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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

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main.cpp@119:8ade52d4bb25, 2020-09-14 (annotated)

Committer:: Lightvalve
Date:: Mon Sep 14 07:19:35 2020 +0000
Revision:: 119:8ade52d4bb25
Parent:: 118:af86e883dcb4
Child:: 120:17398540bb1c

200914-3

Who changed what in which revision?

User	Revision	Line number	New contents of line
Lightvalve	119:8ade52d4bb25	1	//200914-3
GiJeongKim	0:51c43836c1d7	2	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	3	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	4	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	5	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	6	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	7	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	8	#include "setting.h"
Lightvalve	11:82d8768d7351	9	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	10	#include "stm32f4xx_flash.h"
Lightvalve	65:a2d7c63419c2	11	#include "FlashWriter.h"
Lightvalve	61:bc8c8270f0ab	12
Lightvalve	61:bc8c8270f0ab	13	using namespace std;
Lightvalve	61:bc8c8270f0ab	14	Timer t;
GiJeongKim	0:51c43836c1d7	15
Lightvalve	31:66738bfecec5	16	///191008////
Lightvalve	31:66738bfecec5	17
jobuuu	7:e9086c72bb22	18	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	19	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	20	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	21	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	22	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	23	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	24	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	25	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	26
Lightvalve	24:ef6e1092e9e6	27
jobuuu	7:e9086c72bb22	28	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	29	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	30	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	31
jobuuu	7:e9086c72bb22	32	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	33	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	34	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	35	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	36
jobuuu	7:e9086c72bb22	37	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	38	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	39	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	40	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	41	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	42	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	43	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	44
jobuuu	7:e9086c72bb22	45	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	46	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	47
jobuuu	7:e9086c72bb22	48	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	49	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	50	CANMessage msg;
Lightvalve	11:82d8768d7351	51	void onMsgReceived()
Lightvalve	11:82d8768d7351	52	{
Lightvalve	11:82d8768d7351	53	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	54	}
jobuuu	2:a1c0a37df760	55
jobuuu	7:e9086c72bb22	56	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	57	State pos;
jobuuu	7:e9086c72bb22	58	State vel;
jobuuu	7:e9086c72bb22	59	State Vout;
jobuuu	7:e9086c72bb22	60	State torq;
jobuuu	7:e9086c72bb22	61	State pres_A;
jobuuu	7:e9086c72bb22	62	State pres_B;
jobuuu	7:e9086c72bb22	63	State cur;
Lightvalve	14:8e7590227d22	64	State valve_pos;
Lightvalve	14:8e7590227d22	65
Lightvalve	14:8e7590227d22	66	State INIT_Vout;
Lightvalve	14:8e7590227d22	67	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	68	State INIT_Pos;
Lightvalve	14:8e7590227d22	69	State INIT_torq;
jobuuu	5:a4319f79457b	70
Lightvalve	19:23b7c1ad8683	71	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	72	extern int CID_RX_REF_POSITION;
Lightvalve	49:e7bcfc244d40	73	extern int CID_RX_REF_VALVE_POS;
Lightvalve	45:35fa6884d0c6	74	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	75
Lightvalve	19:23b7c1ad8683	76	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	77	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	78	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	79	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	80	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	81	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	82
Lightvalve	61:bc8c8270f0ab	83
Lightvalve	61:bc8c8270f0ab	84
Lightvalve	61:bc8c8270f0ab	85
jobuuu	7:e9086c72bb22	86	// =============================================================================
jobuuu	7:e9086c72bb22	87	// =============================================================================
jobuuu	7:e9086c72bb22	88	// =============================================================================
jobuuu	7:e9086c72bb22	89
Lightvalve	12:6f2531038ea4	90	/*******************************************************************************
Lightvalve	12:6f2531038ea4	91	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	92	******************************************************************************/
Lightvalve	13:747daba9cf59	93	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	94	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	95	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	96	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	97	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	98	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	99	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	100	};
Lightvalve	12:6f2531038ea4	101
Lightvalve	12:6f2531038ea4	102	/*******************************************************************************
Lightvalve	12:6f2531038ea4	103	* CONTROL MODE
Lightvalve	12:6f2531038ea4	104	******************************************************************************/
Lightvalve	13:747daba9cf59	105	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	106	//control mode
Lightvalve	12:6f2531038ea4	107	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	108	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	109	MODE_JOINT_CONTROL, //2
Lightvalve	50:3c630b5eba9f	110
Lightvalve	47:fdcb8bd86fd6	111	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	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	119:8ade52d4bb25	196	{-0.05201108008623123f,1.7630244493484497f,0.12024858593940735f,0.470564067363739f,-0.8778451681137085f,0.9479458332061768f,-0.1628284603357315f,1.5956050157546997f,-0.2636244595050812f,-0.08055000752210617f,-0.1950138509273529f,-0.21651770174503326f,-1.5582096576690674f,0.15715108811855316f,-0.2396446317434311f,-0.7774190902709961f},
Lightvalve	119:8ade52d4bb25	197	{-0.20212215185165405f,1.66038978099823f,-0.36603355407714844f,0.15740251541137695f,-0.9208313226699829f,0.7045703530311584f,-0.3777896761894226f,1.0722788572311401f,-0.07192329317331314f,0.15193131566047668f,-0.22933512926101685f,-0.4433753490447998f,-0.980057418346405f,-0.09969627857208252f,-0.1953967958688736f,-0.6191466450691223f},
Lightvalve	119:8ade52d4bb25	198	{-0.30342212319374084f,1.4171931743621826f,0.33912619948387146f,-0.19471722841262817f,-0.6460435390472412f,0.7224875688552856f,0.2676515281200409f,0.7241128087043762f,-0.1479765921831131f,0.15387609601020813f,-0.2982146143913269f,-0.7689915895462036f,-1.0182141065597534f,0.5917680859565735f,0.05209478735923767f,-0.9354488253593445f},
Lightvalve	119:8ade52d4bb25	199	{-0.2710913121700287f,0.8541884422302246f,0.3703531324863434f,0.39255276322364807f,-0.5151664614677429f,0.20091192424297333f,-0.10795548558235168f,0.37592601776123047f,0.02323395572602749f,0.27676814794540405f,0.11536982655525208f,-0.6318338513374329f,-0.8951073884963989f,0.8317447304725647f,-0.27597576379776f,-0.7172113060951233f},
Lightvalve	119:8ade52d4bb25	200	{0.15227964520454407f,0.5230936408042908f,-0.004794687032699585f,0.3051225244998932f,-0.30387261509895325f,0.2637682557106018f,0.12058994174003601f,-0.6972423195838928f,0.029128026217222214f,0.10209440439939499f,0.3501441180706024f,-0.9595959186553955f,-0.3224271833896637f,1.4051047563552856f,-0.36018112301826477f,-1.0587973594665527f},
Lightvalve	119:8ade52d4bb25	201	{0.3187715709209442f,-0.8098124265670776f,0.20290347933769226f,0.269151896238327f,0.21218730509281158f,-0.28431686758995056f,0.15389427542686462f,-1.9090710878372192f,0.032096005976200104f,0.10837147384881973f,-0.20485371351242065f,-0.5488584041595459f,0.339109867811203f,2.067291498184204f,-0.38513508439064026f,-1.0820884704589844f},
Lightvalve	119:8ade52d4bb25	202	{-0.012131188064813614f,0.10674313455820084f,-0.2331579178571701f,-0.9412594437599182f,-0.07607362419366837f,-0.23539789021015167f,0.05604562163352966f,-0.46537190675735474f,0.3415223956108093f,0.059453461319208145f,0.16585320234298706f,0.43452322483062744f,0.24253934621810913f,-0.3716576099395752f,-0.14554673433303833f,0.6577057242393494f},
Lightvalve	119:8ade52d4bb25	203	{-0.05491999164223671f,-0.20093759894371033f,-0.24806702136993408f,-0.4267187714576721f,-0.07271220535039902f,-0.5841547846794128f,-0.16704979538917542f,-0.3730570673942566f,0.02753586135804653f,0.10228120535612106f,0.12318570911884308f,0.39289960265159607f,0.5815483331680298f,-0.3294523358345032f,0.04009982943534851f,0.6636975407600403f},
Lightvalve	119:8ade52d4bb25	204	{0.0922357514500618f,0.03360247611999512f,0.09550115466117859f,-0.8423606753349304f,0.08337929099798203f,-0.46182939410209656f,-0.06753402948379517f,-0.8091158866882324f,-0.24871636927127838f,0.3177362084388733f,-0.25211259722709656f,1.2019845247268677f,0.596840500831604f,0.15739235281944275f,-0.2847418785095215f,0.49166151881217957f},
Lightvalve	119:8ade52d4bb25	205	{-0.12888702750205994f,-0.2664012312889099f,0.17205187678337097f,-0.5232671499252319f,0.19410382211208344f,-0.17537656426429749f,-0.2786858379840851f,-0.9501712322235107f,-0.0038139745593070984f,-0.44749563932418823f,0.01718830317258835f,0.332231730222702f,0.3516135513782501f,-0.11255253106355667f,0.3247623145580292f,-0.0792965292930603f},
Lightvalve	119:8ade52d4bb25	206	{0.3564055562019348f,0.2796097993850708f,0.34649983048439026f,-0.07309745252132416f,0.023493269458413124f,-0.1975535750389099f,-0.1895401030778885f,-1.493038535118103f,-0.39410126209259033f,0.016468124464154243f,0.34952855110168457f,0.005931458901613951f,-0.29071831703186035f,0.49051761627197266f,0.24870619177818298f,-0.9478930234909058f},
Lightvalve	119:8ade52d4bb25	207	{-0.3683550953865051f,-0.4035215675830841f,-0.3757385015487671f,-0.2579634189605713f,0.2404218316078186f,-0.29955145716667175f,0.1429324448108673f,-2.0289502143859863f,-0.13573788106441498f,0.17791278660297394f,-0.3610909581184387f,-1.0529147386550903f,0.2911309003829956f,2.558973550796509f,0.09779238700866699f,-1.4637869596481323f},
Lightvalve	119:8ade52d4bb25	208	{-0.07103176414966583f,0.05525289103388786f,0.18496140837669373f,0.23539288341999054f,0.26019805669784546f,0.3350316286087036f,-0.22405625879764557f,0.8246611952781677f,-0.15604661405086517f,-0.19883491098880768f,-0.07640139013528824f,0.12471853196620941f,-0.036266572773456573f,-0.5196571350097656f,-0.2075144499540329f,-0.2927740514278412f},
Lightvalve	119:8ade52d4bb25	209	{-0.1770038902759552f,-0.8331993818283081f,0.38466766476631165f,-0.07613684982061386f,0.5101985335350037f,-0.3463301956653595f,-0.2982172966003418f,0.4147355556488037f,-0.10642905533313751f,-0.23226530849933624f,-0.15628664195537567f,1.8446398973464966f,0.7816146612167358f,0.5225973129272461f,0.04470124840736389f,0.24457614123821259f},
Lightvalve	119:8ade52d4bb25	210	{0.11884889751672745f,-1.0993658304214478f,0.18900898098945618f,-0.0011960661504417658f,1.4341267347335815f,-0.4217895269393921f,0.03916636109352112f,0.8832653760910034f,0.30280840396881104f,0.0507604256272316f,-0.2348102480173111f,2.871516466140747f,1.529321551322937f,1.1077625751495361f,0.062258750200271606f,0.32417893409729004f},
Lightvalve	119:8ade52d4bb25	211	{-0.08852794766426086f,-1.4094090461730957f,-0.37685394287109375f,-0.17612706124782562f,0.8768361210823059f,-0.37943702936172485f,-0.14507901668548584f,0.3855210244655609f,0.20787860453128815f,-0.03563925251364708f,-0.4159536361694336f,2.552461624145508f,1.1272940635681152f,0.8505979776382446f,-0.07684260606765747f,0.3156367540359497f},
Lightvalve	119:8ade52d4bb25	212	{-0.11408856511116028f,-0.958306610584259f,0.15568438172340393f,0.01917930692434311f,0.4562447667121887f,-0.6156615018844604f,-0.03859376907348633f,0.18493176996707916f,-0.03891875967383385f,0.04726675897836685f,-0.3038109242916107f,1.1923073530197144f,0.8959037661552429f,0.3684518337249756f,0.2742314636707306f,0.08882215619087219f},
Lightvalve	119:8ade52d4bb25	213	{-0.1585625857114792f,-0.558154284954071f,0.19490453600883484f,-0.20204177498817444f,-0.4596697688102722f,-0.5353355407714844f,-0.336474746465683f,0.006664716172963381f,-0.35963720083236694f,-0.1491074115037918f,-0.12934044003486633f,-0.10691329091787338f,0.6863765716552734f,-0.38992783427238464f,-0.2561379373073578f,0.009363418444991112f},
Lightvalve	119:8ade52d4bb25	214	{-0.3992230296134949f,-0.39489659667015076f,-0.2776013910770416f,0.1913459599018097f,-0.13553941249847412f,-0.5997774600982666f,0.25546005368232727f,-0.3506028354167938f,-0.3554781973361969f,-0.008554545231163502f,-0.3700840473175049f,-0.4446028470993042f,0.3285316824913025f,-0.2686445415019989f,-0.30415377020835876f,-0.43599891662597656f},
Lightvalve	119:8ade52d4bb25	215	{0.2336147427558899f,-0.279658704996109f,0.1420871913433075f,-0.27758002281188965f,-0.9353809952735901f,-0.4591664671897888f,-0.13263443112373352f,-0.27879106998443604f,-0.14267799258232117f,0.008248033933341503f,0.12608729302883148f,-0.4691270887851715f,0.5765731930732727f,-0.465211421251297f,0.13351169228553772f,0.1298857480287552f},
Lightvalve	119:8ade52d4bb25	216	{-0.2878143787384033f,-0.7832319736480713f,-0.07561364769935608f,0.06710298359394073f,-1.3262970447540283f,-0.8838316202163696f,0.14428457617759705f,-0.03495633974671364f,-0.3398576080799103f,-0.32348212599754333f,-0.35722172260284424f,-2.2783806324005127f,0.17757871747016907f,-0.33366480469703674f,0.019461065530776978f,0.17606520652770996f},
Lightvalve	119:8ade52d4bb25	217	{-0.35783642530441284f,-1.5250790119171143f,0.2631795108318329f,-0.7168921232223511f,-0.8106215596199036f,-1.577431559562683f,0.27224990725517273f,-1.2651726007461548f,-0.048428505659103394f,0.060946423560380936f,0.0632510632276535f,-4.148889064788818f,1.3227791786193848f,0.02331913635134697f,0.06011766195297241f,0.1737184077501297f},
Lightvalve	65:a2d7c63419c2	218	};
Lightvalve	65:a2d7c63419c2	219
Lightvalve	112:8dcb1600cb90	220	const float h2[16][16] = {
Lightvalve	119:8ade52d4bb25	221	{-0.2280280739068985f,-0.2421857863664627f,-0.06966331601142883f,0.08724620193243027f,-0.21907491981983185f,0.2539025545120239f,0.2356909215450287f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.05291646346449852f,-0.10159772634506226f,0.12968102097511292f,0.14025117456912994f,0.028231624513864517f,-0.2745003402233124f},
Lightvalve	119:8ade52d4bb25	222	{-0.07318496704101562f,0.6000571250915527f,0.057057321071624756f,-0.47346997261047363f,-0.35503754019737244f,-2.0983047485351562f,-0.3716709613800049f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.8381848335266113f,-0.8206892013549805f,0.00332297058776021f,1.4121159315109253f,1.121573567390442f,0.5471056699752808f},
Lightvalve	112:8dcb1600cb90	223	{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve	119:8ade52d4bb25	224	{0.029620526358485222f,-0.9873854517936707f,-0.2894435524940491f,-0.8961540460586548f,0.08946844935417175f,0.6948318481445312f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.16802339255809784f,0.4110986292362213f,-0.5573011636734009f,0.25746724009513855f,0.2955012917518616f,-0.33600759506225586f},
Lightvalve	119:8ade52d4bb25	225	{-0.4058997631072998f,0.2035204917192459f,-0.25313520431518555f,-0.07880758494138718f,0.036378175020217896f,-0.04044033959507942f,-0.7325384020805359f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.002760735573247075f,-0.6694509387016296f,-0.2065921574831009f,-0.3004894256591797f,-0.0011034653289243579f,-0.21473906934261322f},
Lightvalve	119:8ade52d4bb25	226	{0.1927037090063095f,1.3135888576507568f,-0.3519742488861084f,-0.2311127930879593f,-0.3015052080154419f,-1.6210881471633911f,-0.7232100963592529f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-1.7440259456634521f,-0.26462191343307495f,-0.5421464443206787f,1.4088289737701416f,0.06082354485988617f,0.13426026701927185f},
Lightvalve	112:8dcb1600cb90	227	{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve	119:8ade52d4bb25	228	{0.09674254059791565f,0.8489583730697632f,0.33083590865135193f,-3.167311668395996f,-0.14358049631118774f,-0.05731779336929321f,-0.33851608633995056f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,1.4915248155593872f,-0.3787316381931305f,-0.2687227129936218f,1.2731784582138062f,1.4371994733810425f,-0.02852576971054077f},
Lightvalve	119:8ade52d4bb25	229	{-0.2355702817440033f,0.3290807902812958f,-0.11379697918891907f,0.10112699866294861f,0.041274964809417725f,-0.3572841286659241f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.043841928243637085f,-0.3197441101074219f,-0.37024784088134766f,-0.27702996134757996f,-0.3806345760822296f,-0.23251241445541382f},
Lightvalve	119:8ade52d4bb25	230	{-0.14576366543769836f,0.22045235335826874f,-0.13502129912376404f,0.10068739950656891f,0.12987366318702698f,0.1127641424536705f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.24410760402679443f,0.39862415194511414f,0.3811538517475128f,-0.23284925520420074f,0.013471193611621857f,-0.23896872997283936f},
Lightvalve	119:8ade52d4bb25	231	{-0.2594604790210724f,-0.033723365515470505f,0.0457797646522522f,-0.39217737317085266f,-0.03321319818496704f,-0.44003328680992126f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.23556175827980042f,0.3545852601528168f,-0.3647043704986572f,0.448790967464447f,-0.3690657913684845f,-0.313721626996994f},
Lightvalve	119:8ade52d4bb25	232	{0.15617454051971436f,1.1832550764083862f,0.3954955041408539f,-0.133757084608078f,0.0033026933670043945f,-0.08220076560974121f,-0.9328015446662903f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-0.23546741902828217f,-0.5310132503509521f,-0.19710811972618103f,-1.2130495309829712f,0.5532408952713013f,-1.515012502670288f},
Lightvalve	119:8ade52d4bb25	233	{-0.4858514964580536f,0.16090348362922668f,-0.15798500180244446f,0.28968286514282227f,-0.37393757700920105f,1.374222993850708f,-0.2816653847694397f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,0.33165082335472107f,-0.5273087024688721f,0.13920331001281738f,-0.6649179458618164f,-0.731024444103241f,0.12129149585962296f},
Lightvalve	119:8ade52d4bb25	234	{-0.3975253403186798f,1.055032730102539f,-0.2018718123435974f,3.1763689517974854f,0.07545611262321472f,0.9453712701797485f,0.017593538388609886f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,-1.5174802541732788f,-0.5343190431594849f,-0.43574240803718567f,1.8691742420196533f,-2.599363327026367f,-0.16186723113059998f},
Lightvalve	112:8dcb1600cb90	235	{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve	119:8ade52d4bb25	236	{-0.43547871708869934f,-0.29740026593208313f,0.12081471085548401f,-2.77160906791687f,0.29976895451545715f,0.1961999386548996f,-0.8944873213768005f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-0.11293147504329681f,-0.1520061194896698f,-0.23651829361915588f,-0.5655658841133118f,0.7350230813026428f,1.200724720954895f},
Lightvalve	65:a2d7c63419c2	237	};
Lightvalve	65:a2d7c63419c2	238
Lightvalve	112:8dcb1600cb90	239	const float h3[16][16] = {
Lightvalve	119:8ade52d4bb25	240	{-0.36079341173171997f,-0.10197125375270844f,-0.056171122938394547f,-0.3741914927959442f,-0.16733133792877197f,0.019087322056293488f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.044929757714271545f,0.2852800786495209f,-0.3306252360343933f,0.16023096442222595f},
Lightvalve	119:8ade52d4bb25	241	{0.047732532024383545f,-0.38669314980506897f,-1.2853425741195679f,0.7376071810722351f,-0.34843015670776367f,0.27386823296546936f,-0.3198729455471039f,0.44362470507621765f,-0.09553244709968567f,-0.3846839666366577f,-0.030642496421933174f,-0.6285138130187988f,-8.785964965820312f,-0.8212424516677856f,-0.07170705497264862f,-0.3913605809211731f},
Lightvalve	115:f41863b95e6f	242	{0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve	119:8ade52d4bb25	243	{-0.30922991037368774f,0.4186989367008209f,-0.20726734399795532f,-2.275287628173828f,-1.1676045656204224f,0.21458899974822998f,0.20021501183509827f,-0.18994858860969543f,-0.5104722380638123f,-1.791870355606079f,-0.13877840340137482f,0.2729475200176239f,-2.484668731689453f,-1.0084031820297241f,0.13015103340148926f,-0.05998159199953079f},
Lightvalve	112:8dcb1600cb90	244	{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve	119:8ade52d4bb25	245	{-0.37449589371681213f,0.6836785078048706f,-1.0122311115264893f,-0.24957069754600525f,-0.18667671084403992f,0.8864535093307495f,-0.18732719123363495f,1.3906885385513306f,-0.4842405617237091f,0.5248526930809021f,-0.20726820826530457f,-0.11092904210090637f,-0.17694073915481567f,-0.2857448160648346f,0.20144182443618774f,-0.5604302883148193f},
Lightvalve	119:8ade52d4bb25	246	{0.4110594093799591f,-0.05868834629654884f,0.08497855067253113f,0.30605435371398926f,0.20023219287395477f,-0.05593596026301384f,-0.08670487999916077f,0.11374252289533615f,-0.030661463737487793f,0.9484937191009521f,-0.1344406008720398f,0.35313835740089417f,0.17150108516216278f,0.1346229463815689f,0.30339935421943665f,-0.3391006588935852f},
Lightvalve	113:4535bc97a1db	247	{-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve	115:f41863b95e6f	248	{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve	112:8dcb1600cb90	249	{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve	119:8ade52d4bb25	250	{0.15459725260734558f,0.5166267156600952f,0.0020027183927595615f,-0.9058609008789062f,-0.36143195629119873f,0.30974456667900085f,-0.08742031455039978f,1.0036633014678955f,-0.2128233164548874f,-1.4475370645523071f,-0.10501431673765182f,-0.5578989386558533f,-2.9477529525756836f,-0.6413465142250061f,0.09702441096305847f,0.11825402081012726f},
Lightvalve	119:8ade52d4bb25	251	{-0.408692330121994f,-0.4120047688484192f,-0.10307149589061737f,-0.006063639186322689f,0.0717860534787178f,-0.00588736729696393f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,0.002842322923243046f,0.12809070944786072f,0.03996849060058594f,-0.4447317123413086f,-0.17229504883289337f,-0.3075057566165924f,0.34510013461112976f},
Lightvalve	119:8ade52d4bb25	252	{-0.2991822361946106f,0.44495269656181335f,-0.00655667157843709f,-0.05932474136352539f,0.1512540876865387f,-0.0033643620554357767f,-0.11253207921981812f,0.42064139246940613f,0.04814547300338745f,-0.25451064109802246f,-0.044228196144104004f,-0.36229726672172546f,0.0787663385272026f,-0.35243162512779236f,0.13600414991378784f,-0.16869547963142395f},
Lightvalve	119:8ade52d4bb25	253	{-0.2675279378890991f,-0.5648283958435059f,1.1731600761413574f,1.2379721403121948f,-0.07677317410707474f,-0.5569989085197449f,-0.32875844836235046f,-3.2531754970550537f,-0.6396194100379944f,-0.9492912888526917f,-0.6354588866233826f,-0.5225454568862915f,0.553826093673706f,-0.07076267898082733f,-0.16691647469997406f,0.19064126908779144f},
Lightvalve	119:8ade52d4bb25	254	{-0.015470266342163086f,-0.21167229115962982f,0.11722572147846222f,-0.8098413348197937f,-0.48198410868644714f,-0.20569977164268494f,0.05196094512939453f,-0.09646522998809814f,-0.6268211007118225f,-2.1888248920440674f,-0.08260995894670486f,-0.26851946115493774f,-7.367361068725586f,-3.8629891872406006f,-0.41618940234184265f,-0.6207093000411987f},
Lightvalve	119:8ade52d4bb25	255	{0.1863725483417511f,1.294524073600769f,1.3839733600616455f,-0.3497181534767151f,-0.15889787673950195f,1.005233645439148f,0.04860696196556091f,0.2395356148481369f,-0.2112434208393097f,0.4580112397670746f,-0.725370466709137f,-0.05851129814982414f,1.8846315145492554f,-0.1780804991722107f,-0.09685930609703064f,-0.29295074939727783f},
Lightvalve	66:a8e6799dbce3	256	};
Lightvalve	65:a2d7c63419c2	257
Lightvalve	119:8ade52d4bb25	258	const float hout[16] = { 0.45773375034332275f,-0.10441272705793381f,-0.15588055551052094f,-0.2334458827972412f,0.03279490768909454f,0.23071417212486267f,0.0030125975608825684f,0.16628198325634003f,-0.29896387457847595f,0.15257510542869568f,0.07441812008619308f,-0.01584351435303688f,-0.6077949404716492f,-0.014929399825632572f,-0.09498333185911179f,-0.20342984795570374f };
Lightvalve	66:a8e6799dbce3	259
Lightvalve	119:8ade52d4bb25	260	const float b1[16] = { 0.6412585973739624f,1.791804313659668f,-1.7145336866378784f,0.4587021768093109f,0.5950335264205933f,1.2142243385314941f,-0.058932315558195114f,2.166482448577881f,0.5335297584533691f,-0.9284920692443848f,0.6010076999664307f,1.5332443714141846f,-1.3922638893127441f,-3.891775369644165f,-1.087764859199524f,1.4900076389312744f };
Lightvalve	87:471334725012	261
Lightvalve	119:8ade52d4bb25	262	const float b2[16] = { -0.2844751477241516f,-0.9887649416923523f,-1.4564176797866821f,-0.36695370078086853f,-0.6939148902893066f,-0.24209672212600708f,0.03220713138580322f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.6325940489768982f,0.5024752020835876f,-0.3625299334526062f,1.5409464836120605f,0.4741341173648834f,1.3634101152420044f };
Lightvalve	65:a2d7c63419c2	263
Lightvalve	119:8ade52d4bb25	264	const float b3[16] = { -1.963319182395935f,-0.038301702588796616f,-0.3617948591709137f,-0.6543889045715332f,-0.22629815340042114f,1.003822922706604f,-0.45353031158447266f,-3.192502737045288f,0.12612150609493256f,1.5388654470443726f,-0.5814182758331299f,-0.2633805274963379f,-0.6900553107261658f,0.1848151683807373f,-1.471007227897644f,-0.4375112056732178f };
Lightvalve	87:471334725012	265
Lightvalve	119:8ade52d4bb25	266	const float bout[1] = { -0.30798590183258057f };
Lightvalve	65:a2d7c63419c2	267
Lightvalve	66:a8e6799dbce3	268
Lightvalve	87:471334725012	269	float VALVE_POS_RAW_NN = 0.0f;
Lightvalve	87:471334725012	270	float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve	61:bc8c8270f0ab	271
GiJeongKim	0:51c43836c1d7	272	int main()
GiJeongKim	0:51c43836c1d7	273	{
Lightvalve	66:a8e6799dbce3	274
Lightvalve	65:a2d7c63419c2	275	HAL_Init();
Lightvalve	65:a2d7c63419c2	276	SystemClock_Config();
Lightvalve	65:a2d7c63419c2	277
jobuuu	6:df07d3491e3a	278	/*********************************
jobuuu	1:e04e563be5ce	279	*** Initialization
jobuuu	6:df07d3491e3a	280	*********************************/
Lightvalve	69:3995ffeaa786	281	LED = 0;
Lightvalve	61:bc8c8270f0ab	282	pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	283
GiJeongKim	0:51c43836c1d7	284	// i2c init
Lightvalve	8:5d2eebdad025	285	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	286	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	287	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	288	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	289	make_delay();
jobuuu	2:a1c0a37df760	290
GiJeongKim	0:51c43836c1d7	291	// // spi init
Lightvalve	16:903b5a4433b4	292	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	293	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	294	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	295	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	296	make_delay();
Lightvalve	21:e5f1a43ea6f9	297
Lightvalve	16:903b5a4433b4	298	//rom
Lightvalve	19:23b7c1ad8683	299	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	300	make_delay();
Lightvalve	13:747daba9cf59	301
GiJeongKim	0:51c43836c1d7	302	// ADC init
jobuuu	5:a4319f79457b	303	Init_ADC();
Lightvalve	11:82d8768d7351	304	make_delay();
jobuuu	2:a1c0a37df760	305
GiJeongKim	0:51c43836c1d7	306	// Pwm init
GiJeongKim	0:51c43836c1d7	307	Init_PWM();
GiJeongKim	0:51c43836c1d7	308	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	309	make_delay();
Lightvalve	13:747daba9cf59	310
Lightvalve	11:82d8768d7351	311	// TMR3 init
Lightvalve	11:82d8768d7351	312	Init_TMR3();
Lightvalve	11:82d8768d7351	313	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	314	make_delay();
Lightvalve	21:e5f1a43ea6f9	315
Lightvalve	50:3c630b5eba9f	316	// TMR2 init
Lightvalve	56:6f50d9d3bfee	317	// Init_TMR2();
Lightvalve	56:6f50d9d3bfee	318	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	56:6f50d9d3bfee	319	// make_delay();
Lightvalve	21:e5f1a43ea6f9	320
GiJeongKim	0:51c43836c1d7	321	// CAN
jobuuu	2:a1c0a37df760	322	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	323	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	324	make_delay();
Lightvalve	34:bb2ca2fc2a8e	325
Lightvalve	23:59218d4a256d	326	//Timer priority
Lightvalve	23:59218d4a256d	327	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	57:f4819de54e7a	328	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	54:647072f5307a	329	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	330
Lightvalve	23:59218d4a256d	331	//can.reset();
Lightvalve	19:23b7c1ad8683	332	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	333
GiJeongKim	0:51c43836c1d7	334	// spi _ enc
GiJeongKim	0:51c43836c1d7	335	spi_enc_set_init();
Lightvalve	11:82d8768d7351	336	make_delay();
Lightvalve	13:747daba9cf59	337
Lightvalve	11:82d8768d7351	338	//DAC init
Lightvalve	58:2eade98630e2	339	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	340	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	58:2eade98630e2	341	dac_2 = 0.0f;
Lightvalve	58:2eade98630e2	342	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	343	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	58:2eade98630e2	344	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	58:2eade98630e2	345	}
Lightvalve	11:82d8768d7351	346	make_delay();
Lightvalve	13:747daba9cf59	347
Lightvalve	19:23b7c1ad8683	348	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	349	if(i%2==0)
Lightvalve	38:118df027d851	350	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	351	else
Lightvalve	38:118df027d851	352	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	353	}
Lightvalve	61:bc8c8270f0ab	354
Lightvalve	61:bc8c8270f0ab	355
jobuuu	6:df07d3491e3a	356	/************************************
jobuuu	1:e04e563be5ce	357	*** Program is operating!
jobuuu	6:df07d3491e3a	358	*************************************/
GiJeongKim	0:51c43836c1d7	359	while(1) {
Lightvalve	66:a8e6799dbce3	360	// if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve	66:a8e6799dbce3	361	//if(timer_while==1000) {
Lightvalve	65:a2d7c63419c2	362	//i2c
Lightvalve	66:a8e6799dbce3	363
Lightvalve	65:a2d7c63419c2	364	read_field(i2c_slave_addr1);
Lightvalve	65:a2d7c63419c2	365	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	65:a2d7c63419c2	366	// if(LED==1) {
Lightvalve	65:a2d7c63419c2	367	// LED=0;
Lightvalve	65:a2d7c63419c2	368	// } else
Lightvalve	65:a2d7c63419c2	369	// LED = 1;
Lightvalve	65:a2d7c63419c2	370	timer_while = 0;
Lightvalve	66:a8e6799dbce3	371	//}
Lightvalve	66:a8e6799dbce3	372
Lightvalve	66:a8e6799dbce3	373	timer_while ++;
Lightvalve	66:a8e6799dbce3	374
Lightvalve	87:471334725012	375	//LED = 0;
Lightvalve	87:471334725012	376
Lightvalve	73:f80dc3970c99	377	if(NN_Control_Flag == 0) {
Lightvalve	73:f80dc3970c99	378	LED = 0;
Lightvalve	73:f80dc3970c99	379	}
Lightvalve	66:a8e6799dbce3	380
Lightvalve	73:f80dc3970c99	381	else if(NN_Control_Flag == 1) {
Lightvalve	117:7141c0517b82	382
Lightvalve	117:7141c0517b82	383	int ind = 0;
Lightvalve	117:7141c0517b82	384	for(int i=0; i<numpast_u; i++) {
Lightvalve	118:af86e883dcb4	385	input_NN[ind] = u_past[time_interval*i];
Lightvalve	117:7141c0517b82	386	ind = ind + 1;
Lightvalve	117:7141c0517b82	387	}
Lightvalve	117:7141c0517b82	388
Lightvalve	117:7141c0517b82	389	for(int i=0; i<numpast_x; i++) {
Lightvalve	118:af86e883dcb4	390	input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve	117:7141c0517b82	391	ind = ind + 1;
Lightvalve	117:7141c0517b82	392	}
Lightvalve	117:7141c0517b82	393	input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	117:7141c0517b82	394	ind = ind + 1;
Lightvalve	117:7141c0517b82	395	// for(int i=0;i<numfuture_x;i++){
Lightvalve	118:af86e883dcb4	396	// input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve	117:7141c0517b82	397	// ind = ind + 1;
Lightvalve	117:7141c0517b82	398	// }
Lightvalve	117:7141c0517b82	399
Lightvalve	117:7141c0517b82	400	for(int i=0; i<numpast_f; i++) {
Lightvalve	118:af86e883dcb4	401	input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve	117:7141c0517b82	402	ind = ind + 1;
Lightvalve	117:7141c0517b82	403	}
Lightvalve	117:7141c0517b82	404	input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	117:7141c0517b82	405	ind = ind + 1;
Lightvalve	117:7141c0517b82	406	for(int i=0; i<numfuture_f; i++) {
Lightvalve	118:af86e883dcb4	407	input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve	118:af86e883dcb4	408	// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve	117:7141c0517b82	409	ind = ind + 1;
Lightvalve	117:7141c0517b82	410	}
Lightvalve	117:7141c0517b82	411
Lightvalve	112:8dcb1600cb90	412	float output1[16] = { 0.0f };
Lightvalve	112:8dcb1600cb90	413	float output2[16] = { 0.0f };
Lightvalve	112:8dcb1600cb90	414	float output3[16] = { 0.0f };
Lightvalve	66:a8e6799dbce3	415	float output = 0.0f;
Lightvalve	65:a2d7c63419c2	416
Lightvalve	112:8dcb1600cb90	417	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	68:328e1be06f5d	418	for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve	66:a8e6799dbce3	419	output1[index2] = output1[index2]
Lightvalve	73:f80dc3970c99	420	+ h1[index1][index2] * input_NN[index1];
Lightvalve	66:a8e6799dbce3	421	}
Lightvalve	66:a8e6799dbce3	422	output1[index2] = output1[index2] + b1[index2];
Lightvalve	66:a8e6799dbce3	423	if (output1[index2] < 0) {
Lightvalve	66:a8e6799dbce3	424	output1[index2] = 0;
Lightvalve	66:a8e6799dbce3	425	}
Lightvalve	66:a8e6799dbce3	426	}
Lightvalve	65:a2d7c63419c2	427
Lightvalve	112:8dcb1600cb90	428	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	112:8dcb1600cb90	429	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	430	output2[index2] = output2[index2]
Lightvalve	66:a8e6799dbce3	431	+ h2[index1][index2] * output1[index1];
Lightvalve	66:a8e6799dbce3	432	}
Lightvalve	66:a8e6799dbce3	433	output2[index2] = output2[index2] + b2[index2];
Lightvalve	66:a8e6799dbce3	434	if (output2[index2] < 0) {
Lightvalve	66:a8e6799dbce3	435	output2[index2] = 0;
Lightvalve	66:a8e6799dbce3	436	}
Lightvalve	66:a8e6799dbce3	437	}
Lightvalve	65:a2d7c63419c2	438
Lightvalve	112:8dcb1600cb90	439	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	112:8dcb1600cb90	440	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	441	output3[index2] = output3[index2]
Lightvalve	66:a8e6799dbce3	442	+ h3[index1][index2] * output2[index1];
Lightvalve	66:a8e6799dbce3	443	}
Lightvalve	66:a8e6799dbce3	444	output3[index2] = output3[index2] + b3[index2];
Lightvalve	66:a8e6799dbce3	445	if (output3[index2] < 0) {
Lightvalve	66:a8e6799dbce3	446	output3[index2] = 0;
Lightvalve	66:a8e6799dbce3	447	}
Lightvalve	65:a2d7c63419c2	448	}
Lightvalve	66:a8e6799dbce3	449
Lightvalve	66:a8e6799dbce3	450	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	112:8dcb1600cb90	451	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	73:f80dc3970c99	452	output = output + hout[index1] * output3[index1];
Lightvalve	66:a8e6799dbce3	453	}
Lightvalve	66:a8e6799dbce3	454	output = output + bout[index2];
Lightvalve	73:f80dc3970c99	455
Lightvalve	66:a8e6799dbce3	456	}
Lightvalve	73:f80dc3970c99	457	output = 1.0f/(1.0f+exp(-output));
Lightvalve	101:50159049a518	458	output_normalized = output;
Lightvalve	68:328e1be06f5d	459	output = output * 20000.0f - 10000.0f;
Lightvalve	101:50159049a518	460
Lightvalve	66:a8e6799dbce3	461	if(output>=0) {
Lightvalve	66:a8e6799dbce3	462	valve_pos.ref = output0.0001f((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	66:a8e6799dbce3	463	} else {
Lightvalve	66:a8e6799dbce3	464	valve_pos.ref = -output0.0001f((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	65:a2d7c63419c2	465	}
Lightvalve	87:471334725012	466
Lightvalve	88:d6e591bece22	467	// // torque feedback
Lightvalve	88:d6e591bece22	468	// torq.err = f_past[0] - torq.sen; //[N]
Lightvalve	88:d6e591bece22	469	//// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	88:d6e591bece22	470	// torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve	88:d6e591bece22	471	//
Lightvalve	88:d6e591bece22	472	//
Lightvalve	88:d6e591bece22	473	// 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	474	//
Lightvalve	88:d6e591bece22	475	// if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	88:d6e591bece22	476	// double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	88:d6e591bece22	477	// if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	88:d6e591bece22	478	// double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	479	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	480	// valve_pos.ref = VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	481	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	482	// } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	88:d6e591bece22	483	// double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	484	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	485	// valve_pos.ref = VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	486	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	487	// }
Lightvalve	88:d6e591bece22	488	// }
Lightvalve	87:471334725012	489
Lightvalve	69:3995ffeaa786	490
Lightvalve	69:3995ffeaa786	491	if(LED==1) {
Lightvalve	69:3995ffeaa786	492	LED=0;
Lightvalve	69:3995ffeaa786	493	} else
Lightvalve	69:3995ffeaa786	494	LED = 1;
Lightvalve	69:3995ffeaa786	495
Lightvalve	65:a2d7c63419c2	496	}
Lightvalve	62:b5452adfb2cd	497
Lightvalve	87:471334725012	498	//LED = 1;
Lightvalve	69:3995ffeaa786	499
Lightvalve	66:a8e6799dbce3	500
GiJeongKim	0:51c43836c1d7	501	}
jobuuu	1:e04e563be5ce	502	}
jobuuu	1:e04e563be5ce	503
Lightvalve	33:91b17819ec30	504	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	505	{
Lightvalve	14:8e7590227d22	506
Lightvalve	13:747daba9cf59	507	int i = 0;
Lightvalve	48:889798ff9329	508	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	509	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	510	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	511	if(i==0) {
Lightvalve	50:3c630b5eba9f	512	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	513	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	514	} else {
Lightvalve	57:f4819de54e7a	515	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	516	}
Lightvalve	14:8e7590227d22	517	} else {
Lightvalve	50:3c630b5eba9f	518	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
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(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	522	}
Lightvalve	13:747daba9cf59	523	}
Lightvalve	13:747daba9cf59	524	break;
Lightvalve	13:747daba9cf59	525	}
Lightvalve	13:747daba9cf59	526	}
Lightvalve	14:8e7590227d22	527	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	528	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	529	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	530	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	531	}
Lightvalve	36:a46e63505ed8	532
Lightvalve	57:f4819de54e7a	533	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	534	return Ref_Valve_Pos_FF;
Lightvalve	50:3c630b5eba9f	535
Lightvalve	13:747daba9cf59	536	}
jobuuu	6:df07d3491e3a	537
jobuuu	6:df07d3491e3a	538
Lightvalve	30:8d561f16383b	539	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	540	{
Lightvalve	13:747daba9cf59	541	int i = 0;
Lightvalve	13:747daba9cf59	542
Lightvalve	38:118df027d851	543	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	544	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	545	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	546	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	547	}
Lightvalve	38:118df027d851	548
Lightvalve	89:a7b45368ea0f	549	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	550	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	551	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	552	valve_pos_err_sum += valve_pos_err;
Lightvalve	89:a7b45368ea0f	553	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	89:a7b45368ea0f	554	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	555
Lightvalve	13:747daba9cf59	556	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	557
Lightvalve	18:b8adf1582ea3	558	for(i=0; i<24; i++) {
Lightvalve	89:a7b45368ea0f	559	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	560	if(i==0) {
Lightvalve	48:889798ff9329	561	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	562	} else {
Lightvalve	48:889798ff9329	563	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	564	}
Lightvalve	13:747daba9cf59	565	break;
Lightvalve	13:747daba9cf59	566	}
Lightvalve	13:747daba9cf59	567	}
Lightvalve	59:f308b1656d9c	568	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	569	}
Lightvalve	13:747daba9cf59	570
Lightvalve	14:8e7590227d22	571	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	572	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	573	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	574	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	575	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	576	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	577	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	578	}; // duty
Lightvalve	67:c2812cf26c38	579	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	580	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	67:c2812cf26c38	581	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	67:c2812cf26c38	582	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	67:c2812cf26c38	583	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	67:c2812cf26c38	584	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	585	}; // mV
Lightvalve	13:747daba9cf59	586
Lightvalve	30:8d561f16383b	587	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	588	{
Lightvalve	30:8d561f16383b	589	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	590	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	591	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	592	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	593	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	594	} else {
Lightvalve	13:747daba9cf59	595	int idx = 0;
Lightvalve	13:747daba9cf59	596	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	597	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	598	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	599	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	600	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	601	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	602	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	603	break;
Lightvalve	13:747daba9cf59	604	}
Lightvalve	13:747daba9cf59	605	}
Lightvalve	13:747daba9cf59	606	}
Lightvalve	14:8e7590227d22	607
Lightvalve	13:747daba9cf59	608	return PWM_duty;
Lightvalve	13:747daba9cf59	609	}
jobuuu	6:df07d3491e3a	610
Lightvalve	57:f4819de54e7a	611
Lightvalve	57:f4819de54e7a	612
Lightvalve	57:f4819de54e7a	613
Lightvalve	57:f4819de54e7a	614
jobuuu	2:a1c0a37df760	615	/*******************************************************************************
jobuuu	2:a1c0a37df760	616	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	617	*******************************************************************************/
jobuuu	2:a1c0a37df760	618
Lightvalve	51:b46bed7fec80	619	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	620	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	621	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	622	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	623	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	624	{
Lightvalve	19:23b7c1ad8683	625	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	626
Lightvalve	21:e5f1a43ea6f9	627	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	628	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	629	********************************************************/
Lightvalve	13:747daba9cf59	630
Lightvalve	57:f4819de54e7a	631	//Encoder
Lightvalve	57:f4819de54e7a	632	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	633	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	634	}
Lightvalve	61:bc8c8270f0ab	635
Lightvalve	61:bc8c8270f0ab	636	ADC1->CR2 \|= 0x40000000;
Lightvalve	58:2eade98630e2	637	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	638	// Torque Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	639	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	58:2eade98630e2	640	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	58:2eade98630e2	641	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	67:c2812cf26c38	642	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	67:c2812cf26c38	643
Lightvalve	67:c2812cf26c38	644
Lightvalve	67:c2812cf26c38	645	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	67:c2812cf26c38	646	//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	67:c2812cf26c38	647	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	67:c2812cf26c38	648	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	67:c2812cf26c38	649	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	67:c2812cf26c38	650
Lightvalve	17:1865016ca2e7	651
Lightvalve	58:2eade98630e2	652	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	653	// Pressure Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	654	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	58:2eade98630e2	655	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	58:2eade98630e2	656	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	58:2eade98630e2	657	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	58:2eade98630e2	658	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	58:2eade98630e2	659	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	58:2eade98630e2	660	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	661
Lightvalve	58:2eade98630e2	662	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	58:2eade98630e2	663	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	664	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	58:2eade98630e2	665	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	666	}
Lightvalve	58:2eade98630e2	667	}
Lightvalve	61:bc8c8270f0ab	668
Lightvalve	58:2eade98630e2	669	// //Pressure sensor A
Lightvalve	58:2eade98630e2	670	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	58:2eade98630e2	671	// //while((ADC1->SR & 0b10));
Lightvalve	58:2eade98630e2	672	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	673	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	58:2eade98630e2	674	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	58:2eade98630e2	675	// 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	676	//
Lightvalve	58:2eade98630e2	677	//
Lightvalve	58:2eade98630e2	678	// //Pressure sensor B
Lightvalve	58:2eade98630e2	679	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	680	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	58:2eade98630e2	681	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	58:2eade98630e2	682	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	683
Lightvalve	17:1865016ca2e7	684
Lightvalve	21:e5f1a43ea6f9	685	//Current
Lightvalve	21:e5f1a43ea6f9	686	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	687	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	688	//while((ADC3->SR & 0b10));
Lightvalve	51:b46bed7fec80	689	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	690	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	691	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	692	//cur.sen = raw_cur;
Lightvalve	58:2eade98630e2	693
Lightvalve	57:f4819de54e7a	694	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	695	}
Lightvalve	11:82d8768d7351	696	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	697	}
Lightvalve	19:23b7c1ad8683	698
Lightvalve	19:23b7c1ad8683	699
Lightvalve	18:b8adf1582ea3	700	int j =0;
Lightvalve	54:647072f5307a	701	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	702	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	703	int cnt_trans = 0;
Lightvalve	48:889798ff9329	704	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	705	int can_rest =0;
Lightvalve	48:889798ff9329	706
Lightvalve	11:82d8768d7351	707	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	708	{
Lightvalve	19:23b7c1ad8683	709	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	710
Lightvalve	57:f4819de54e7a	711	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	712	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	713	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	714	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	715	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	716	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	717	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	718	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	719	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	720	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	721	}
Lightvalve	50:3c630b5eba9f	722
Lightvalve	50:3c630b5eba9f	723	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	724	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	725	cnt_trans++;
Lightvalve	46:2694daea349b	726	torq.err_sum = 0;
Lightvalve	48:889798ff9329	727	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	728	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	729	} else if(MODE_POS_FT_TRANS == 3) {
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 = 0;
Lightvalve	50:3c630b5eba9f	735	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	58:2eade98630e2	736	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	737	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	738	} else {
Lightvalve	58:2eade98630e2	739	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	740	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	741	}
Lightvalve	45:35fa6884d0c6	742
Lightvalve	50:3c630b5eba9f	743
Lightvalve	57:f4819de54e7a	744	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	745	int CONTROL_MODE = 0;
Lightvalve	58:2eade98630e2	746
Lightvalve	57:f4819de54e7a	747	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	748	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	749	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	750	} else {
Lightvalve	57:f4819de54e7a	751	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	752	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	753	}
Lightvalve	56:6f50d9d3bfee	754
Lightvalve	56:6f50d9d3bfee	755
Lightvalve	56:6f50d9d3bfee	756
Lightvalve	57:f4819de54e7a	757	// UTILITY MODE ------------------------------------------------------------
Lightvalve	56:6f50d9d3bfee	758
Lightvalve	57:f4819de54e7a	759	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	760	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	761	break;
Lightvalve	13:747daba9cf59	762	}
Lightvalve	14:8e7590227d22	763
Lightvalve	14:8e7590227d22	764	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	765	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	766	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	767	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	768
Lightvalve	14:8e7590227d22	769	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	770	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	771	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	772
Lightvalve	84:c355d3e52bf1	773	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	774
Lightvalve	30:8d561f16383b	775	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	59:f308b1656d9c	776	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	50:3c630b5eba9f	777
Lightvalve	16:903b5a4433b4	778	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	779	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	780	}
Lightvalve	13:747daba9cf59	781	} else {
Lightvalve	58:2eade98630e2	782	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	783	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	784	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	785	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	786
Lightvalve	16:903b5a4433b4	787	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	788
Lightvalve	30:8d561f16383b	789	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	790
Lightvalve	13:747daba9cf59	791	}
Lightvalve	14:8e7590227d22	792	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	793	break;
Lightvalve	19:23b7c1ad8683	794	}
Lightvalve	14:8e7590227d22	795
Lightvalve	50:3c630b5eba9f	796	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	797	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	798	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	799	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	800	// }
Lightvalve	50:3c630b5eba9f	801	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	802	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	803	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	804	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	805	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	806	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	807	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	808	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	809	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	810	// }
Lightvalve	50:3c630b5eba9f	811	//
Lightvalve	50:3c630b5eba9f	812	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	813	// 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	814	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	815	//
Lightvalve	50:3c630b5eba9f	816	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	817	// V_out = 0;
Lightvalve	50:3c630b5eba9f	818	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	819	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	820	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	821	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	822	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	823	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	824	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	825	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	826	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	827	//
Lightvalve	50:3c630b5eba9f	828	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	829	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	830	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	831	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	832	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	833	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	834	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	835	//
Lightvalve	50:3c630b5eba9f	836	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	837	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	838	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	839	// } else {
Lightvalve	50:3c630b5eba9f	840	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	841	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	842	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	843	// }
Lightvalve	50:3c630b5eba9f	844	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	845	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	846	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	847	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	848	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	849	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	850	// }
Lightvalve	50:3c630b5eba9f	851	// } else {
Lightvalve	50:3c630b5eba9f	852	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	853	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	854	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	855	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	856	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	857	// }
Lightvalve	50:3c630b5eba9f	858	// V_out = 0;
Lightvalve	50:3c630b5eba9f	859	//
Lightvalve	50:3c630b5eba9f	860	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	861	//
Lightvalve	50:3c630b5eba9f	862	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	863	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	864	//
Lightvalve	50:3c630b5eba9f	865	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	866	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	867	// }
Lightvalve	50:3c630b5eba9f	868	// }
Lightvalve	50:3c630b5eba9f	869	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	870	// break;
Lightvalve	50:3c630b5eba9f	871	// }
Lightvalve	14:8e7590227d22	872
Lightvalve	14:8e7590227d22	873	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	874	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	875	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	876	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	877	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	59:f308b1656d9c	878	pos.ref = pos.sen;
Lightvalve	59:f308b1656d9c	879	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	880	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	881	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	67:c2812cf26c38	882	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	883	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	884	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	885	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	886	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	887	}
Lightvalve	29:69f3f5445d6d	888	cnt_findhome++;
Lightvalve	14:8e7590227d22	889
Lightvalve	29:69f3f5445d6d	890	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	891	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	892	} else {
Lightvalve	29:69f3f5445d6d	893	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	894	}
Lightvalve	19:23b7c1ad8683	895
Lightvalve	57:f4819de54e7a	896	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	897	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	67:c2812cf26c38	898	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	67:c2812cf26c38	899	else pos.ref = pos.ref - 12.0f;
Lightvalve	61:bc8c8270f0ab	900
Lightvalve	59:f308b1656d9c	901	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	59:f308b1656d9c	902	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	903	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	59:f308b1656d9c	904	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	905	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	906
Lightvalve	59:f308b1656d9c	907	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	59:f308b1656d9c	908	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	909
Lightvalve	34:bb2ca2fc2a8e	910
Lightvalve	29:69f3f5445d6d	911	} else {
Lightvalve	29:69f3f5445d6d	912	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	67:c2812cf26c38	913	// ENC_SET_ZERO();
Lightvalve	29:69f3f5445d6d	914	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	915	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	916	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	917	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	918	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	919	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	920	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	921	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	922	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	67:c2812cf26c38	923
Lightvalve	67:c2812cf26c38	924
Lightvalve	67:c2812cf26c38	925	cnt_findhome = 0;
Lightvalve	67:c2812cf26c38	926	pos.ref = 0.0f;
Lightvalve	67:c2812cf26c38	927	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	928	pos.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	929	vel.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	930	//FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	67:c2812cf26c38	931	//CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	932
Lightvalve	67:c2812cf26c38	933
Lightvalve	29:69f3f5445d6d	934	}
Lightvalve	29:69f3f5445d6d	935	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	936	int T_move = 2*TMR_FREQ_5k;
Lightvalve	59:f308b1656d9c	937	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	938	//pos.ref = 0.0f;
Lightvalve	59:f308b1656d9c	939	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	940
Lightvalve	29:69f3f5445d6d	941	// input for position control
Lightvalve	67:c2812cf26c38	942
Lightvalve	67:c2812cf26c38	943	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	944	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	945
Lightvalve	67:c2812cf26c38	946	double torq_ref = 0.0f;
Lightvalve	67:c2812cf26c38	947	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	948	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	67:c2812cf26c38	949	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	950
Lightvalve	67:c2812cf26c38	951	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	67:c2812cf26c38	952
Lightvalve	67:c2812cf26c38	953	double I_REF_POS = 0.0f;
Lightvalve	67:c2812cf26c38	954	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	67:c2812cf26c38	955	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	67:c2812cf26c38	956
Lightvalve	67:c2812cf26c38	957	double temp_vel_pos = 0.0f;
Lightvalve	67:c2812cf26c38	958	double temp_vel_torq = 0.0f;
Lightvalve	67:c2812cf26c38	959	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	67:c2812cf26c38	960
Lightvalve	69:3995ffeaa786	961	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	67:c2812cf26c38	962	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	963	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	964	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	67:c2812cf26c38	965	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	966	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:c2812cf26c38	967	}
Lightvalve	67:c2812cf26c38	968	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	969	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	970
Lightvalve	67:c2812cf26c38	971	I_REF = I_REF_POS;
Lightvalve	67:c2812cf26c38	972
Lightvalve	67:c2812cf26c38	973
Lightvalve	67:c2812cf26c38	974
Lightvalve	67:c2812cf26c38	975	} else {
Lightvalve	67:c2812cf26c38	976	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	67:c2812cf26c38	977	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	978
Lightvalve	67:c2812cf26c38	979	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	67:c2812cf26c38	980	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	67:c2812cf26c38	981	} else {
Lightvalve	67:c2812cf26c38	982	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	67:c2812cf26c38	983	}
Lightvalve	67:c2812cf26c38	984
Lightvalve	67:c2812cf26c38	985	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	67:c2812cf26c38	986
Lightvalve	67:c2812cf26c38	987	V_out = (float) Vout.ref;
Lightvalve	67:c2812cf26c38	988
Lightvalve	67:c2812cf26c38	989	}
Lightvalve	67:c2812cf26c38	990
Lightvalve	67:c2812cf26c38	991
Lightvalve	67:c2812cf26c38	992
Lightvalve	67:c2812cf26c38	993
Lightvalve	59:f308b1656d9c	994	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	59:f308b1656d9c	995	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	996	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	59:f308b1656d9c	997	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	998	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	999
Lightvalve	29:69f3f5445d6d	1000	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	1001	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	1002	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	1003	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1004	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1005	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1006	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1007	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1008	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	1009	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	1010	}
Lightvalve	13:747daba9cf59	1011	}
Lightvalve	19:23b7c1ad8683	1012
Lightvalve	13:747daba9cf59	1013	break;
Lightvalve	13:747daba9cf59	1014	}
Lightvalve	14:8e7590227d22	1015
Lightvalve	50:3c630b5eba9f	1016	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	1017	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	1018	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	1019	// else {
Lightvalve	50:3c630b5eba9f	1020	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1021	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	1022	// }
Lightvalve	50:3c630b5eba9f	1023	// }
Lightvalve	50:3c630b5eba9f	1024	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	1025	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	1026	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1027	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	1028	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1029	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1030	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	1031	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1032	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	1033	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	1034	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	1035	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	1036	// }
Lightvalve	50:3c630b5eba9f	1037	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	1038	// }
Lightvalve	50:3c630b5eba9f	1039	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	1040	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	1041	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	1042	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1043	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1044	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1045	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1046	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1047	// 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	1048	// // 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	1049	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1050	// }
Lightvalve	50:3c630b5eba9f	1051	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	1052	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1053	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1054	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1055	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1056	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1057	// 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	1058	// // 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	1059	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1060	// }
Lightvalve	50:3c630b5eba9f	1061	// }
Lightvalve	50:3c630b5eba9f	1062	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	1063	//
Lightvalve	50:3c630b5eba9f	1064	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1065	//
Lightvalve	50:3c630b5eba9f	1066	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	1067	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	1068	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	1069	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	1070	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	1071	// }
Lightvalve	50:3c630b5eba9f	1072	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	1073	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1074	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	1075	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	1076	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	1077	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	1078	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1079	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	1080	// }
Lightvalve	50:3c630b5eba9f	1081	//
Lightvalve	50:3c630b5eba9f	1082	// }
Lightvalve	50:3c630b5eba9f	1083	// break;
Lightvalve	50:3c630b5eba9f	1084	// }
Lightvalve	50:3c630b5eba9f	1085	//
Lightvalve	50:3c630b5eba9f	1086	// }
Lightvalve	14:8e7590227d22	1087	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1088	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1089	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1090	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1091	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1092
Lightvalve	14:8e7590227d22	1093	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1094	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1095	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1096	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1097	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1098
Lightvalve	38:118df027d851	1099	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	1100	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	1101	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	1102
Lightvalve	30:8d561f16383b	1103	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1104	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1105	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1106	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1107
Lightvalve	30:8d561f16383b	1108	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1109	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1110	}
Lightvalve	13:747daba9cf59	1111	} else {
Lightvalve	57:f4819de54e7a	1112	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1113	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1114	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1115	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1116	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1117	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1118
Lightvalve	16:903b5a4433b4	1119	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1120
Lightvalve	30:8d561f16383b	1121	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1122	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1123	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1124	}
Lightvalve	14:8e7590227d22	1125	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1126	break;
Lightvalve	13:747daba9cf59	1127	}
Lightvalve	14:8e7590227d22	1128
Lightvalve	50:3c630b5eba9f	1129	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	1130	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1131	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1132	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1133	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	1134	// }
Lightvalve	50:3c630b5eba9f	1135	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1136	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1137	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1138	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	1139	// }
Lightvalve	50:3c630b5eba9f	1140	// } else {
Lightvalve	50:3c630b5eba9f	1141	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1142	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	1143	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1144	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	1145	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1146	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	1147	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1148	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	1149	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	1150	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	1151	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	1152	//
Lightvalve	50:3c630b5eba9f	1153	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1154	//
Lightvalve	50:3c630b5eba9f	1155	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1156	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1157	// }
Lightvalve	50:3c630b5eba9f	1158	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	1159	// break;
Lightvalve	50:3c630b5eba9f	1160	// }
Lightvalve	19:23b7c1ad8683	1161
Lightvalve	50:3c630b5eba9f	1162	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	1163	// 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	1164	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	1165	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1166	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1167	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	1168	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1169	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	1170	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	1171	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1172	// }
Lightvalve	50:3c630b5eba9f	1173	// break;
Lightvalve	50:3c630b5eba9f	1174	// }
Lightvalve	14:8e7590227d22	1175
Lightvalve	14:8e7590227d22	1176	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	59:f308b1656d9c	1177	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1178	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1179
Lightvalve	14:8e7590227d22	1180	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	60:64181f1d3e60	1181	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1182	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	59:f308b1656d9c	1183	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1184	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1185	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1186	data_num = 0;
Lightvalve	14:8e7590227d22	1187	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1188	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1189	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1190	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	59:f308b1656d9c	1191	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1192	} else {
Lightvalve	13:747daba9cf59	1193	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1194	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1195	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1196	}
Lightvalve	14:8e7590227d22	1197
Lightvalve	17:1865016ca2e7	1198	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1199	int i;
Lightvalve	13:747daba9cf59	1200	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1201	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1202	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1203	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1204	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1205	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1206	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1207	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1208	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1209	}
Lightvalve	13:747daba9cf59	1210	}
Lightvalve	59:f308b1656d9c	1211	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1212	ID_index = 0;
Lightvalve	57:f4819de54e7a	1213	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1214	}
Lightvalve	14:8e7590227d22	1215
Lightvalve	14:8e7590227d22	1216
Lightvalve	13:747daba9cf59	1217	break;
Lightvalve	13:747daba9cf59	1218	}
Lightvalve	14:8e7590227d22	1219
Lightvalve	14:8e7590227d22	1220	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	59:f308b1656d9c	1221	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1222	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1223	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1224	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1225	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1226	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1227	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1228	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1229	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1230	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1231	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1232	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1233	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1234	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1235	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	1236	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1237	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	1238	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1239	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1240	} else if(VALVE_DZ_timer == (int) (4.0f * (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	13:747daba9cf59	1242	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1243	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1244	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1245	data_num = 0;
Lightvalve	14:8e7590227d22	1246
Lightvalve	30:8d561f16383b	1247	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1248	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1249	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1250
Lightvalve	30:8d561f16383b	1251	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1252	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1253	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1254
Lightvalve	30:8d561f16383b	1255	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1256	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1257	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1258	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1259
Lightvalve	60:64181f1d3e60	1260	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	1261	DZ_case = 1;
Lightvalve	60:64181f1d3e60	1262	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	1263	DZ_case = -1;
Lightvalve	14:8e7590227d22	1264	} else {
Lightvalve	13:747daba9cf59	1265	DZ_case = 0;
Lightvalve	13:747daba9cf59	1266	}
Lightvalve	61:bc8c8270f0ab	1267
Lightvalve	60:64181f1d3e60	1268	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	1269
Lightvalve	13:747daba9cf59	1270	first_check = 1;
Lightvalve	13:747daba9cf59	1271	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1272	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1273	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1274	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1275	DZ_index = 1;
Lightvalve	14:8e7590227d22	1276
Lightvalve	13:747daba9cf59	1277	}
Lightvalve	19:23b7c1ad8683	1278	} else {
Lightvalve	14:8e7590227d22	1279	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1280	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1281	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	1282	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1283	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1284	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1285	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1286	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1287	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1288	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1289	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1290	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1291	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1292	}
Lightvalve	14:8e7590227d22	1293	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1294
Lightvalve	30:8d561f16383b	1295	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1296	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1297	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1298
Lightvalve	14:8e7590227d22	1299	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1300	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1301	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1302	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1303	} else {
Lightvalve	13:747daba9cf59	1304	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1305	}
Lightvalve	14:8e7590227d22	1306
Lightvalve	13:747daba9cf59	1307	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1308	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1309	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1310	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1311	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1312	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1313	DZ_index = 1;
Lightvalve	13:747daba9cf59	1314	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1315	}
Lightvalve	13:747daba9cf59	1316	}
Lightvalve	14:8e7590227d22	1317	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1318	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1319	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	1320	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1321	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1322	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1323	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1324	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1325	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1326	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1327	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1328	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1329	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1330	}
Lightvalve	14:8e7590227d22	1331	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1332
Lightvalve	30:8d561f16383b	1333	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1334	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1335	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1336	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1337	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1338
Lightvalve	14:8e7590227d22	1339	if((FINAL_POS - START_POS)>100) {
Lightvalve	60:64181f1d3e60	1340	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1341	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1342	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1343	} else {
Lightvalve	60:64181f1d3e60	1344	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1345	}
Lightvalve	14:8e7590227d22	1346
Lightvalve	13:747daba9cf59	1347	VALVE_DZ_timer = 0;
Lightvalve	60:64181f1d3e60	1348	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1349	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1350	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1351	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1352	first_check = 0;
Lightvalve	33:91b17819ec30	1353	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1354	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1355
Lightvalve	16:903b5a4433b4	1356	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1357
Lightvalve	60:64181f1d3e60	1358	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1359	DZ_index = 1;
Lightvalve	13:747daba9cf59	1360	}
Lightvalve	13:747daba9cf59	1361	}
Lightvalve	14:8e7590227d22	1362	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1363	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1364	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	60:64181f1d3e60	1365	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1366	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1367	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1368	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1369	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1370	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1371	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1372	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1373	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1374	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1375	}
Lightvalve	14:8e7590227d22	1376	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1377
Lightvalve	30:8d561f16383b	1378	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1379	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1380	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1381
Lightvalve	14:8e7590227d22	1382	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1383	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1384	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1385	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1386	} else {
Lightvalve	13:747daba9cf59	1387	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1388	}
Lightvalve	13:747daba9cf59	1389	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1390	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1391	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1392	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1393	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1394	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1395	DZ_index = 1;
Lightvalve	13:747daba9cf59	1396	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1397	}
Lightvalve	13:747daba9cf59	1398	}
Lightvalve	14:8e7590227d22	1399	} else {
Lightvalve	30:8d561f16383b	1400	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1401	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	1402	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1403	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1404	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1405	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1406	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1407	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1408	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1409	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1410	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1411	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1412	}
Lightvalve	14:8e7590227d22	1413	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1414
Lightvalve	30:8d561f16383b	1415	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1416	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1417	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1418	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1419	FINAL_POS = pos.sen;
Lightvalve	61:bc8c8270f0ab	1420
Lightvalve	60:64181f1d3e60	1421	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1422	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1423	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1424	DZ_DIRECTION = -1;
Lightvalve	60:64181f1d3e60	1425	} else {
Lightvalve	13:747daba9cf59	1426	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1427	}
Lightvalve	14:8e7590227d22	1428
Lightvalve	13:747daba9cf59	1429	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1430	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1431	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1432	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1433	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1434	first_check = 0;
Lightvalve	33:91b17819ec30	1435	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1436	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	61:bc8c8270f0ab	1437
Lightvalve	59:f308b1656d9c	1438	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1439
Lightvalve	57:f4819de54e7a	1440	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1441	DZ_index = 1;
Lightvalve	13:747daba9cf59	1442	}
Lightvalve	13:747daba9cf59	1443	}
Lightvalve	13:747daba9cf59	1444	}
Lightvalve	14:8e7590227d22	1445	}
Lightvalve	13:747daba9cf59	1446	break;
Lightvalve	13:747daba9cf59	1447	}
Lightvalve	14:8e7590227d22	1448
Lightvalve	14:8e7590227d22	1449	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	59:f308b1656d9c	1450	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1451	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1452	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1453	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1454	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1455	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1456	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1457	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1458	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1459	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1460	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1461	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1462	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1463	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	59:f308b1656d9c	1464	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1465	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1466	first_check = 1;
Lightvalve	13:747daba9cf59	1467	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1468	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1469	ID_index = 0;
Lightvalve	13:747daba9cf59	1470	max_check = 0;
Lightvalve	13:747daba9cf59	1471	min_check = 0;
Lightvalve	13:747daba9cf59	1472	}
Lightvalve	14:8e7590227d22	1473	} else {
Lightvalve	30:8d561f16383b	1474	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1475	//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	1476	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	59:f308b1656d9c	1477	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1478	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1479	data_num = 0;
Lightvalve	57:f4819de54e7a	1480	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1481
Lightvalve	14:8e7590227d22	1482	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1483	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1484	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1485	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1486	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1487	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1488	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1489	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1490	one_period_end = 1;
Lightvalve	13:747daba9cf59	1491	}
Lightvalve	30:8d561f16383b	1492	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1493	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1494	one_period_end = 1;
Lightvalve	59:f308b1656d9c	1495	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1496	}
Lightvalve	14:8e7590227d22	1497
Lightvalve	14:8e7590227d22	1498	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1499	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1500	max_check = 1;
Lightvalve	14:8e7590227d22	1501	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1502	min_check = 1;
Lightvalve	13:747daba9cf59	1503	}
Lightvalve	13:747daba9cf59	1504	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1505
Lightvalve	13:747daba9cf59	1506	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1507	one_period_end = 0;
Lightvalve	13:747daba9cf59	1508	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1509	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1510	}
Lightvalve	14:8e7590227d22	1511
Lightvalve	14:8e7590227d22	1512	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1513
Lightvalve	13:747daba9cf59	1514	VALVE_POS_NUM = ID_index;
Lightvalve	59:f308b1656d9c	1515	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1516	ID_index = 0;
Lightvalve	13:747daba9cf59	1517	first_check = 0;
Lightvalve	13:747daba9cf59	1518	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1519	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1520	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1521	}
Lightvalve	13:747daba9cf59	1522	}
Lightvalve	13:747daba9cf59	1523	break;
Lightvalve	13:747daba9cf59	1524	}
Lightvalve	58:2eade98630e2	1525
Lightvalve	57:f4819de54e7a	1526	case MODE_SYSTEM_ID: {
Lightvalve	57:f4819de54e7a	1527	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	57:f4819de54e7a	1528	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1529	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1530	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1531	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1532	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1533	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1534	}
Lightvalve	57:f4819de54e7a	1535	break;
Lightvalve	57:f4819de54e7a	1536	}
Lightvalve	58:2eade98630e2	1537
Lightvalve	58:2eade98630e2	1538
Lightvalve	57:f4819de54e7a	1539
Lightvalve	57:f4819de54e7a	1540	default:
Lightvalve	57:f4819de54e7a	1541	break;
Lightvalve	57:f4819de54e7a	1542	}
Lightvalve	57:f4819de54e7a	1543
Lightvalve	57:f4819de54e7a	1544	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1545
Lightvalve	57:f4819de54e7a	1546	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1547	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1548	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1549	break;
Lightvalve	57:f4819de54e7a	1550	}
Lightvalve	57:f4819de54e7a	1551
Lightvalve	57:f4819de54e7a	1552	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	67:c2812cf26c38	1553	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	57:f4819de54e7a	1554	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:f308b1656d9c	1555	V_out = Vout.ref;
Lightvalve	67:c2812cf26c38	1556	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	67:c2812cf26c38	1557	V_out = valve_pos.ref;
Lightvalve	67:c2812cf26c38	1558	} else {
Lightvalve	67:c2812cf26c38	1559	I_REF = valve_pos.ref * 0.001f;
Lightvalve	57:f4819de54e7a	1560	}
Lightvalve	58:2eade98630e2	1561
Lightvalve	57:f4819de54e7a	1562	break;
Lightvalve	57:f4819de54e7a	1563	}
Lightvalve	57:f4819de54e7a	1564
Lightvalve	57:f4819de54e7a	1565	case MODE_JOINT_CONTROL: {
Lightvalve	57:f4819de54e7a	1566	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1567	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	1568	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1569	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	1570
Lightvalve	67:c2812cf26c38	1571	//K & D Low Pass Filter
Lightvalve	67:c2812cf26c38	1572	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	67:c2812cf26c38	1573	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	67:c2812cf26c38	1574	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	67:c2812cf26c38	1575
Lightvalve	67:c2812cf26c38	1576	torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1577
Lightvalve	57:f4819de54e7a	1578	// torque feedback
Lightvalve	67:c2812cf26c38	1579	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1580	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1581
Lightvalve	57:f4819de54e7a	1582	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1583
Lightvalve	57:f4819de54e7a	1584	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1585	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1586	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1587
Lightvalve	57:f4819de54e7a	1588	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1589	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1590	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1591
Lightvalve	69:3995ffeaa786	1592	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1593	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	1594	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	1595	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1596	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	1597	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1598	}
Lightvalve	57:f4819de54e7a	1599	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	1600	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1601
Lightvalve	57:f4819de54e7a	1602	// velocity compensation for torque control
Lightvalve	69:3995ffeaa786	1603	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1604	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1605	// 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	1606	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1607	// L feedforward velocity
Lightvalve	69:3995ffeaa786	1608	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1609	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	1610	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1611	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1612	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1613	}
Lightvalve	57:f4819de54e7a	1614	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	1615	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1616	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1617	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1618	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1619
Lightvalve	57:f4819de54e7a	1620	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	67:c2812cf26c38	1621
Lightvalve	67:c2812cf26c38	1622	// Anti-windup for FT
Lightvalve	67:c2812cf26c38	1623	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	67:c2812cf26c38	1624	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	67:c2812cf26c38	1625	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	67:c2812cf26c38	1626	if (I_REF > I_MAX) {
Lightvalve	67:c2812cf26c38	1627	double I_rem = I_REF - I_MAX;
Lightvalve	67:c2812cf26c38	1628	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1629	I_REF = I_MAX;
Lightvalve	67:c2812cf26c38	1630	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1631	} else if (I_REF < -I_MAX) {
Lightvalve	67:c2812cf26c38	1632	double I_rem = I_REF - (-I_MAX);
Lightvalve	67:c2812cf26c38	1633	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1634	I_REF = -I_MAX;
Lightvalve	67:c2812cf26c38	1635	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1636	}
Lightvalve	67:c2812cf26c38	1637	}
Lightvalve	57:f4819de54e7a	1638
Lightvalve	57:f4819de54e7a	1639	} else {
Lightvalve	57:f4819de54e7a	1640	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	72:3436ce769b1e	1641	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	72:3436ce769b1e	1642	float VALVE_POS_RAW = 0.0f;
Lightvalve	72:3436ce769b1e	1643
Lightvalve	57:f4819de54e7a	1644	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	1645	+ 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	1646
Lightvalve	72:3436ce769b1e	1647	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	1648
Lightvalve	72:3436ce769b1e	1649	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	72:3436ce769b1e	1650
Lightvalve	72:3436ce769b1e	1651
Lightvalve	72:3436ce769b1e	1652	if (VALVE_POS_RAW >= 0) {
Lightvalve	72:3436ce769b1e	1653	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1654	} else {
Lightvalve	72:3436ce769b1e	1655	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1656	}
Lightvalve	57:f4819de54e7a	1657
Lightvalve	57:f4819de54e7a	1658	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	57:f4819de54e7a	1659	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1660	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1661	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1662	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1663	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1664	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1665	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1666	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1667	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1668	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1669	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1670	}
Lightvalve	57:f4819de54e7a	1671	}
Lightvalve	61:bc8c8270f0ab	1672
Lightvalve	57:f4819de54e7a	1673	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1674
Lightvalve	67:c2812cf26c38	1675	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	60:64181f1d3e60	1676	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1677
Lightvalve	57:f4819de54e7a	1678	}
Lightvalve	72:3436ce769b1e	1679
Lightvalve	72:3436ce769b1e	1680	torq_ref_past = torq_ref;
Lightvalve	58:2eade98630e2	1681
Lightvalve	57:f4819de54e7a	1682	break;
Lightvalve	57:f4819de54e7a	1683	}
Lightvalve	58:2eade98630e2	1684
Lightvalve	57:f4819de54e7a	1685	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1686	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1687	break;
Lightvalve	57:f4819de54e7a	1688	}
Lightvalve	14:8e7590227d22	1689
Lightvalve	12:6f2531038ea4	1690	default:
Lightvalve	12:6f2531038ea4	1691	break;
Lightvalve	12:6f2531038ea4	1692	}
Lightvalve	14:8e7590227d22	1693
Lightvalve	57:f4819de54e7a	1694
Lightvalve	57:f4819de54e7a	1695	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1696
Lightvalve	57:f4819de54e7a	1697	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1698	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1699	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1700	if (CURRENT_CONTROL_MODE) {
Lightvalve	67:c2812cf26c38	1701	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1702	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1703
Lightvalve	57:f4819de54e7a	1704	I_ERR = I_REF_fil - cur.sen;
Lightvalve	67:c2812cf26c38	1705	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	57:f4819de54e7a	1706
Lightvalve	57:f4819de54e7a	1707
Lightvalve	57:f4819de54e7a	1708	// Moog Valve Current Control Gain
Lightvalve	67:c2812cf26c38	1709	double R_model = 500.0f; // ohm
Lightvalve	57:f4819de54e7a	1710	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1711	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1712	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1713	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1714
Lightvalve	57:f4819de54e7a	1715	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1716	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1717	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1718	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1719	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1720	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1721	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1722	}
Lightvalve	57:f4819de54e7a	1723
Lightvalve	57:f4819de54e7a	1724	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1725
Lightvalve	67:c2812cf26c38	1726	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	57:f4819de54e7a	1727	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	57:f4819de54e7a	1728	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1729	I_REF_fil_old = I_REF_fil;
Lightvalve	67:c2812cf26c38	1730	// 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	1731	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	67:c2812cf26c38	1732	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1733
Lightvalve	57:f4819de54e7a	1734	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1735	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1736	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1737	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1738	VALVE_PWM_RAW = V_MAX;
Lightvalve	67:c2812cf26c38	1739	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1740	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1741	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1742	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1743	VALVE_PWM_RAW = -V_MAX;
Lightvalve	67:c2812cf26c38	1744	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1745	}
Lightvalve	57:f4819de54e7a	1746	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1747	} else {
Lightvalve	57:f4819de54e7a	1748	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1749	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1750	}
Lightvalve	57:f4819de54e7a	1751
Lightvalve	57:f4819de54e7a	1752	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1753	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1754	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1755	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1756	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1757	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1758	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1759
Lightvalve	57:f4819de54e7a	1760	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1761
Lightvalve	57:f4819de54e7a	1762	} else {
Lightvalve	57:f4819de54e7a	1763	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1764	}
Lightvalve	57:f4819de54e7a	1765
Lightvalve	57:f4819de54e7a	1766	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1767	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	67:c2812cf26c38	1768	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	57:f4819de54e7a	1769
Lightvalve	57:f4819de54e7a	1770	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	67:c2812cf26c38	1771	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	67:c2812cf26c38	1772	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	67:c2812cf26c38	1773	else V_out = (float) (CUR_PWM_lin);
Lightvalve	57:f4819de54e7a	1774	}
Lightvalve	89:a7b45368ea0f	1775	else { //////////////////////////sw valve
Lightvalve	89:a7b45368ea0f	1776	// Output Voltage Linearization
Lightvalve	89:a7b45368ea0f	1777	double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	89:a7b45368ea0f	1778	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	89:a7b45368ea0f	1779
Lightvalve	89:a7b45368ea0f	1780	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	89:a7b45368ea0f	1781	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	89:a7b45368ea0f	1782	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	89:a7b45368ea0f	1783	else V_out = (float) (CUR_PWM_lin);
Lightvalve	89:a7b45368ea0f	1784	}
Lightvalve	67:c2812cf26c38	1785
Lightvalve	67:c2812cf26c38	1786	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	67:c2812cf26c38	1787	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	67:c2812cf26c38	1788	// else V_out = V_out;
Lightvalve	67:c2812cf26c38	1789
jobuuu	7:e9086c72bb22	1790	/*******************************************************
jobuuu	7:e9086c72bb22	1791	*** PWM
jobuuu	7:e9086c72bb22	1792	********************************************************/
Lightvalve	67:c2812cf26c38	1793	if(DIR_VALVE<0){
Lightvalve	67:c2812cf26c38	1794	V_out = -V_out;
Lightvalve	67:c2812cf26c38	1795	}
Lightvalve	67:c2812cf26c38	1796
Lightvalve	49:e7bcfc244d40	1797	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1798	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1799	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1800	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1801	}
Lightvalve	49:e7bcfc244d40	1802	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1803
Lightvalve	19:23b7c1ad8683	1804	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1805	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1806	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1807
Lightvalve	30:8d561f16383b	1808	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1809	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1810	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1811	} else {
jobuuu	2:a1c0a37df760	1812	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1813	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1814	}
Lightvalve	13:747daba9cf59	1815
jobuuu	1:e04e563be5ce	1816	//pwm
Lightvalve	30:8d561f16383b	1817	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1818	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	67:c2812cf26c38	1819
Lightvalve	61:bc8c8270f0ab	1820
Lightvalve	57:f4819de54e7a	1821	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1822
Lightvalve	54:647072f5307a	1823	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1824	if (flag_data_request[0] == HIGH) {
Lightvalve	57:f4819de54e7a	1825	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1826	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1827	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1828	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	1829	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	1830	}
Lightvalve	57:f4819de54e7a	1831	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1832	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1833	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	1834	} else if (SENSING_MODE == 1) {
Lightvalve	67:c2812cf26c38	1835	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	1836	}
Lightvalve	52:8ea76864368a	1837	}
Lightvalve	52:8ea76864368a	1838	}
Lightvalve	56:6f50d9d3bfee	1839	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1840	//valve position
Lightvalve	54:647072f5307a	1841	double t_value = 0;
Lightvalve	97:d71c57e3515e	1842	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	97:d71c57e3515e	1843	t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1844	} else {
Lightvalve	97:d71c57e3515e	1845	t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1846	}
Lightvalve	97:d71c57e3515e	1847	// if(OPERATING_MODE==5) {
Lightvalve	97:d71c57e3515e	1848	// if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	97:d71c57e3515e	1849	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1850	// } else {
Lightvalve	97:d71c57e3515e	1851	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1852	// }
Lightvalve	97:d71c57e3515e	1853	//t_value = (double) value;
Lightvalve	97:d71c57e3515e	1854	// } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	97:d71c57e3515e	1855	// t_value = cur.sen * 1000.0f;
Lightvalve	89:a7b45368ea0f	1856	// } else {
Lightvalve	97:d71c57e3515e	1857	// t_value = V_out;
Lightvalve	89:a7b45368ea0f	1858	// }
Lightvalve	67:c2812cf26c38	1859	CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve	67:c2812cf26c38	1860	//CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve	67:c2812cf26c38	1861	//CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve	54:647072f5307a	1862	}
Lightvalve	58:2eade98630e2	1863
Lightvalve	58:2eade98630e2	1864
Lightvalve	98:cd1b2da4704f	1865	if (flag_data_request[2] == HIGH) {
Lightvalve	89:a7b45368ea0f	1866	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve	89:a7b45368ea0f	1867	double t_value = 0;
Lightvalve	89:a7b45368ea0f	1868	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	89:a7b45368ea0f	1869	t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1870	} else {
Lightvalve	89:a7b45368ea0f	1871	t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1872	}
Lightvalve	89:a7b45368ea0f	1873	CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve	55:b25725257569	1874	}
Lightvalve	58:2eade98630e2	1875
Lightvalve	57:f4819de54e7a	1876	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1877	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1878	;
Lightvalve	57:f4819de54e7a	1879	}
Lightvalve	58:2eade98630e2	1880
Lightvalve	56:6f50d9d3bfee	1881	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1882	//PWM
Lightvalve	73:f80dc3970c99	1883	//CAN_TX_PWM((int16_t) value); //1500
Lightvalve	73:f80dc3970c99	1884	CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve	54:647072f5307a	1885	}
Lightvalve	57:f4819de54e7a	1886	//for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1887	// ;
Lightvalve	57:f4819de54e7a	1888	// }
Lightvalve	56:6f50d9d3bfee	1889	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1890	//valve position
Lightvalve	73:f80dc3970c99	1891	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	1892	}
Lightvalve	20:806196fda269	1893
Lightvalve	54:647072f5307a	1894	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1895	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1896	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1897	// }
Lightvalve	54:647072f5307a	1898	//if (flag_delay_test == 1){
Lightvalve	58:2eade98630e2	1899	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1900	//}
Lightvalve	52:8ea76864368a	1901
Lightvalve	54:647072f5307a	1902	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1903	}
Lightvalve	54:647072f5307a	1904	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1905
Lightvalve	20:806196fda269	1906	}
Lightvalve	52:8ea76864368a	1907	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1908
Lightvalve	58:2eade98630e2	1909	}

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

main.cpp@119:8ade52d4bb25, 2020-09-14 (annotated)

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