 0;
Lightvalve	33:91b17819ec30	1441	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1442	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	61:bc8c8270f0ab	1443
Lightvalve	59:f308b1656d9c	1444	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1445
Lightvalve	57:f4819de54e7a	1446	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1447	DZ_index = 1;
Lightvalve	13:747daba9cf59	1448	}
Lightvalve	13:747daba9cf59	1449	}
Lightvalve	13:747daba9cf59	1450	}
Lightvalve	14:8e7590227d22	1451	}
Lightvalve	13:747daba9cf59	1452	break;
Lightvalve	13:747daba9cf59	1453	}
Lightvalve	14:8e7590227d22	1454
Lightvalve	14:8e7590227d22	1455	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	59:f308b1656d9c	1456	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1457	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1458	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1459	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1460	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1461	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1462	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1463	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1464	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1465	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1466	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1467	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1468	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1469	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	59:f308b1656d9c	1470	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1471	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1472	first_check = 1;
Lightvalve	13:747daba9cf59	1473	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1474	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1475	ID_index = 0;
Lightvalve	13:747daba9cf59	1476	max_check = 0;
Lightvalve	13:747daba9cf59	1477	min_check = 0;
Lightvalve	13:747daba9cf59	1478	}
Lightvalve	14:8e7590227d22	1479	} else {
Lightvalve	30:8d561f16383b	1480	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1481	//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	1482	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	59:f308b1656d9c	1483	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1484	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1485	data_num = 0;
Lightvalve	57:f4819de54e7a	1486	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1487
Lightvalve	14:8e7590227d22	1488	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1489	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1490	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1491	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1492	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1493	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1494	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1495	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1496	one_period_end = 1;
Lightvalve	13:747daba9cf59	1497	}
Lightvalve	30:8d561f16383b	1498	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1499	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1500	one_period_end = 1;
Lightvalve	59:f308b1656d9c	1501	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1502	}
Lightvalve	14:8e7590227d22	1503
Lightvalve	14:8e7590227d22	1504	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1505	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1506	max_check = 1;
Lightvalve	14:8e7590227d22	1507	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1508	min_check = 1;
Lightvalve	13:747daba9cf59	1509	}
Lightvalve	13:747daba9cf59	1510	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1511
Lightvalve	13:747daba9cf59	1512	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1513	one_period_end = 0;
Lightvalve	13:747daba9cf59	1514	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1515	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1516	}
Lightvalve	14:8e7590227d22	1517
Lightvalve	14:8e7590227d22	1518	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1519
Lightvalve	13:747daba9cf59	1520	VALVE_POS_NUM = ID_index;
Lightvalve	59:f308b1656d9c	1521	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1522	ID_index = 0;
Lightvalve	13:747daba9cf59	1523	first_check = 0;
Lightvalve	13:747daba9cf59	1524	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1525	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1526	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1527	}
Lightvalve	13:747daba9cf59	1528	}
Lightvalve	13:747daba9cf59	1529	break;
Lightvalve	13:747daba9cf59	1530	}
Lightvalve	58:2eade98630e2	1531
Lightvalve	57:f4819de54e7a	1532	case MODE_SYSTEM_ID: {
Lightvalve	57:f4819de54e7a	1533	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	57:f4819de54e7a	1534	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1535	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1536	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1537	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1538	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1539	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1540	}
Lightvalve	57:f4819de54e7a	1541	break;
Lightvalve	57:f4819de54e7a	1542	}
Lightvalve	58:2eade98630e2	1543
Lightvalve	58:2eade98630e2	1544
Lightvalve	57:f4819de54e7a	1545
Lightvalve	57:f4819de54e7a	1546	default:
Lightvalve	57:f4819de54e7a	1547	break;
Lightvalve	57:f4819de54e7a	1548	}
Lightvalve	57:f4819de54e7a	1549
Lightvalve	57:f4819de54e7a	1550	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1551
Lightvalve	57:f4819de54e7a	1552	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1553	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1554	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1555	break;
Lightvalve	57:f4819de54e7a	1556	}
Lightvalve	57:f4819de54e7a	1557
Lightvalve	57:f4819de54e7a	1558	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	67:c2812cf26c38	1559	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	57:f4819de54e7a	1560	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:f308b1656d9c	1561	V_out = Vout.ref;
Lightvalve	67:c2812cf26c38	1562	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	67:c2812cf26c38	1563	V_out = valve_pos.ref;
Lightvalve	67:c2812cf26c38	1564	} else {
Lightvalve	67:c2812cf26c38	1565	I_REF = valve_pos.ref * 0.001f;
Lightvalve	57:f4819de54e7a	1566	}
Lightvalve	58:2eade98630e2	1567
Lightvalve	57:f4819de54e7a	1568	break;
Lightvalve	57:f4819de54e7a	1569	}
Lightvalve	57:f4819de54e7a	1570
Lightvalve	57:f4819de54e7a	1571	case MODE_JOINT_CONTROL: {
Lightvalve	57:f4819de54e7a	1572	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1573	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	1574	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1575	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	1576
Lightvalve	67:c2812cf26c38	1577	//K & D Low Pass Filter
Lightvalve	67:c2812cf26c38	1578	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	67:c2812cf26c38	1579	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	67:c2812cf26c38	1580	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	67:c2812cf26c38	1581
Lightvalve	67:c2812cf26c38	1582	torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1583
Lightvalve	57:f4819de54e7a	1584	// torque feedback
Lightvalve	67:c2812cf26c38	1585	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1586	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1587
Lightvalve	57:f4819de54e7a	1588	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1589
Lightvalve	57:f4819de54e7a	1590	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1591	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1592	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1593
Lightvalve	57:f4819de54e7a	1594	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1595	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1596	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1597
Lightvalve	69:3995ffeaa786	1598	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1599	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	1600	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	1601	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1602	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	1603	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1604	}
Lightvalve	57:f4819de54e7a	1605	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	1606	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1607
Lightvalve	57:f4819de54e7a	1608	// velocity compensation for torque control
Lightvalve	69:3995ffeaa786	1609	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1610	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1611	// 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	1612	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1613	// L feedforward velocity
Lightvalve	69:3995ffeaa786	1614	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1615	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	1616	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1617	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1618	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1619	}
Lightvalve	57:f4819de54e7a	1620	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	1621	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1622	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1623	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1624	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1625
Lightvalve	57:f4819de54e7a	1626	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	67:c2812cf26c38	1627
Lightvalve	67:c2812cf26c38	1628	// Anti-windup for FT
Lightvalve	67:c2812cf26c38	1629	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	67:c2812cf26c38	1630	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	67:c2812cf26c38	1631	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	67:c2812cf26c38	1632	if (I_REF > I_MAX) {
Lightvalve	67:c2812cf26c38	1633	double I_rem = I_REF - I_MAX;
Lightvalve	67:c2812cf26c38	1634	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1635	I_REF = I_MAX;
Lightvalve	67:c2812cf26c38	1636	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1637	} else if (I_REF < -I_MAX) {
Lightvalve	67:c2812cf26c38	1638	double I_rem = I_REF - (-I_MAX);
Lightvalve	67:c2812cf26c38	1639	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1640	I_REF = -I_MAX;
Lightvalve	67:c2812cf26c38	1641	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1642	}
Lightvalve	67:c2812cf26c38	1643	}
Lightvalve	57:f4819de54e7a	1644
Lightvalve	57:f4819de54e7a	1645	} else {
Lightvalve	57:f4819de54e7a	1646	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	72:3436ce769b1e	1647	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	72:3436ce769b1e	1648	float VALVE_POS_RAW = 0.0f;
Lightvalve	72:3436ce769b1e	1649
Lightvalve	57:f4819de54e7a	1650	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	1651	+ 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	1652
Lightvalve	72:3436ce769b1e	1653	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	1654
Lightvalve	72:3436ce769b1e	1655	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	72:3436ce769b1e	1656
Lightvalve	72:3436ce769b1e	1657
Lightvalve	72:3436ce769b1e	1658	if (VALVE_POS_RAW >= 0) {
Lightvalve	72:3436ce769b1e	1659	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1660	} else {
Lightvalve	72:3436ce769b1e	1661	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1662	}
Lightvalve	57:f4819de54e7a	1663
Lightvalve	57:f4819de54e7a	1664	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	57:f4819de54e7a	1665	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1666	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1667	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1668	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1669	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1670	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1671	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1672	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1673	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1674	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1675	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1676	}
Lightvalve	57:f4819de54e7a	1677	}
Lightvalve	61:bc8c8270f0ab	1678
Lightvalve	57:f4819de54e7a	1679	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1680
Lightvalve	67:c2812cf26c38	1681	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	60:64181f1d3e60	1682	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1683
Lightvalve	57:f4819de54e7a	1684	}
Lightvalve	72:3436ce769b1e	1685
Lightvalve	72:3436ce769b1e	1686	torq_ref_past = torq_ref;
Lightvalve	58:2eade98630e2	1687
Lightvalve	57:f4819de54e7a	1688	break;
Lightvalve	57:f4819de54e7a	1689	}
Lightvalve	58:2eade98630e2	1690
Lightvalve	57:f4819de54e7a	1691	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1692	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1693	break;
Lightvalve	57:f4819de54e7a	1694	}
Lightvalve	14:8e7590227d22	1695
Lightvalve	12:6f2531038ea4	1696	default:
Lightvalve	12:6f2531038ea4	1697	break;
Lightvalve	12:6f2531038ea4	1698	}
Lightvalve	14:8e7590227d22	1699
Lightvalve	57:f4819de54e7a	1700
Lightvalve	57:f4819de54e7a	1701	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1702
Lightvalve	57:f4819de54e7a	1703	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1704	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1705	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1706	if (CURRENT_CONTROL_MODE) {
Lightvalve	67:c2812cf26c38	1707	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1708	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1709
Lightvalve	57:f4819de54e7a	1710	I_ERR = I_REF_fil - cur.sen;
Lightvalve	67:c2812cf26c38	1711	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	57:f4819de54e7a	1712
Lightvalve	57:f4819de54e7a	1713
Lightvalve	57:f4819de54e7a	1714	// Moog Valve Current Control Gain
Lightvalve	67:c2812cf26c38	1715	double R_model = 500.0f; // ohm
Lightvalve	57:f4819de54e7a	1716	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1717	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1718	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1719	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1720
Lightvalve	57:f4819de54e7a	1721	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1722	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1723	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1724	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1725	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1726	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1727	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1728	}
Lightvalve	57:f4819de54e7a	1729
Lightvalve	57:f4819de54e7a	1730	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1731
Lightvalve	67:c2812cf26c38	1732	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	57:f4819de54e7a	1733	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	57:f4819de54e7a	1734	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1735	I_REF_fil_old = I_REF_fil;
Lightvalve	67:c2812cf26c38	1736	// 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	1737	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	67:c2812cf26c38	1738	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1739
Lightvalve	57:f4819de54e7a	1740	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1741	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1742	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1743	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1744	VALVE_PWM_RAW = V_MAX;
Lightvalve	67:c2812cf26c38	1745	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1746	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1747	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1748	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1749	VALVE_PWM_RAW = -V_MAX;
Lightvalve	67:c2812cf26c38	1750	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1751	}
Lightvalve	57:f4819de54e7a	1752	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1753	} else {
Lightvalve	57:f4819de54e7a	1754	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1755	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1756	}
Lightvalve	57:f4819de54e7a	1757
Lightvalve	57:f4819de54e7a	1758	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1759	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1760	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1761	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1762	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1763	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1764	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1765
Lightvalve	57:f4819de54e7a	1766	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1767
Lightvalve	57:f4819de54e7a	1768	} else {
Lightvalve	57:f4819de54e7a	1769	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1770	}
Lightvalve	57:f4819de54e7a	1771
Lightvalve	57:f4819de54e7a	1772	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1773	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	67:c2812cf26c38	1774	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	57:f4819de54e7a	1775
Lightvalve	57:f4819de54e7a	1776	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	67:c2812cf26c38	1777	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	67:c2812cf26c38	1778	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	67:c2812cf26c38	1779	else V_out = (float) (CUR_PWM_lin);
Lightvalve	57:f4819de54e7a	1780	}
Lightvalve	89:a7b45368ea0f	1781	else { //////////////////////////sw valve
Lightvalve	89:a7b45368ea0f	1782	// Output Voltage Linearization
Lightvalve	89:a7b45368ea0f	1783	double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	89:a7b45368ea0f	1784	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	89:a7b45368ea0f	1785
Lightvalve	89:a7b45368ea0f	1786	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	89:a7b45368ea0f	1787	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	89:a7b45368ea0f	1788	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	89:a7b45368ea0f	1789	else V_out = (float) (CUR_PWM_lin);
Lightvalve	89:a7b45368ea0f	1790	}
Lightvalve	67:c2812cf26c38	1791
Lightvalve	67:c2812cf26c38	1792	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	67:c2812cf26c38	1793	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	67:c2812cf26c38	1794	// else V_out = V_out;
Lightvalve	67:c2812cf26c38	1795
jobuuu	7:e9086c72bb22	1796	/*******************************************************
jobuuu	7:e9086c72bb22	1797	*** PWM
jobuuu	7:e9086c72bb22	1798	********************************************************/
Lightvalve	67:c2812cf26c38	1799	if(DIR_VALVE<0){
Lightvalve	67:c2812cf26c38	1800	V_out = -V_out;
Lightvalve	67:c2812cf26c38	1801	}
Lightvalve	67:c2812cf26c38	1802
Lightvalve	49:e7bcfc244d40	1803	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1804	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1805	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1806	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1807	}
Lightvalve	49:e7bcfc244d40	1808	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1809
Lightvalve	19:23b7c1ad8683	1810	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1811	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1812	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1813
Lightvalve	30:8d561f16383b	1814	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1815	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1816	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1817	} else {
jobuuu	2:a1c0a37df760	1818	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1819	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1820	}
Lightvalve	13:747daba9cf59	1821
jobuuu	1:e04e563be5ce	1822	//pwm
Lightvalve	30:8d561f16383b	1823	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1824	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	67:c2812cf26c38	1825
Lightvalve	61:bc8c8270f0ab	1826
Lightvalve	57:f4819de54e7a	1827	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1828
Lightvalve	54:647072f5307a	1829	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1830	if (flag_data_request[0] == HIGH) {
Lightvalve	57:f4819de54e7a	1831	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1832	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1833	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1834	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	1835	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	1836	}
Lightvalve	57:f4819de54e7a	1837	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1838	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1839	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	1840	} else if (SENSING_MODE == 1) {
Lightvalve	67:c2812cf26c38	1841	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	1842	}
Lightvalve	52:8ea76864368a	1843	}
Lightvalve	52:8ea76864368a	1844	}
Lightvalve	56:6f50d9d3bfee	1845	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1846	//valve position
Lightvalve	54:647072f5307a	1847	double t_value = 0;
Lightvalve	97:d71c57e3515e	1848	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	97:d71c57e3515e	1849	t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1850	} else {
Lightvalve	97:d71c57e3515e	1851	t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1852	}
Lightvalve	97:d71c57e3515e	1853	// if(OPERATING_MODE==5) {
Lightvalve	97:d71c57e3515e	1854	// if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	97:d71c57e3515e	1855	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1856	// } else {
Lightvalve	97:d71c57e3515e	1857	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1858	// }
Lightvalve	97:d71c57e3515e	1859	//t_value = (double) value;
Lightvalve	97:d71c57e3515e	1860	// } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	97:d71c57e3515e	1861	// t_value = cur.sen * 1000.0f;
Lightvalve	89:a7b45368ea0f	1862	// } else {
Lightvalve	97:d71c57e3515e	1863	// t_value = V_out;
Lightvalve	89:a7b45368ea0f	1864	// }
Lightvalve	67:c2812cf26c38	1865	CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve	67:c2812cf26c38	1866	//CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve	67:c2812cf26c38	1867	//CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve	54:647072f5307a	1868	}
Lightvalve	58:2eade98630e2	1869
Lightvalve	58:2eade98630e2	1870
Lightvalve	98:cd1b2da4704f	1871	if (flag_data_request[2] == HIGH) {
Lightvalve	89:a7b45368ea0f	1872	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve	89:a7b45368ea0f	1873	double t_value = 0;
Lightvalve	89:a7b45368ea0f	1874	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	89:a7b45368ea0f	1875	t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1876	} else {
Lightvalve	89:a7b45368ea0f	1877	t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1878	}
Lightvalve	89:a7b45368ea0f	1879	CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve	55:b25725257569	1880	}
Lightvalve	58:2eade98630e2	1881
Lightvalve	57:f4819de54e7a	1882	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1883	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1884	;
Lightvalve	57:f4819de54e7a	1885	}
Lightvalve	58:2eade98630e2	1886
Lightvalve	56:6f50d9d3bfee	1887	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1888	//PWM
Lightvalve	73:f80dc3970c99	1889	//CAN_TX_PWM((int16_t) value); //1500
Lightvalve	73:f80dc3970c99	1890	CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve	54:647072f5307a	1891	}
Lightvalve	57:f4819de54e7a	1892	//for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1893	// ;
Lightvalve	57:f4819de54e7a	1894	// }
Lightvalve	56:6f50d9d3bfee	1895	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1896	//valve position
Lightvalve	73:f80dc3970c99	1897	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	1898	}
Lightvalve	20:806196fda269	1899
Lightvalve	54:647072f5307a	1900	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1901	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1902	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1903	// }
Lightvalve	54:647072f5307a	1904	//if (flag_delay_test == 1){
Lightvalve	58:2eade98630e2	1905	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1906	//}
Lightvalve	52:8ea76864368a	1907
Lightvalve	54:647072f5307a	1908	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1909	}
Lightvalve	54:647072f5307a	1910	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1911
Lightvalve	20:806196fda269	1912	}
Lightvalve	52:8ea76864368a	1913	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1914
Lightvalve	58:2eade98630e2	1915	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

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

main.cpp@121:89396c37b03e, 2020-09-15 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning