Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@118:af86e883dcb4, 2020-09-14 (annotated)

Committer:
Lightvalve
Date:
Mon Sep 14 02:06:21 2020 +0000
Revision:
118:af86e883dcb4
Parent:
117:7141c0517b82
Child:
119:8ade52d4bb25
200914-2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 118:af86e883dcb4 1 //200914-2
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 118:af86e883dcb4 196 {-0.9922683835029602f,0.8460232019424438f,0.12024858593940735f,0.42971673607826233f,-0.7831948399543762f,0.9466757774353027f,-0.1628284603357315f,0.8786351084709167f,-0.2666258215904236f,-0.07533060014247894f,-0.1956915706396103f,-0.12716156244277954f,-0.9979654550552368f,-0.24919171631336212f,-0.2396446317434311f,-0.7646004557609558f},
Lightvalve 118:af86e883dcb4 197 {-1.0745341777801514f,0.8116288781166077f,-0.36603355407714844f,0.11917760968208313f,-0.7929401397705078f,0.7322802543640137f,-0.3777896761894226f,0.6243390440940857f,-0.0749230682849884f,0.1571505218744278f,-0.23001240193843842f,-0.2895985245704651f,-0.4654836356639862f,-0.7147734761238098f,-0.1953967958688736f,-0.526853084564209f},
Lightvalve 118:af86e883dcb4 198 {-1.0916802883148193f,0.6941514015197754f,0.33912619948387146f,-0.23350191116333008f,-0.49327319860458374f,0.77676922082901f,0.2676515281200409f,0.6104924082756042f,-0.15097439289093018f,0.15909519791603088f,-0.29889100790023804f,-0.5846660733222961f,-0.5838217735290527f,-0.22375208139419556f,0.05209478735923767f,-0.7551524639129639f},
Lightvalve 118:af86e883dcb4 199 {-0.9782484173774719f,0.31113147735595703f,0.3703531324863434f,0.35380131006240845f,-0.3702634572982788f,0.2814937233924866f,-0.10795548558235168f,0.6389802694320679f,0.020238667726516724f,0.2819874584674835f,0.11468183249235153f,-0.4511280059814453f,-0.5932655930519104f,-0.259999543428421f,-0.27597576379776f,-0.4377490282058716f},
Lightvalve 118:af86e883dcb4 200 {-0.456306517124176f,0.24705632030963898f,-0.004794687032699585f,0.27283531427383423f,-0.2491397112607956f,0.36148759722709656f,0.12058994174003601f,0.014295617118477821f,0.026135817170143127f,0.10731380432844162f,0.3494521677494049f,-0.8916900157928467f,-0.2646500766277313f,-0.07438575476408005f,-0.36018112301826477f,-0.6685306429862976f},
Lightvalve 118:af86e883dcb4 201 {-0.14345301687717438f,-0.6141415238380432f,0.20290347933769226f,0.255454957485199f,0.07266472280025482f,-0.17502927780151367f,0.15389427542686462f,-0.6482041478157043f,0.02910737134516239f,0.11359100788831711f,-0.20555031299591064f,-0.838413655757904f,-0.06824104487895966f,0.1409512758255005f,-0.38513508439064026f,-0.5575804710388184f},
Lightvalve 118:af86e883dcb4 202 {-0.12874425947666168f,0.15096040070056915f,-0.2331579178571701f,-0.6160153150558472f,-0.3254242539405823f,0.14485986530780792f,0.05604562163352966f,-0.9803144335746765f,0.33852580189704895f,0.06457266211509705f,0.16518302261829376f,0.5692259073257446f,0.14356370270252228f,0.17044077813625336f,-0.14554673433303833f,0.004071855451911688f},
Lightvalve 118:af86e883dcb4 203 {-0.14650265872478485f,-0.1280912607908249f,-0.24806702136993408f,-0.10933416336774826f,-0.30412396788597107f,-0.22102442383766174f,-0.16704979538917542f,-0.9642120599746704f,0.02454073168337345f,0.10739956796169281f,0.12258263677358627f,0.18821772933006287f,0.6021031737327576f,-0.02402644231915474f,0.04009982943534851f,0.19188940525054932f},
Lightvalve 118:af86e883dcb4 204 {0.07880011945962906f,0.24555817246437073f,0.09550115466117859f,-0.5748773813247681f,-0.11726641654968262f,-0.09445475786924362f,-0.06753402948379517f,-1.1256269216537476f,-0.25171300768852234f,0.3228546679019928f,-0.2527022659778595f,0.5302071571350098f,0.5802300572395325f,0.13589775562286377f,-0.2847418785095215f,0.2381889373064041f},
Lightvalve 118:af86e883dcb4 205 {-0.3524811267852783f,-0.27957043051719666f,0.17205187678337097f,-0.353553831577301f,0.15921594202518463f,0.16370359063148499f,-0.2786858379840851f,-0.6992180347442627f,-0.006810380611568689f,-0.44237667322158813f,0.016535434871912003f,-0.5385427474975586f,0.6526777744293213f,-0.2621651887893677f,0.3247623145580292f,-0.05272668972611427f},
Lightvalve 118:af86e883dcb4 206 {-0.3432121276855469f,-0.1163753941655159f,0.34649983048439026f,-0.005047006532549858f,0.018827319145202637f,0.0882120430469513f,-0.1895401030778885f,-0.47850292921066284f,-0.39709779620170593f,0.02158806100487709f,0.34884387254714966f,-0.8406322598457336f,0.28447356820106506f,-0.11396709084510803f,0.24870619177818298f,-0.48489615321159363f},
Lightvalve 118:af86e883dcb4 207 {-1.4658772945404053f,-0.9025406241416931f,-0.3757385015487671f,-0.27221575379371643f,0.09630811959505081f,0.007997093722224236f,0.1429324448108673f,-0.08122667670249939f,-0.13873571157455444f,0.183034747838974f,-0.36179932951927185f,-1.096313714981079f,0.6890646815299988f,-0.15136075019836426f,0.09779238700866699f,-0.33199232816696167f},
Lightvalve 118:af86e883dcb4 208 {0.3255842328071594f,-0.13240604102611542f,0.18496140837669373f,0.1490352302789688f,0.22719809412956238f,0.3432508409023285f,-0.22405625879764557f,0.5712770819664001f,-0.1590391844511032f,-0.19357538223266602f,-0.0771421566605568f,0.4437602460384369f,-0.03669879585504532f,-0.38094064593315125f,-0.2075144499540329f,-0.5344372987747192f},
Lightvalve 118:af86e883dcb4 209 {0.08733686059713364f,-0.5590197443962097f,0.38466766476631165f,-0.1221768856048584f,-0.18919458985328674f,-0.3587653934955597f,-0.2982172966003418f,0.07945907860994339f,-0.10940439254045486f,-0.22700423002243042f,-0.15709635615348816f,1.2706669569015503f,0.156779482960701f,-0.5185052156448364f,0.04470124840736389f,0.15615953505039215f},
Lightvalve 118:af86e883dcb4 210 {0.403360515832901f,-0.7128850817680359f,0.18900898098945618f,-0.0196603462100029f,0.4677486717700958f,-0.48132121562957764f,0.03916636109352112f,0.48491209745407104f,0.2998749315738678f,0.05602376163005829f,-0.2355746030807495f,1.1661030054092407f,0.77826327085495f,-0.4945463538169861f,0.062258750200271606f,0.383340448141098f},
Lightvalve 118:af86e883dcb4 211 {0.2593289613723755f,-0.9854602813720703f,-0.37685394287109375f,-0.18413859605789185f,0.012465625070035458f,-0.441338449716568f,-0.14507901668548584f,0.16470235586166382f,0.20499226450920105f,-0.030375521630048752f,-0.41661128401756287f,1.224860429763794f,0.43210548162460327f,-0.29650601744651794f,-0.07684260606765747f,0.46413087844848633f},
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Lightvalve 118:af86e883dcb4 213 {0.3379058837890625f,-0.29977551102638245f,0.19490453600883484f,-0.25027701258659363f,-0.3285960257053375f,-0.5744139552116394f,-0.336474746465683f,0.17858105897903442f,-0.36251819133758545f,-0.14384283125400543f,-0.12994831800460815f,0.2926623821258545f,0.5316202044487f,-0.030442986637353897f,-0.2561379373073578f,0.10979076474905014f},
Lightvalve 118:af86e883dcb4 214 {0.17658555507659912f,-0.04404517263174057f,-0.2776013910770416f,0.1309312880039215f,0.3232283294200897f,-0.6174668669700623f,0.25546005368232727f,-0.2918916940689087f,-0.358376681804657f,-0.003287365660071373f,-0.37069639563560486f,-0.19753798842430115f,0.15488097071647644f,0.48237356543540955f,-0.30415377020835876f,-0.44348135590553284f},
Lightvalve 118:af86e883dcb4 215 {0.8231086730957031f,0.2649248540401459f,0.1420871913433075f,-0.3401312530040741f,-0.2660701274871826f,-0.43393203616142273f,-0.13263443112373352f,-0.39492422342300415f,-0.14558611810207367f,0.013515380211174488f,0.1254778802394867f,-0.21490269899368286f,0.19694817066192627f,0.8114207983016968f,0.13351169228553772f,0.08890828490257263f},
Lightvalve 118:af86e883dcb4 216 {0.40884125232696533f,-0.2336285412311554f,-0.07561364769935608f,0.02270103618502617f,-0.2815033197402954f,-0.73646479845047f,0.14428457617759705f,-0.20181608200073242f,-0.3427658975124359f,-0.31821179389953613f,-0.3578360378742218f,-1.0267835855484009f,-0.3186191916465759f,1.050688624382019f,0.019461065530776978f,0.23086552321910858f},
Lightvalve 118:af86e883dcb4 217 {0.7475125193595886f,-0.665755569934845f,0.2631795108318329f,-0.724714457988739f,0.36547961831092834f,-1.258718490600586f,0.27224990725517273f,-0.8995881676673889f,-0.05133276432752609f,0.06621639430522919f,0.06264594197273254f,-1.6783150434494019f,0.43630486726760864f,1.1044129133224487f,0.06011766195297241f,0.3640836179256439f},
Lightvalve 65:a2d7c63419c2 218 };
Lightvalve 65:a2d7c63419c2 219
Lightvalve 112:8dcb1600cb90 220 const float h2[16][16] = {
Lightvalve 118:af86e883dcb4 221 {-1.995652437210083f,-0.2068829983472824f,-0.06966331601142883f,0.3350852131843567f,-0.21907491981983185f,0.5111141204833984f,0.1577049195766449f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.2805067300796509f,-0.10159772634506226f,0.037286918610334396f,-1.4427478313446045f,-2.208937168121338f,-0.9961128234863281f},
Lightvalve 118:af86e883dcb4 222 {0.5792762637138367f,-3.808340311050415f,0.057057321071624756f,2.2043418884277344f,-0.35503754019737244f,-2.3927183151245117f,-0.5222805738449097f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,0.6989365220069885f,-0.6684925556182861f,0.20035608112812042f,1.3771828413009644f,-0.020792467519640923f,-2.3830668926239014f},
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 118:af86e883dcb4 224 {0.21807445585727692f,-0.4128798544406891f,-0.2894435524940491f,-0.38070401549339294f,0.08946844935417175f,0.17335492372512817f,-0.49148330092430115f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.14064599573612213f,0.30993807315826416f,-0.4346889555454254f,0.24925482273101807f,0.23362866044044495f,0.04363977164030075f},
Lightvalve 118:af86e883dcb4 225 {-0.0690189003944397f,0.44633859395980835f,-0.25313520431518555f,0.18370237946510315f,0.036378175020217896f,0.261993944644928f,-0.41914331912994385f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.29010462760925293f,-0.7198570966720581f,-0.008628766983747482f,-0.44645318388938904f,-0.32042133808135986f,-0.3557409346103668f},
Lightvalve 118:af86e883dcb4 226 {1.0781077146530151f,-0.3735578656196594f,-0.3519742488861084f,-0.48898035287857056f,-0.3015052080154419f,-0.1435472071170807f,-0.7045096158981323f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-1.2321500778198242f,-0.3002046048641205f,-0.41085922718048096f,0.12980346381664276f,1.1767032146453857f,-1.2447152137756348f},
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 118:af86e883dcb4 228 {1.2469984292984009f,-0.8763218522071838f,0.33083590865135193f,1.7530616521835327f,-0.14358049631118774f,0.010533415712416172f,-0.2712770700454712f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-0.6503188610076904f,-0.2890920341014862f,-0.5379235148429871f,2.585930109024048f,2.265061378479004f,0.35780707001686096f},
Lightvalve 118:af86e883dcb4 229 {-0.25576791167259216f,0.3400726914405823f,-0.11379697918891907f,0.11029995232820511f,0.041274964809417725f,-0.3380604088306427f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.05663437396287918f,-0.3197441101074219f,-0.37024784088134766f,-0.28747454285621643f,-0.38662344217300415f,-0.22054927051067352f},
Lightvalve 118:af86e883dcb4 230 {-0.14576366543769836f,0.2205791175365448f,-0.13502129912376404f,0.10068279504776001f,0.12987366318702698f,0.11282801628112793f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.24429087340831757f,0.39862415194511414f,0.3811538517475128f,-0.23295477032661438f,0.013144334778189659f,-0.23888015747070312f},
Lightvalve 118:af86e883dcb4 231 {-0.2562062442302704f,-0.035001546144485474f,0.0457797646522522f,-0.3986908793449402f,-0.03321319818496704f,-0.44217926263809204f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.23657932877540588f,0.3545852601528168f,-0.3647043704986572f,0.4500863254070282f,-0.36821234226226807f,-0.31535226106643677f},
Lightvalve 118:af86e883dcb4 232 {0.8102825284004211f,1.294549584388733f,0.3954955041408539f,1.102267861366272f,0.0033026933670043945f,0.1643415242433548f,-0.47370150685310364f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-0.05037403851747513f,-0.4392281174659729f,-0.06405176222324371f,-1.6827234029769897f,0.5400660634040833f,0.17927005887031555f},
Lightvalve 118:af86e883dcb4 233 {-0.6686052083969116f,1.1986757516860962f,-0.15798500180244446f,-0.8824228048324585f,-0.37393757700920105f,0.8962071537971497f,-0.20785248279571533f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,0.15467706322669983f,-0.551661491394043f,0.23710069060325623f,-0.6682615280151367f,-0.11948293447494507f,-0.022243276238441467f},
Lightvalve 118:af86e883dcb4 234 {-0.3220524489879608f,-0.39394599199295044f,-0.2018718123435974f,-0.1575627624988556f,0.07545611262321472f,0.04054655879735947f,-0.24003709852695465f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.6880089044570923f,-0.3674003779888153f,-0.27380242943763733f,0.5272713303565979f,-1.119949460029602f,-0.36922433972358704f},
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 118:af86e883dcb4 236 {-0.07192385941743851f,0.6766030788421631f,0.12081471085548401f,0.4383029639720917f,0.29976895451545715f,-0.06717150658369064f,-0.2861359417438507f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.13777963817119598f,-0.41539883613586426f,-0.3014349937438965f,-0.4090578556060791f,-0.350934773683548f,-0.28625383973121643f},
Lightvalve 65:a2d7c63419c2 237 };
Lightvalve 65:a2d7c63419c2 238
Lightvalve 112:8dcb1600cb90 239 const float h3[16][16] = {
Lightvalve 118:af86e883dcb4 240 {-0.36079341173171997f,1.479121208190918f,1.0192432403564453f,-0.9422738552093506f,0.32734206318855286f,0.17215792834758759f,0.20715229213237762f,0.3036012351512909f,-0.2405819296836853f,-0.21890388429164886f,-0.11870327591896057f,0.395515114068985f,1.847967267036438f,1.3426859378814697f,-1.3596293926239014f,0.3992917239665985f},
Lightvalve 118:af86e883dcb4 241 {0.047732532024383545f,-1.6215876340866089f,-1.8046064376831055f,-0.7025291323661804f,-0.15545719861984253f,1.4906500577926636f,-0.3198729455471039f,-0.09108348190784454f,0.1135697066783905f,-0.18822181224822998f,0.3120075464248657f,-0.5053715705871582f,-0.741367757320404f,0.7732160091400146f,-0.3683539628982544f,-1.4823510646820068f},
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 118:af86e883dcb4 243 {-0.30922991037368774f,-3.549856185913086f,0.13726386427879333f,-0.44734057784080505f,-0.2542110085487366f,0.23402708768844604f,0.06395658850669861f,-0.08765485882759094f,-0.41971299052238464f,-0.8101474642753601f,0.03246985375881195f,0.176767498254776f,-1.846853256225586f,0.15457327663898468f,0.134054034948349f,-0.4904846251010895f},
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 118:af86e883dcb4 245 {-0.37449589371681213f,0.18573783338069916f,0.017728952690958977f,-0.07189998775720596f,0.17248819768428802f,0.4640998840332031f,-0.18732719123363495f,0.06746524572372437f,-0.5911464691162109f,-0.29338914155960083f,-0.19333311915397644f,-0.055196281522512436f,0.0703820064663887f,1.1699786186218262f,1.3546981811523438f,-1.3225988149642944f},
Lightvalve 118:af86e883dcb4 246 {0.4110594093799591f,0.3527141213417053f,-0.08545524626970291f,0.37246426939964294f,0.3150569200515747f,-0.06213608384132385f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21239498257637024f,0.030630826950073242f,0.28824782371520996f,-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 118:af86e883dcb4 250 {0.15459725260734558f,0.6321741342544556f,0.26077648997306824f,-0.12497477233409882f,-0.43533703684806824f,0.23836490511894226f,-0.15885387361049652f,-0.09889163821935654f,-0.23798367381095886f,-0.5303645133972168f,0.018210796639323235f,-0.5869696736335754f,0.16812960803508759f,-0.41072049736976624f,0.2991606295108795f,1.451149582862854f},
Lightvalve 118:af86e883dcb4 251 {-0.408692330121994f,-0.18435567617416382f,0.1490521878004074f,0.08683107048273087f,0.0728057473897934f,-0.2463478446006775f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4888150095939636f,-0.34697550535202026f,-0.3648682236671448f,0.20380957424640656f},
Lightvalve 118:af86e883dcb4 252 {-0.2991822361946106f,0.14224176108837128f,0.15648812055587769f,-0.05932474136352539f,0.3219054937362671f,0.019387593492865562f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.2699495255947113f,-0.3697388768196106f,0.13241605460643768f,-0.16869547963142395f},
Lightvalve 118:af86e883dcb4 253 {-0.2675279378890991f,-0.3864639103412628f,-0.36360350251197815f,0.058223359286785126f,0.01259082742035389f,-0.2988627254962921f,-0.45500972867012024f,-0.31893211603164673f,-0.47506827116012573f,-0.6956400275230408f,-0.4926331639289856f,-1.2168147563934326f,-0.21805618703365326f,-1.7307584285736084f,0.4814468324184418f,1.5982202291488647f},
Lightvalve 118:af86e883dcb4 254 {-0.015470266342163086f,0.46531155705451965f,0.37467139959335327f,-0.028886189684271812f,-0.3300264775753021f,-0.26294541358947754f,-0.07256490737199783f,-0.008358269929885864f,-0.4880097210407257f,-0.7111483812332153f,0.029397042468190193f,-0.27496859431266785f,0.9506001472473145f,0.7077613472938538f,0.653728723526001f,-1.284180760383606f},
Lightvalve 118:af86e883dcb4 255 {0.1863725483417511f,0.44253242015838623f,-0.8895649313926697f,-0.6261106133460999f,0.09252321720123291f,0.16897612810134888f,-0.03161505609750748f,0.024137338623404503f,-0.22729304432868958f,0.04278842732310295f,-0.5097978115081787f,-0.10846980661153793f,0.8339581489562988f,-0.7852450609207153f,-0.021044977009296417f,-0.29810839891433716f},
Lightvalve 66:a8e6799dbce3 256 };
Lightvalve 65:a2d7c63419c2 257
Lightvalve 118:af86e883dcb4 258 const float hout[16] = { 0.45773375034332275f,0.31911107897758484f,-0.1796216368675232f,0.02225276455283165f,0.00775682320818305f,0.2153143286705017f,-0.13896840810775757f,0.04725155979394913f,-0.09814572334289551f,-0.07557471096515656f,0.09471917152404785f,-0.2356099635362625f,-0.25121569633483887f,0.20179446041584015f,0.07052961736917496f,-0.4867629110813141f };
Lightvalve 66:a8e6799dbce3 259
Lightvalve 118:af86e883dcb4 260 const float b1[16] = { 1.6242481470108032f,1.5025521516799927f,-1.7145336866378784f,0.372548371553421f,1.024824857711792f,1.274719476699829f,-0.058932315558195114f,1.2145178318023682f,0.530387818813324f,-0.9235196709632874f,0.6003308892250061f,1.8733751773834229f,-0.9162682890892029f,-1.0943491458892822f,-1.087764859199524f,0.8950626850128174f };
Lightvalve 87:471334725012 261
Lightvalve 118:af86e883dcb4 262 const float b2[16] = { -0.48244044184684753f,-1.4596377611160278f,-1.4564176797866821f,-0.6742430925369263f,-0.6939148902893066f,0.03679073601961136f,0.10448678582906723f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.34773075580596924f,0.42268237471580505f,-0.27405646443367004f,1.7226717472076416f,-0.2819717824459076f,0.8814951777458191f };
Lightvalve 65:a2d7c63419c2 263
Lightvalve 118:af86e883dcb4 264 const float b3[16] = { -1.963319182395935f,-0.08225324749946594f,0.3287607431411743f,-0.12232505530118942f,-0.11128173768520355f,0.6797776818275452f,-0.5726286768913269f,-0.8121526837348938f,0.29713916778564453f,0.1593162715435028f,-0.25677886605262756f,-0.3984224200248718f,-0.38557979464530945f,-0.26475387811660767f,-1.1123615503311157f,-0.4025505483150482f };
Lightvalve 87:471334725012 265
Lightvalve 118:af86e883dcb4 266 const float bout[1] = { -0.17530457675457f };
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 = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 463 } else {
Lightvalve 66:a8e6799dbce3 464 valve_pos.ref = -output*0.0001f*((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/(2.0f*3.14f*100.0f));
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/(2.0f*3.14f*100.0f));
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/(2.0f*3.14f*100.0f));
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/(2.0f*3.14f*500.0f)); // 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 < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_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=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*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(2.0f*3.14f*VALVE_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/(2.0f*3.14f*30.0f)); // 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 }