Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@18:b8adf1582ea3, 2019-09-04 (annotated)

Committer:
Lightvalve
Date:
Wed Sep 04 11:02:57 2019 +0000
Revision:
18:b8adf1582ea3
Parent:
17:1865016ca2e7
Child:
19:23b7c1ad8683
100904

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 11
jobuuu 7:e9086c72bb22 12 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 13 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 14 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 15 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 16 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 17 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 18 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 19 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 20
jobuuu 7:e9086c72bb22 21 // PWM ///////////////////////////////////////////
jobuuu 2:a1c0a37df760 22 double dtc_v=0.0;
jobuuu 2:a1c0a37df760 23 double dtc_w=0.0;
GiJeongKim 0:51c43836c1d7 24
jobuuu 7:e9086c72bb22 25 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 26 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 27 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 28 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 29
jobuuu 7:e9086c72bb22 30 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 31 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 32 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 33 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 34 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 35 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 36 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 37
jobuuu 7:e9086c72bb22 38 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 39 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 43 CANMessage msg;
Lightvalve 11:82d8768d7351 44 void onMsgReceived()
Lightvalve 11:82d8768d7351 45 {
Lightvalve 11:82d8768d7351 46 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 47 }
jobuuu 2:a1c0a37df760 48
jobuuu 7:e9086c72bb22 49 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 50 State pos;
jobuuu 7:e9086c72bb22 51 State vel;
jobuuu 7:e9086c72bb22 52 State Vout;
jobuuu 7:e9086c72bb22 53 State torq;
jobuuu 7:e9086c72bb22 54 State pres_A;
jobuuu 7:e9086c72bb22 55 State pres_B;
jobuuu 7:e9086c72bb22 56 State cur;
Lightvalve 14:8e7590227d22 57 State valve_pos;
Lightvalve 14:8e7590227d22 58
Lightvalve 14:8e7590227d22 59 State INIT_Vout;
Lightvalve 14:8e7590227d22 60 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 61 State INIT_Pos;
Lightvalve 14:8e7590227d22 62 State INIT_torq;
jobuuu 5:a4319f79457b 63
jobuuu 5:a4319f79457b 64 double V_out=0.0;
jobuuu 5:a4319f79457b 65 double V_rem=0.0; // for anti-windup
jobuuu 5:a4319f79457b 66 double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 67
jobuuu 5:a4319f79457b 68 double PWM_out=0.0;
Lightvalve 12:6f2531038ea4 69
Lightvalve 17:1865016ca2e7 70 int timer_while = 0;
Lightvalve 17:1865016ca2e7 71 int while_index = 0;
Lightvalve 17:1865016ca2e7 72
jobuuu 7:e9086c72bb22 73 // =============================================================================
jobuuu 7:e9086c72bb22 74 // =============================================================================
jobuuu 7:e9086c72bb22 75 // =============================================================================
jobuuu 7:e9086c72bb22 76
Lightvalve 12:6f2531038ea4 77 /*******************************************************************************
Lightvalve 12:6f2531038ea4 78 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 79 ******************************************************************************/
Lightvalve 13:747daba9cf59 80 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 81 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 82 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 83 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 84 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 85 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 86 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 87 };
Lightvalve 12:6f2531038ea4 88
Lightvalve 12:6f2531038ea4 89 /*******************************************************************************
Lightvalve 12:6f2531038ea4 90 * CONTROL MODE
Lightvalve 12:6f2531038ea4 91 ******************************************************************************/
Lightvalve 13:747daba9cf59 92 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 93 //control mode
Lightvalve 12:6f2531038ea4 94 MODE_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_VALVE_OPEN_LOOP, //1
Lightvalve 12:6f2531038ea4 96 MODE_VALVE_POSITION_CONTROL, //2
Lightvalve 13:747daba9cf59 97
Lightvalve 12:6f2531038ea4 98 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve 12:6f2531038ea4 99 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 100 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 101
Lightvalve 12:6f2531038ea4 102 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 103 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 104 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 105
Lightvalve 12:6f2531038ea4 106 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 107 MODE_TEST_PWM_CONTROL, //10
Lightvalve 14:8e7590227d22 108
Lightvalve 14:8e7590227d22 109 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 110 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 111 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 112
Lightvalve 12:6f2531038ea4 113 //utility
Lightvalve 12:6f2531038ea4 114 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 116 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 118 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 119 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 120 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 121
Lightvalve 12:6f2531038ea4 122 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 123 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 124 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 125 };
Lightvalve 12:6f2531038ea4 126
GiJeongKim 0:51c43836c1d7 127 int main()
GiJeongKim 0:51c43836c1d7 128 {
jobuuu 6:df07d3491e3a 129 /*********************************
jobuuu 1:e04e563be5ce 130 *** Initialization
jobuuu 6:df07d3491e3a 131 *********************************/
Lightvalve 11:82d8768d7351 132 LED = 1;
jobuuu 1:e04e563be5ce 133 pc.baud(9600);
Lightvalve 14:8e7590227d22 134
GiJeongKim 0:51c43836c1d7 135 // i2c init
Lightvalve 8:5d2eebdad025 136 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 137 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 138 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 139 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 140 make_delay();
jobuuu 2:a1c0a37df760 141
GiJeongKim 0:51c43836c1d7 142 // // spi init
Lightvalve 16:903b5a4433b4 143 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 144 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 145 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 146 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 147 make_delay();
Lightvalve 16:903b5a4433b4 148
Lightvalve 16:903b5a4433b4 149 //rom
Lightvalve 16:903b5a4433b4 150
Lightvalve 16:903b5a4433b4 151 ROM_INIT_DATA();
Lightvalve 16:903b5a4433b4 152 make_delay();
Lightvalve 13:747daba9cf59 153
GiJeongKim 0:51c43836c1d7 154 // ADC init
jobuuu 5:a4319f79457b 155 Init_ADC();
Lightvalve 11:82d8768d7351 156 make_delay();
jobuuu 2:a1c0a37df760 157
GiJeongKim 0:51c43836c1d7 158 // Pwm init
GiJeongKim 0:51c43836c1d7 159 Init_PWM();
GiJeongKim 0:51c43836c1d7 160 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 161 make_delay();
Lightvalve 13:747daba9cf59 162
Lightvalve 11:82d8768d7351 163 // TMR3 init
Lightvalve 11:82d8768d7351 164 Init_TMR3();
Lightvalve 11:82d8768d7351 165 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 166 make_delay();
Lightvalve 14:8e7590227d22 167
GiJeongKim 0:51c43836c1d7 168 // CAN
jobuuu 2:a1c0a37df760 169 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 170 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 171 make_delay();
Lightvalve 13:747daba9cf59 172
GiJeongKim 0:51c43836c1d7 173 // spi _ enc
GiJeongKim 0:51c43836c1d7 174 spi_enc_set_init();
Lightvalve 11:82d8768d7351 175 make_delay();
Lightvalve 13:747daba9cf59 176
Lightvalve 11:82d8768d7351 177 //DAC init
Lightvalve 16:903b5a4433b4 178 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 179 //dac_1 = 0.0;
Lightvalve 16:903b5a4433b4 180 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 16:903b5a4433b4 181 //dac_2 = 0.0;
Lightvalve 11:82d8768d7351 182 make_delay();
Lightvalve 13:747daba9cf59 183
Lightvalve 13:747daba9cf59 184 for (int i=0; i<100; i++) {
Lightvalve 11:82d8768d7351 185 if(i%2==0)
Lightvalve 11:82d8768d7351 186 ID_index_array[i] = - i * 0.5;
Lightvalve 11:82d8768d7351 187 else
Lightvalve 11:82d8768d7351 188 ID_index_array[i] = (i+1) * 0.5;
Lightvalve 11:82d8768d7351 189 }
Lightvalve 13:747daba9cf59 190
jobuuu 6:df07d3491e3a 191 /************************************
jobuuu 1:e04e563be5ce 192 *** Program is operating!
jobuuu 6:df07d3491e3a 193 *************************************/
GiJeongKim 0:51c43836c1d7 194 while(1) {
Lightvalve 17:1865016ca2e7 195 if(timer_while==1){
Lightvalve 17:1865016ca2e7 196 //i2c
Lightvalve 17:1865016ca2e7 197 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 198 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 17:1865016ca2e7 199
Lightvalve 17:1865016ca2e7 200 if(LED==1) {
Lightvalve 17:1865016ca2e7 201 LED=0;
Lightvalve 17:1865016ca2e7 202 } else
Lightvalve 17:1865016ca2e7 203 LED = 1;
Lightvalve 17:1865016ca2e7 204 timer_while = 0;
Lightvalve 17:1865016ca2e7 205
Lightvalve 17:1865016ca2e7 206 }
Lightvalve 17:1865016ca2e7 207 timer_while ++;
GiJeongKim 0:51c43836c1d7 208 }
jobuuu 1:e04e563be5ce 209 }
jobuuu 1:e04e563be5ce 210
Lightvalve 14:8e7590227d22 211 int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 212 {
Lightvalve 14:8e7590227d22 213
Lightvalve 13:747daba9cf59 214 int i = 0;
Lightvalve 13:747daba9cf59 215 int Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 216 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 217 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 218 if(i==0) {
Lightvalve 13:747daba9cf59 219 Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 14:8e7590227d22 220 } else {
Lightvalve 13:747daba9cf59 221 Ref_Valve_Pos_FF = ((int) 50.0*(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])) + DDV_CENTER + 50*ID_index_array[i-1];
Lightvalve 13:747daba9cf59 222 }
Lightvalve 13:747daba9cf59 223 break;
Lightvalve 13:747daba9cf59 224 }
Lightvalve 13:747daba9cf59 225 }
Lightvalve 14:8e7590227d22 226 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 227 Ref_Valve_Pos_FF = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 228 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 229 Ref_Valve_Pos_FF = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 230 }
Lightvalve 13:747daba9cf59 231 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 232 }
jobuuu 6:df07d3491e3a 233
jobuuu 6:df07d3491e3a 234
Lightvalve 14:8e7590227d22 235 void VALVE_POS_CONTROL(double REF_VALVE_POS)
Lightvalve 14:8e7590227d22 236 {
Lightvalve 13:747daba9cf59 237 int i = 0;
Lightvalve 13:747daba9cf59 238
Lightvalve 13:747daba9cf59 239 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 240 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 241 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 242 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 243 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 244 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 245
Lightvalve 13:747daba9cf59 246 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 247
Lightvalve 14:8e7590227d22 248 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 249 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 250 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 251 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 252 }
Lightvalve 14:8e7590227d22 253
Lightvalve 18:b8adf1582ea3 254 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 255 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 256 if(i==0) {
Lightvalve 18:b8adf1582ea3 257 VALVE_PWM_RAW_FF = (double) 1000.0 / (double) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 258 } else {
Lightvalve 18:b8adf1582ea3 259 VALVE_PWM_RAW_FF = (double) 1000.0* (double) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (double) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 260 }
Lightvalve 13:747daba9cf59 261 break;
Lightvalve 13:747daba9cf59 262 }
Lightvalve 13:747daba9cf59 263 }
Lightvalve 14:8e7590227d22 264 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 265 }
Lightvalve 13:747daba9cf59 266
Lightvalve 14:8e7590227d22 267 #define LT_MAX_IDX 57
Lightvalve 14:8e7590227d22 268 double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0,
Lightvalve 14:8e7590227d22 269 -19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
Lightvalve 14:8e7590227d22 270 -9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
Lightvalve 14:8e7590227d22 271 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
Lightvalve 14:8e7590227d22 272 11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
Lightvalve 14:8e7590227d22 273 25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
Lightvalve 14:8e7590227d22 274 }; // duty
Lightvalve 14:8e7590227d22 275 double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8,
Lightvalve 14:8e7590227d22 276 -196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
Lightvalve 14:8e7590227d22 277 -156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
Lightvalve 14:8e7590227d22 278 12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
Lightvalve 14:8e7590227d22 279 173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
Lightvalve 14:8e7590227d22 280 214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
Lightvalve 14:8e7590227d22 281 }; // mV
Lightvalve 13:747daba9cf59 282
Lightvalve 14:8e7590227d22 283 double PWM_duty_byLT(double Ref_V)
Lightvalve 14:8e7590227d22 284 {
Lightvalve 13:747daba9cf59 285 double PWM_duty = 0.0;
Lightvalve 13:747daba9cf59 286 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 13:747daba9cf59 287 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 288 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 13:747daba9cf59 289 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 290 } else {
Lightvalve 13:747daba9cf59 291 int idx = 0;
Lightvalve 13:747daba9cf59 292 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 13:747daba9cf59 293 double ini_x = LT_Voltage_Output[idx];
Lightvalve 13:747daba9cf59 294 double fin_x = LT_Voltage_Output[idx+1];
Lightvalve 13:747daba9cf59 295 double ini_y = LT_PWM_duty[idx];
Lightvalve 13:747daba9cf59 296 double fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 297 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 298 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 299 break;
Lightvalve 13:747daba9cf59 300 }
Lightvalve 13:747daba9cf59 301 }
Lightvalve 13:747daba9cf59 302 }
Lightvalve 14:8e7590227d22 303
Lightvalve 13:747daba9cf59 304 return PWM_duty;
Lightvalve 13:747daba9cf59 305 }
jobuuu 6:df07d3491e3a 306
jobuuu 2:a1c0a37df760 307 /*******************************************************************************
jobuuu 2:a1c0a37df760 308 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 309 *******************************************************************************/
jobuuu 2:a1c0a37df760 310
jobuuu 2:a1c0a37df760 311 unsigned long CNT_TMR4 = 0;
Lightvalve 17:1865016ca2e7 312 double FREQ_TMR4 = (double)FREQ_10k;
Lightvalve 17:1865016ca2e7 313 double DT_TMR4 = (double)DT_10k;
jobuuu 1:e04e563be5ce 314 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 315 {
jobuuu 2:a1c0a37df760 316 if ( TIM4->SR & TIM_SR_UIF ) {
jobuuu 1:e04e563be5ce 317 /*******************************************************
Lightvalve 13:747daba9cf59 318 *** Sensor Read & Data Handling
jobuuu 1:e04e563be5ce 319 ********************************************************/
Lightvalve 13:747daba9cf59 320
Lightvalve 17:1865016ca2e7 321
Lightvalve 17:1865016ca2e7 322 //Using LoadCell
Lightvalve 15:bd0d12728506 323 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 324 // //while((ADC1->SR & 0b10));
Lightvalve 15:bd0d12728506 325 // double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 15:bd0d12728506 326 // double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
Lightvalve 15:bd0d12728506 327 // torq.sen = torq.sen*(1.0-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 328
Lightvalve 17:1865016ca2e7 329 //Pressure sensor A
Lightvalve 17:1865016ca2e7 330 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 17:1865016ca2e7 331 //while((ADC1->SR & 0b10));
Lightvalve 17:1865016ca2e7 332 double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 17:1865016ca2e7 333 double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 17:1865016ca2e7 334 pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 17:1865016ca2e7 335
Lightvalve 17:1865016ca2e7 336 //Pressure sensor 1B
Lightvalve 17:1865016ca2e7 337 //ADC2->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 17:1865016ca2e7 338 //while((ADC2->SR & 0b10));
Lightvalve 17:1865016ca2e7 339 double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 17:1865016ca2e7 340 double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 17:1865016ca2e7 341 pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 17:1865016ca2e7 342 torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 343
Lightvalve 17:1865016ca2e7 344
Lightvalve 17:1865016ca2e7 345
Lightvalve 17:1865016ca2e7 346 //Current
Lightvalve 17:1865016ca2e7 347 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 348 // a1=ADC2->DR;
Lightvalve 17:1865016ca2e7 349 int raw_cur = ADC3->DR;
Lightvalve 17:1865016ca2e7 350 //while((ADC3->SR & 0b10));
Lightvalve 17:1865016ca2e7 351 double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
Lightvalve 17:1865016ca2e7 352 double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
Lightvalve 17:1865016ca2e7 353 cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 17:1865016ca2e7 354 cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 355
Lightvalve 17:1865016ca2e7 356
jobuuu 1:e04e563be5ce 357
Lightvalve 11:82d8768d7351 358 /*******************************************************
Lightvalve 11:82d8768d7351 359 *** Timer Counting & etc.
Lightvalve 11:82d8768d7351 360 ********************************************************/
Lightvalve 13:747daba9cf59 361 CNT_TMR4++;
Lightvalve 11:82d8768d7351 362 }
Lightvalve 11:82d8768d7351 363 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 364 }
Lightvalve 18:b8adf1582ea3 365 int j =0;
Lightvalve 11:82d8768d7351 366 unsigned long CNT_TMR3 = 0;
Lightvalve 11:82d8768d7351 367 double FREQ_TMR3 = (double)FREQ_5k;
Lightvalve 11:82d8768d7351 368 double DT_TMR3 = (double)DT_5k;
Lightvalve 11:82d8768d7351 369 extern "C" void TIM3_IRQHandler(void)
Lightvalve 11:82d8768d7351 370 {
Lightvalve 11:82d8768d7351 371 if ( TIM3->SR & TIM_SR_UIF ) {
Lightvalve 14:8e7590227d22 372
Lightvalve 12:6f2531038ea4 373 ENC_UPDATE();
Lightvalve 13:747daba9cf59 374
Lightvalve 14:8e7590227d22 375 /*
Lightvalve 13:747daba9cf59 376 // Reference Loop
Lightvalve 12:6f2531038ea4 377 switch (REFERENCE_MODE) {
Lightvalve 13:747daba9cf59 378 case MODE_REF_NO_ACT: {
Lightvalve 12:6f2531038ea4 379 break;
Lightvalve 12:6f2531038ea4 380 }
Lightvalve 13:747daba9cf59 381 case MODE_REF_DIRECT: {
Lightvalve 12:6f2531038ea4 382 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 383 Vout.ref = (double) Vout.ref;
Lightvalve 12:6f2531038ea4 384 }
Lightvalve 12:6f2531038ea4 385 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 386 valve_pos.ref = (double) valve_pos.ref;
Lightvalve 12:6f2531038ea4 387 }
Lightvalve 12:6f2531038ea4 388 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 389 pos.ref = (double) pos.ref;
Lightvalve 14:8e7590227d22 390 vel.ref = (double) vel.ref;
Lightvalve 12:6f2531038ea4 391 }
Lightvalve 12:6f2531038ea4 392 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 393 torq.ref = (double) torq.ref;
Lightvalve 14:8e7590227d22 394 }
Lightvalve 14:8e7590227d22 395 if (FLAG_REFERENCE_CURRENT) {
Lightvalve 14:8e7590227d22 396 cur.ref = ((double)cur.ref);
Lightvalve 12:6f2531038ea4 397 }
Lightvalve 12:6f2531038ea4 398 break;
Lightvalve 12:6f2531038ea4 399 }
Lightvalve 14:8e7590227d22 400
Lightvalve 13:747daba9cf59 401 case MODE_REF_COS_INC: {
Lightvalve 12:6f2531038ea4 402 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 403 Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Vout.ref;
Lightvalve 12:6f2531038ea4 404 }
Lightvalve 12:6f2531038ea4 405 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 406 valve_pos.ref = ((double) valve_pos.ref - (double) INIT_Valve_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Valve_Pos.ref;
Lightvalve 12:6f2531038ea4 407 }
Lightvalve 12:6f2531038ea4 408 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 409 pos.ref = ((double) pos.ref - (double) INIT_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Pos.ref;
Lightvalve 14:8e7590227d22 410 vel.ref = 0.0;
Lightvalve 12:6f2531038ea4 411 }
Lightvalve 12:6f2531038ea4 412 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 413 torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_torq.ref;
Lightvalve 12:6f2531038ea4 414 }
Lightvalve 14:8e7590227d22 415 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 416 if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
Lightvalve 14:8e7590227d22 417 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 418 TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
Lightvalve 14:8e7590227d22 419 //TMR3_COUNT_REFERENCE = 0;
Lightvalve 12:6f2531038ea4 420 }
Lightvalve 12:6f2531038ea4 421 break;
Lightvalve 12:6f2531038ea4 422 }
Lightvalve 13:747daba9cf59 423
Lightvalve 13:747daba9cf59 424
Lightvalve 13:747daba9cf59 425 case MODE_REF_LINE_INC: {
Lightvalve 12:6f2531038ea4 426 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 427 Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_Vout.ref;
Lightvalve 12:6f2531038ea4 428 }
Lightvalve 12:6f2531038ea4 429 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 430 valve_pos.ref = ((double) valve_pos.ref - (double) INIT_valve_pos.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_valve_pos.ref;
Lightvalve 12:6f2531038ea4 431 }
Lightvalve 12:6f2531038ea4 432 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 433 pos.ref = ((double) pos.ref - (double) INIT_REF_POS)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_POS;
Lightvalve 14:8e7590227d22 434 vel.ref = ((double) pos.ref - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k; // pulse/sec
Lightvalve 12:6f2531038ea4 435 }
Lightvalve 12:6f2531038ea4 436 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 437 torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_torq.ref;
Lightvalve 12:6f2531038ea4 438 }
Lightvalve 14:8e7590227d22 439 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 440 if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
Lightvalve 12:6f2531038ea4 441 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 442 TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
Lightvalve 14:8e7590227d22 443 //TMR3_COUNT_REFERENCE = 0;
Lightvalve 12:6f2531038ea4 444 }
Lightvalve 12:6f2531038ea4 445 break;
Lightvalve 12:6f2531038ea4 446 }
Lightvalve 13:747daba9cf59 447
Lightvalve 13:747daba9cf59 448 case MODE_REF_SIN_WAVE: {
Lightvalve 12:6f2531038ea4 449 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 450 Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
Lightvalve 12:6f2531038ea4 451 }
Lightvalve 12:6f2531038ea4 452 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 453 valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
Lightvalve 12:6f2531038ea4 454 }
Lightvalve 12:6f2531038ea4 455 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 456 Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
Lightvalve 12:6f2531038ea4 457 }
Lightvalve 12:6f2531038ea4 458 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 459 Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
Lightvalve 12:6f2531038ea4 460 }
Lightvalve 14:8e7590227d22 461 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 462 if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
Lightvalve 12:6f2531038ea4 463 REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 464 TMR3_COUNT_REFERENCE = 0;
Lightvalve 12:6f2531038ea4 465 }
Lightvalve 12:6f2531038ea4 466 break;
Lightvalve 12:6f2531038ea4 467 }
Lightvalve 13:747daba9cf59 468
Lightvalve 13:747daba9cf59 469 case MODE_REF_SQUARE_WAVE: {
Lightvalve 12:6f2531038ea4 470 if (FLAG_REFERENCE_VALVE_PWM) {
Lightvalve 14:8e7590227d22 471 Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
Lightvalve 14:8e7590227d22 472 if (Vout.ref >= Vout.ref) Vout.ref = REF_MAG + Vout.ref;
Lightvalve 14:8e7590227d22 473 else Vout.ref = -REF_MAG + Vout.ref;
Lightvalve 12:6f2531038ea4 474 }
Lightvalve 12:6f2531038ea4 475 if (FLAG_REFERENCE_VALVE_POSITION) {
Lightvalve 14:8e7590227d22 476 valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
Lightvalve 14:8e7590227d22 477 if (valve_pos.ref >= valve_pos.ref) valve_pos.ref = REF_MAG + valve_pos.ref;
Lightvalve 14:8e7590227d22 478 else valve_pos.ref = -REF_MAG + valve_pos.ref;
Lightvalve 12:6f2531038ea4 479 }
Lightvalve 12:6f2531038ea4 480 if (FLAG_REFERENCE_JOINT_POSITION) {
Lightvalve 14:8e7590227d22 481 Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
Lightvalve 14:8e7590227d22 482 if (Ref_Joint_Pos >= pos.ref) valve_pos.ref = REF_MAG + pos.ref;
Lightvalve 14:8e7590227d22 483 else Ref_Joint_Pos = -REF_MAG + pos.ref;
Lightvalve 12:6f2531038ea4 484 }
Lightvalve 12:6f2531038ea4 485 if (FLAG_REFERENCE_JOINT_TORQUE) {
Lightvalve 14:8e7590227d22 486 Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
Lightvalve 14:8e7590227d22 487 if (Ref_Joint_Torq >= torq.ref) valve_pos.ref = REF_MAG + torq.ref;
Lightvalve 14:8e7590227d22 488 else Ref_Joint_Torq = -REF_MAG + torq.ref;
Lightvalve 12:6f2531038ea4 489 }
Lightvalve 14:8e7590227d22 490 TMR3_COUNT_REFERENCE++;
Lightvalve 14:8e7590227d22 491 if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
Lightvalve 14:8e7590227d22 492 REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 14:8e7590227d22 493 TMR3_COUNT_REFERENCE = 0;
Lightvalve 14:8e7590227d22 494 }
Lightvalve 13:747daba9cf59 495 break;
Lightvalve 13:747daba9cf59 496 }
Lightvalve 13:747daba9cf59 497
Lightvalve 14:8e7590227d22 498 default:
Lightvalve 14:8e7590227d22 499 break;
Lightvalve 14:8e7590227d22 500 }
Lightvalve 14:8e7590227d22 501
Lightvalve 14:8e7590227d22 502 */
Lightvalve 14:8e7590227d22 503
Lightvalve 14:8e7590227d22 504 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 17:1865016ca2e7 505
Lightvalve 14:8e7590227d22 506 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 507 case MODE_NO_ACT: {
Lightvalve 14:8e7590227d22 508 V_out = 0;
Lightvalve 13:747daba9cf59 509 break;
Lightvalve 13:747daba9cf59 510 }
Lightvalve 14:8e7590227d22 511
Lightvalve 14:8e7590227d22 512 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 18:b8adf1582ea3 513 V_out = (double) Vout.ref;
Lightvalve 14:8e7590227d22 514 break;
Lightvalve 14:8e7590227d22 515 }
Lightvalve 14:8e7590227d22 516
Lightvalve 14:8e7590227d22 517 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 518 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 519 break;
Lightvalve 14:8e7590227d22 520 }
Lightvalve 14:8e7590227d22 521
Lightvalve 14:8e7590227d22 522 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 13:747daba9cf59 523 double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
Lightvalve 13:747daba9cf59 524 double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
Lightvalve 13:747daba9cf59 525 double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 526
Lightvalve 13:747daba9cf59 527 // feedback input for position control
Lightvalve 14:8e7590227d22 528 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 529 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 530 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 531 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 532 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 533 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 534 // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 14:8e7590227d22 535 PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 13:747daba9cf59 536 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 537
Lightvalve 13:747daba9cf59 538 // feedforward input for position control
Lightvalve 14:8e7590227d22 539 double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 13:747daba9cf59 540 double K_ff = 0.9;
Lightvalve 14:8e7590227d22 541 if(Ref_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 542 if(Ref_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 543 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 544
Lightvalve 13:747daba9cf59 545 // torque feedback
Lightvalve 15:bd0d12728506 546 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 547 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 548 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 549 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 550 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 551 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 552 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 553 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 15:bd0d12728506 554
Lightvalve 13:747daba9cf59 555 PWM_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 556
Lightvalve 14:8e7590227d22 557 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 558
Lightvalve 13:747daba9cf59 559 break;
Lightvalve 13:747daba9cf59 560 }
Lightvalve 14:8e7590227d22 561
Lightvalve 14:8e7590227d22 562 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 13:747daba9cf59 563 double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
Lightvalve 13:747daba9cf59 564 double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
Lightvalve 13:747daba9cf59 565 double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
Lightvalve 13:747daba9cf59 566 int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 567 // feedback input for position control
Lightvalve 14:8e7590227d22 568 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 569 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 570 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 571 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 572 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 573 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 574 VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 13:747daba9cf59 575 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 576
Lightvalve 14:8e7590227d22 577
Lightvalve 13:747daba9cf59 578 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 579 // feedforward input for position control
Lightvalve 14:8e7590227d22 580 // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 581 // double K_ff = 0.9;
Lightvalve 14:8e7590227d22 582 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 583 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 584 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 585
Lightvalve 13:747daba9cf59 586 // torque feedback
Lightvalve 15:bd0d12728506 587 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 588 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 589 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 590 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 591 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 592 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 593 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 594 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 13:747daba9cf59 595 VALVE_POS_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 596
Lightvalve 14:8e7590227d22 597 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 598 //valve_pos.ref = DDV_JOINT_POS_FF(Ref_Joint_Vel);
Lightvalve 14:8e7590227d22 599
Lightvalve 14:8e7590227d22 600 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 601 break;
Lightvalve 13:747daba9cf59 602 }
Lightvalve 14:8e7590227d22 603
Lightvalve 14:8e7590227d22 604 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 605
Lightvalve 13:747daba9cf59 606 break;
Lightvalve 13:747daba9cf59 607 }
Lightvalve 14:8e7590227d22 608
Lightvalve 14:8e7590227d22 609 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 14:8e7590227d22 610 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 611 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 612 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 613 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 614 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 615 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 616 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 617
Lightvalve 14:8e7590227d22 618 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 619 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 620 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 621 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 622 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 623 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 624 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 625
Lightvalve 13:747daba9cf59 626 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 14:8e7590227d22 627
Lightvalve 14:8e7590227d22 628 V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 629
Lightvalve 13:747daba9cf59 630 CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
Lightvalve 13:747daba9cf59 631 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 632 if (DIR_VALVE > 0) {
Lightvalve 13:747daba9cf59 633 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 634 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 635 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 636 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 637 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 638 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 639 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
Lightvalve 13:747daba9cf59 640 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
Lightvalve 13:747daba9cf59 641 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
Lightvalve 13:747daba9cf59 642 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
Lightvalve 13:747daba9cf59 643 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
Lightvalve 13:747daba9cf59 644 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 645 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 646 } else {
Lightvalve 13:747daba9cf59 647 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 648 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 649 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 650 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 651 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 652 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 653 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
Lightvalve 13:747daba9cf59 654 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
Lightvalve 13:747daba9cf59 655 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
Lightvalve 13:747daba9cf59 656 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
Lightvalve 13:747daba9cf59 657 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
Lightvalve 13:747daba9cf59 658 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 659 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 660 }
Lightvalve 13:747daba9cf59 661 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
Lightvalve 14:8e7590227d22 662
Lightvalve 13:747daba9cf59 663 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
Lightvalve 13:747daba9cf59 664 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
Lightvalve 14:8e7590227d22 665
Lightvalve 18:b8adf1582ea3 666 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 667 break;
Lightvalve 14:8e7590227d22 668 }
Lightvalve 14:8e7590227d22 669
Lightvalve 14:8e7590227d22 670 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 14:8e7590227d22 671 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 672 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 673 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 674 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 675 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 676 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 677 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 678
Lightvalve 15:bd0d12728506 679 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 680 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 681 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 682 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 683 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 684 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 685 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 686
Lightvalve 14:8e7590227d22 687 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 688 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 689
Lightvalve 14:8e7590227d22 690 break;
Lightvalve 14:8e7590227d22 691 }
Lightvalve 14:8e7590227d22 692
Lightvalve 14:8e7590227d22 693 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 694
Lightvalve 14:8e7590227d22 695 break;
Lightvalve 14:8e7590227d22 696 }
Lightvalve 14:8e7590227d22 697
Lightvalve 14:8e7590227d22 698
Lightvalve 14:8e7590227d22 699 case MODE_TEST_CURRENT_CONTROL:
Lightvalve 14:8e7590227d22 700 {
Lightvalve 14:8e7590227d22 701 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 702 TMR3_COUNT_IREF = 0;
Lightvalve 14:8e7590227d22 703 } TMR3_COUNT_IREF++;
Lightvalve 14:8e7590227d22 704
Lightvalve 14:8e7590227d22 705 // Set Current Reference
Lightvalve 14:8e7590227d22 706 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 14:8e7590227d22 707 double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 708 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 709 I_REF = I_REF_MID + 1.0;
Lightvalve 14:8e7590227d22 710 } else {
Lightvalve 14:8e7590227d22 711 I_REF = I_REF_MID - 1.0;
Lightvalve 14:8e7590227d22 712 }
Lightvalve 14:8e7590227d22 713 // double T = 1.0; // wave period
Lightvalve 14:8e7590227d22 714 // I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
Lightvalve 14:8e7590227d22 715 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 14:8e7590227d22 716
Lightvalve 14:8e7590227d22 717 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 14:8e7590227d22 718 CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 719 }
Lightvalve 14:8e7590227d22 720 break;
Lightvalve 14:8e7590227d22 721 }
Lightvalve 14:8e7590227d22 722
Lightvalve 14:8e7590227d22 723 case MODE_TEST_PWM_CONTROL:
Lightvalve 14:8e7590227d22 724 {
Lightvalve 14:8e7590227d22 725 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 726 TMR3_COUNT_IREF = 0;
Lightvalve 14:8e7590227d22 727 } TMR3_COUNT_IREF++;
Lightvalve 14:8e7590227d22 728
Lightvalve 14:8e7590227d22 729 // Set PWM reference
Lightvalve 14:8e7590227d22 730 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 14:8e7590227d22 731 double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 732 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 733 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 734 } else {
Lightvalve 14:8e7590227d22 735 CUR_PWM = -1000;
Lightvalve 14:8e7590227d22 736 }
Lightvalve 14:8e7590227d22 737
Lightvalve 14:8e7590227d22 738 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 14:8e7590227d22 739 CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 740 }
Lightvalve 13:747daba9cf59 741 break;
Lightvalve 13:747daba9cf59 742 }
Lightvalve 13:747daba9cf59 743
Lightvalve 14:8e7590227d22 744
Lightvalve 14:8e7590227d22 745 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 746
Lightvalve 14:8e7590227d22 747 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 748 CurrentControl();
Lightvalve 14:8e7590227d22 749 break;
Lightvalve 14:8e7590227d22 750 }
Lightvalve 14:8e7590227d22 751
Lightvalve 14:8e7590227d22 752 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 14:8e7590227d22 753 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 754 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 755 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 756 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 14:8e7590227d22 757
Lightvalve 14:8e7590227d22 758 // feedback input for position control
Lightvalve 14:8e7590227d22 759 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 760 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 761 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 762 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 763 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 764 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 14:8e7590227d22 765
Lightvalve 14:8e7590227d22 766 // feedforward input for position control
Lightvalve 14:8e7590227d22 767 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 768 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 769 double K_v = 0.0;
Lightvalve 14:8e7590227d22 770 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 771 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 772 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 13:747daba9cf59 773
Lightvalve 14:8e7590227d22 774 // feedback input for position control
Lightvalve 14:8e7590227d22 775 I_REF_FORCE_FB = 0.0;
Lightvalve 13:747daba9cf59 776
Lightvalve 14:8e7590227d22 777 // feedforward input for position control
Lightvalve 14:8e7590227d22 778 I_REF_FORCE_FF = 0.0;
Lightvalve 14:8e7590227d22 779
Lightvalve 14:8e7590227d22 780 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 13:747daba9cf59 781
Lightvalve 14:8e7590227d22 782 CurrentControl();
Lightvalve 13:747daba9cf59 783
Lightvalve 13:747daba9cf59 784 break;
Lightvalve 13:747daba9cf59 785 }
Lightvalve 13:747daba9cf59 786
Lightvalve 14:8e7590227d22 787 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 14:8e7590227d22 788 double T_REF = 0.0; // Torque Reference
Lightvalve 14:8e7590227d22 789 double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 790 double I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 14:8e7590227d22 791
Lightvalve 14:8e7590227d22 792 // feedback input for position control
Lightvalve 14:8e7590227d22 793 double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 794 double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 795 double K_spring = 0.7;
Lightvalve 14:8e7590227d22 796 double D_damper = 0.02;
Lightvalve 14:8e7590227d22 797 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 14:8e7590227d22 798
Lightvalve 14:8e7590227d22 799 // torque feedback
Lightvalve 15:bd0d12728506 800 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 801 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 802 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 803 torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 804 I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 14:8e7590227d22 805
Lightvalve 14:8e7590227d22 806 // velocity compensation for torque control
Lightvalve 14:8e7590227d22 807 double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 808 double K_vc = 1.5; // Velocity comp. gain
Lightvalve 14:8e7590227d22 809 double K_v = 0.0; // Valve gain
Lightvalve 14:8e7590227d22 810 if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
Lightvalve 14:8e7590227d22 811 if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
Lightvalve 14:8e7590227d22 812 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 13:747daba9cf59 813
Lightvalve 14:8e7590227d22 814 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 14:8e7590227d22 815 // cur.ref = I_REF_FORCE_FB;
Lightvalve 14:8e7590227d22 816
Lightvalve 14:8e7590227d22 817 double I_MAX = 10.00; // Maximum Current : 10mV
Lightvalve 14:8e7590227d22 818 double Ka = 1.0/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 819 if(cur.ref > I_MAX) {
Lightvalve 14:8e7590227d22 820 double I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 821 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 822 cur.ref = I_MAX;
Lightvalve 14:8e7590227d22 823 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 824 } else if(cur.ref < -I_MAX) {
Lightvalve 14:8e7590227d22 825 double I_rem = cur.ref-(-I_MAX);
Lightvalve 14:8e7590227d22 826 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 827 cur.ref = -I_MAX;
Lightvalve 14:8e7590227d22 828 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 829 }
Lightvalve 14:8e7590227d22 830
Lightvalve 14:8e7590227d22 831 CurrentControl();
Lightvalve 14:8e7590227d22 832
Lightvalve 14:8e7590227d22 833
Lightvalve 14:8e7590227d22 834 /*
Lightvalve 14:8e7590227d22 835 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 836 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 837 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 838 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 14:8e7590227d22 839
Lightvalve 14:8e7590227d22 840 // feedback input for position control
Lightvalve 14:8e7590227d22 841 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 842 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 843 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 844 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 845 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 846 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 14:8e7590227d22 847
Lightvalve 14:8e7590227d22 848 // feedforward input for position control
Lightvalve 14:8e7590227d22 849 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 850 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 851 double K_v = 0.0;
Lightvalve 14:8e7590227d22 852 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 853 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 854 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 14:8e7590227d22 855
Lightvalve 14:8e7590227d22 856 // feedback input for position control
Lightvalve 14:8e7590227d22 857 I_REF_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 858
Lightvalve 14:8e7590227d22 859 // feedforward input for position control
Lightvalve 14:8e7590227d22 860 I_REF_FORCE_FF = 0.0;
Lightvalve 14:8e7590227d22 861
Lightvalve 14:8e7590227d22 862 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 14:8e7590227d22 863
Lightvalve 14:8e7590227d22 864 CurrentControl();
Lightvalve 14:8e7590227d22 865 */
Lightvalve 14:8e7590227d22 866
Lightvalve 13:747daba9cf59 867 break;
Lightvalve 13:747daba9cf59 868 }
Lightvalve 14:8e7590227d22 869
Lightvalve 14:8e7590227d22 870 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 871 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 872 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 873 CUR_TORQUE_sum += torq.sen;
Lightvalve 15:bd0d12728506 874
Lightvalve 14:8e7590227d22 875 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 876 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
Lightvalve 13:747daba9cf59 877 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 878
Lightvalve 13:747daba9cf59 879 TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve 15:bd0d12728506 880
Lightvalve 13:747daba9cf59 881 if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
Lightvalve 13:747daba9cf59 882 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 16:903b5a4433b4 883
Lightvalve 16:903b5a4433b4 884 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 885
Lightvalve 16:903b5a4433b4 886 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 16:903b5a4433b4 887 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 13:747daba9cf59 888 }
Lightvalve 13:747daba9cf59 889 } else {
Lightvalve 13:747daba9cf59 890 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 891 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 892 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 893 CUR_TORQUE_mean = 0;
Lightvalve 16:903b5a4433b4 894
Lightvalve 16:903b5a4433b4 895 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 896
Lightvalve 16:903b5a4433b4 897 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 15:bd0d12728506 898
Lightvalve 17:1865016ca2e7 899 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 16:903b5a4433b4 900 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 14:8e7590227d22 901
Lightvalve 13:747daba9cf59 902 }
Lightvalve 14:8e7590227d22 903 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 904 break;
Lightvalve 14:8e7590227d22 905 }
Lightvalve 14:8e7590227d22 906
Lightvalve 14:8e7590227d22 907 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 908 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 909 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 910 else temp_time = 0;
Lightvalve 13:747daba9cf59 911 }
Lightvalve 13:747daba9cf59 912 if (need_enc_init) {
Lightvalve 14:8e7590227d22 913 if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 914 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 915 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 916 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 917 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 918 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 919 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 920 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 921 }
Lightvalve 14:8e7590227d22 922
Lightvalve 14:8e7590227d22 923 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 924 V_out = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 925 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 926
Lightvalve 14:8e7590227d22 927 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 928 V_out = 0;
Lightvalve 13:747daba9cf59 929 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 930 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 931 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 932 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 933 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 934 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 935 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 936 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 937 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 938
Lightvalve 13:747daba9cf59 939 // Position of Dead Zone
Lightvalve 13:747daba9cf59 940 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 941 // | / | / |/
Lightvalve 13:747daba9cf59 942 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 943 // |/ / | / |
Lightvalve 13:747daba9cf59 944 // /| / | / |
Lightvalve 13:747daba9cf59 945 // 0V 0V 0V
Lightvalve 14:8e7590227d22 946
Lightvalve 13:747daba9cf59 947 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 948 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 949 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 950 } else {
Lightvalve 18:b8adf1582ea3 951 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 952 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 953 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 954 }
Lightvalve 13:747daba9cf59 955 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 956 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 957 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 958 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 959 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 960 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 961 }
Lightvalve 13:747daba9cf59 962 } else {
Lightvalve 14:8e7590227d22 963 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 964 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 965 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 966 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 967 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 968 }
Lightvalve 18:b8adf1582ea3 969 V_out = 0;
Lightvalve 16:903b5a4433b4 970
Lightvalve 16:903b5a4433b4 971 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 972
Lightvalve 16:903b5a4433b4 973 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 974 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 975
Lightvalve 13:747daba9cf59 976 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 977 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 978 }
Lightvalve 13:747daba9cf59 979 }
Lightvalve 14:8e7590227d22 980 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 981 break;
Lightvalve 13:747daba9cf59 982 }
Lightvalve 14:8e7590227d22 983
Lightvalve 14:8e7590227d22 984 case MODE_FIND_HOME: {
Lightvalve 14:8e7590227d22 985
Lightvalve 14:8e7590227d22 986
Lightvalve 14:8e7590227d22 987 ////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
Lightvalve 14:8e7590227d22 988 if (FLAG_FIND_HOME == true) {
Lightvalve 14:8e7590227d22 989 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 990 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 991 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 992 pos.ref = pos.sen;
Lightvalve 14:8e7590227d22 993 FLAG_FIND_HOME = false;
Lightvalve 14:8e7590227d22 994 }
Lightvalve 14:8e7590227d22 995
Lightvalve 14:8e7590227d22 996 int check_enc = (TMR_FREQ_5k/10);
Lightvalve 14:8e7590227d22 997 if(cnt_findhome%check_enc == 0) {
Lightvalve 14:8e7590227d22 998 FINDHOME_POSITION = pos.sen;
Lightvalve 14:8e7590227d22 999 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 14:8e7590227d22 1000 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 14:8e7590227d22 1001 }
Lightvalve 14:8e7590227d22 1002 cnt_findhome++;
Lightvalve 14:8e7590227d22 1003 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1004
Lightvalve 14:8e7590227d22 1005 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 14:8e7590227d22 1006 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 14:8e7590227d22 1007 } else {
Lightvalve 14:8e7590227d22 1008 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1009 }
Lightvalve 14:8e7590227d22 1010
Lightvalve 14:8e7590227d22 1011 if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1012 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 14:8e7590227d22 1013 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
Lightvalve 14:8e7590227d22 1014 else pos.ref = pos.ref - 1.0;
Lightvalve 14:8e7590227d22 1015 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 1016 V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
Lightvalve 18:b8adf1582ea3 1017 // if (HOMEPOS_OFFSET > 0) V_out = 100;
Lightvalve 18:b8adf1582ea3 1018 // else V_out = -100;
Lightvalve 14:8e7590227d22 1019 } else {
Lightvalve 14:8e7590227d22 1020 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 14:8e7590227d22 1021 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 14:8e7590227d22 1022 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 14:8e7590227d22 1023 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1024 TMR3_COUNT_REFERENCE = 0;
Lightvalve 14:8e7590227d22 1025 vel.ref = 0.0;
Lightvalve 14:8e7590227d22 1026 //REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 1027 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
Lightvalve 14:8e7590227d22 1028
Lightvalve 14:8e7590227d22 1029 FINDHOME_POSITION = 0;
Lightvalve 14:8e7590227d22 1030 FINDHOME_POSITION_OLD = 0;
Lightvalve 14:8e7590227d22 1031 FINDHOME_VELOCITY = 0;
Lightvalve 14:8e7590227d22 1032 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1033 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 1034 }
Lightvalve 14:8e7590227d22 1035
Lightvalve 14:8e7590227d22 1036 /*
Lightvalve 14:8e7590227d22 1037 ////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
Lightvalve 13:747daba9cf59 1038 if (FLAG_FIND_HOME == true) {
Lightvalve 13:747daba9cf59 1039 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1040 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1041 REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 1042 Ref_Joint_Pos = pos.sen;
Lightvalve 13:747daba9cf59 1043 FLAG_FIND_HOME = false;
Lightvalve 13:747daba9cf59 1044 }
Lightvalve 13:747daba9cf59 1045
Lightvalve 14:8e7590227d22 1046 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 14:8e7590227d22 1047 if(cnt_findhome%cnt_check_enc == 0){
Lightvalve 14:8e7590227d22 1048 FINDHOME_POSITION = pos.sen;
Lightvalve 13:747daba9cf59 1049 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 1050 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 1051 } cnt_findhome++;
Lightvalve 13:747daba9cf59 1052 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1053
Lightvalve 13:747daba9cf59 1054 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 13:747daba9cf59 1055 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 13:747daba9cf59 1056 } else {
Lightvalve 13:747daba9cf59 1057 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1058 }
Lightvalve 13:747daba9cf59 1059
Lightvalve 14:8e7590227d22 1060 if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 13:747daba9cf59 1061 REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 13:747daba9cf59 1062 if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
Lightvalve 13:747daba9cf59 1063 else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
Lightvalve 14:8e7590227d22 1064 pos.err = Ref_Joint_Pos - pos.sen;
Lightvalve 14:8e7590227d22 1065 I_REF = 0.001*((double)pos.err);
Lightvalve 14:8e7590227d22 1066 if(I_REF>5.0) I_REF = 5.0;
Lightvalve 14:8e7590227d22 1067 if(I_REF<-5.0) I_REF = -5.0;
Lightvalve 14:8e7590227d22 1068 cur.ref = I_REF;
Lightvalve 14:8e7590227d22 1069 CurrentControl();
Lightvalve 13:747daba9cf59 1070 } else {
Lightvalve 13:747daba9cf59 1071 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 13:747daba9cf59 1072 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 13:747daba9cf59 1073 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 13:747daba9cf59 1074 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1075 TMR3_COUNT_REFERENCE = 0;
Lightvalve 13:747daba9cf59 1076 Ref_Joint_Vel = 0.0;
Lightvalve 13:747daba9cf59 1077 REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 1078 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 13:747daba9cf59 1079
Lightvalve 13:747daba9cf59 1080 FINDHOME_POSITION = 0;
Lightvalve 13:747daba9cf59 1081 FINDHOME_POSITION_OLD = 0;
Lightvalve 13:747daba9cf59 1082 FINDHOME_VELOCITY = 0;
Lightvalve 13:747daba9cf59 1083 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1084 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1085 }
Lightvalve 14:8e7590227d22 1086 */
Lightvalve 14:8e7590227d22 1087
Lightvalve 13:747daba9cf59 1088 break;
Lightvalve 13:747daba9cf59 1089 }
Lightvalve 14:8e7590227d22 1090
Lightvalve 14:8e7590227d22 1091 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1092 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1093 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1094 else {
Lightvalve 18:b8adf1582ea3 1095 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 13:747daba9cf59 1096 temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1097 }
Lightvalve 13:747daba9cf59 1098 }
Lightvalve 13:747daba9cf59 1099 if (need_enc_init) {
Lightvalve 14:8e7590227d22 1100 if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1101 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1102 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1103 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1104 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1105 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1106 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1107 need_enc_init = false;
Lightvalve 13:747daba9cf59 1108 check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1109 check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1110 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1111 }
Lightvalve 13:747daba9cf59 1112 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1113 }
Lightvalve 14:8e7590227d22 1114 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1115 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1116 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 18:b8adf1582ea3 1117 VALVE_VOLTAGE = 1000.0 * (double) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1118 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1119 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1120 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1121 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1122 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 13:747daba9cf59 1123 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 13:747daba9cf59 1124 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1125 }
Lightvalve 13:747daba9cf59 1126 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 13:747daba9cf59 1127 VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1128 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1129 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1130 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1131 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1132 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 13:747daba9cf59 1133 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 13:747daba9cf59 1134 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1135 }
Lightvalve 13:747daba9cf59 1136 }
Lightvalve 13:747daba9cf59 1137 if (fl_temp_cnt2 == 100) {
Lightvalve 16:903b5a4433b4 1138
Lightvalve 16:903b5a4433b4 1139 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1140
Lightvalve 16:903b5a4433b4 1141 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
Lightvalve 13:747daba9cf59 1142 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1143 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1144 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1145 flag_flowrate++;
Lightvalve 13:747daba9cf59 1146 }
Lightvalve 13:747daba9cf59 1147 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1148 V_out = 0;
Lightvalve 13:747daba9cf59 1149 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1150 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1151 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1152 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1153 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1154 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1155 }
Lightvalve 14:8e7590227d22 1156
Lightvalve 13:747daba9cf59 1157 }
Lightvalve 13:747daba9cf59 1158 break;
Lightvalve 13:747daba9cf59 1159 }
Lightvalve 14:8e7590227d22 1160
Lightvalve 13:747daba9cf59 1161 }
Lightvalve 14:8e7590227d22 1162
Lightvalve 14:8e7590227d22 1163 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1164 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1165 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1166 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1167 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1168
Lightvalve 14:8e7590227d22 1169 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 1170 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
Lightvalve 13:747daba9cf59 1171 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
Lightvalve 13:747daba9cf59 1172 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1173 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1174
Lightvalve 16:903b5a4433b4 1175 double VREF_NullingGain = 0.003;
Lightvalve 13:747daba9cf59 1176 PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 13:747daba9cf59 1177 PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1178
Lightvalve 13:747daba9cf59 1179 if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
Lightvalve 13:747daba9cf59 1180 if (PRES_A_VREF < 0) PRES_A_VREF = 0;
Lightvalve 13:747daba9cf59 1181 if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
Lightvalve 13:747daba9cf59 1182 if (PRES_B_VREF < 0) PRES_B_VREF = 0;
Lightvalve 16:903b5a4433b4 1183
Lightvalve 16:903b5a4433b4 1184 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 1185 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 13:747daba9cf59 1186 }
Lightvalve 13:747daba9cf59 1187 } else {
Lightvalve 13:747daba9cf59 1188 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1189 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1190 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1191 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1192 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1193 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1194
Lightvalve 16:903b5a4433b4 1195 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1196
Lightvalve 15:bd0d12728506 1197 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 15:bd0d12728506 1198 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 17:1865016ca2e7 1199 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1200 }
Lightvalve 14:8e7590227d22 1201 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1202 break;
Lightvalve 13:747daba9cf59 1203 }
Lightvalve 14:8e7590227d22 1204
Lightvalve 14:8e7590227d22 1205 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1206 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1207 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1208 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1209 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1210 }
Lightvalve 14:8e7590227d22 1211 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1212 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1213 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1214 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1215 }
Lightvalve 13:747daba9cf59 1216 } else {
Lightvalve 13:747daba9cf59 1217 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1218 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1219 V_out = 0;
Lightvalve 18:b8adf1582ea3 1220 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_A_NULL;
Lightvalve 18:b8adf1582ea3 1221 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve 18:b8adf1582ea3 1222 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_B_NULL;
Lightvalve 18:b8adf1582ea3 1223 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve 13:747daba9cf59 1224 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1225 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1226 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1227 CUR_PRES_B_mean = 0;
Lightvalve 16:903b5a4433b4 1228
Lightvalve 16:903b5a4433b4 1229 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1230
Lightvalve 16:903b5a4433b4 1231 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
Lightvalve 16:903b5a4433b4 1232 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
Lightvalve 13:747daba9cf59 1233 }
Lightvalve 14:8e7590227d22 1234 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1235 break;
Lightvalve 13:747daba9cf59 1236 }
Lightvalve 14:8e7590227d22 1237
Lightvalve 14:8e7590227d22 1238 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 14:8e7590227d22 1239 if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
Lightvalve 18:b8adf1582ea3 1240 V_out = PWM_out * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
Lightvalve 18:b8adf1582ea3 1241 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 18:b8adf1582ea3 1242 else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1243 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1244 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1245 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 17:1865016ca2e7 1246 V_out = 0;
Lightvalve 13:747daba9cf59 1247 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1248 }
Lightvalve 13:747daba9cf59 1249 break;
Lightvalve 13:747daba9cf59 1250 }
Lightvalve 14:8e7590227d22 1251
Lightvalve 14:8e7590227d22 1252 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1253 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1254
Lightvalve 14:8e7590227d22 1255 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 18:b8adf1582ea3 1256 V_out = 3000.0 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100.0);
Lightvalve 14:8e7590227d22 1257 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 18:b8adf1582ea3 1258 V_out = 1000.0*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1259 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1260 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1261 data_num = 0;
Lightvalve 14:8e7590227d22 1262 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1263 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1264 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1265 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1266 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1267 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1268 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1269 }
Lightvalve 14:8e7590227d22 1270
Lightvalve 17:1865016ca2e7 1271 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1272 int i;
Lightvalve 13:747daba9cf59 1273 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1274 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1275 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 16:903b5a4433b4 1276
Lightvalve 17:1865016ca2e7 1277 //ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1278
Lightvalve 16:903b5a4433b4 1279 //spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
Lightvalve 14:8e7590227d22 1280 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1281 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1282 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1283 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1284 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1285 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1286 }
Lightvalve 13:747daba9cf59 1287 }
Lightvalve 16:903b5a4433b4 1288
Lightvalve 16:903b5a4433b4 1289 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1290
Lightvalve 16:903b5a4433b4 1291 //spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
Lightvalve 16:903b5a4433b4 1292 //spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
Lightvalve 13:747daba9cf59 1293 CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 13:747daba9cf59 1294 ID_index = 0;
Lightvalve 13:747daba9cf59 1295 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1296 }
Lightvalve 14:8e7590227d22 1297
Lightvalve 14:8e7590227d22 1298
Lightvalve 13:747daba9cf59 1299 break;
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 14:8e7590227d22 1301
Lightvalve 14:8e7590227d22 1302 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1303
Lightvalve 13:747daba9cf59 1304 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1305 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1306 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1307 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1308 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1309 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1310 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1311 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1312 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1313 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1314 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1315 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1316 } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1317 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1318 } else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1319 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1320 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1321 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1322 } else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1323 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1324 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1325 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1326 CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1327 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1328 data_num = 0;
Lightvalve 14:8e7590227d22 1329
Lightvalve 14:8e7590227d22 1330 } else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1331 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1332 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1333 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1334
Lightvalve 14:8e7590227d22 1335 } else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1336 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1337 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1338 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1339 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1340 else
Lightvalve 13:747daba9cf59 1341 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1342 } else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1343 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1344 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1345 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1346 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1347 // {
Lightvalve 14:8e7590227d22 1348 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1349 // }
Lightvalve 14:8e7590227d22 1350 // else
Lightvalve 14:8e7590227d22 1351 // {
Lightvalve 14:8e7590227d22 1352 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1353 // }
Lightvalve 14:8e7590227d22 1354 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1355 // {
Lightvalve 14:8e7590227d22 1356 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1357 // }
Lightvalve 14:8e7590227d22 1358
Lightvalve 14:8e7590227d22 1359 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1360 DZ_case = 1;
Lightvalve 14:8e7590227d22 1361 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1362 DZ_case = -1;
Lightvalve 14:8e7590227d22 1363 } else {
Lightvalve 13:747daba9cf59 1364 DZ_case = 0;
Lightvalve 13:747daba9cf59 1365 }
Lightvalve 14:8e7590227d22 1366
Lightvalve 14:8e7590227d22 1367 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1368 first_check = 1;
Lightvalve 13:747daba9cf59 1369 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1370 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1371 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1372 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1373 DZ_index = 1;
Lightvalve 18:b8adf1582ea3 1374 //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1375
Lightvalve 13:747daba9cf59 1376 }
Lightvalve 14:8e7590227d22 1377 }else {
Lightvalve 14:8e7590227d22 1378 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 14:8e7590227d22 1379 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1380 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1381 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1382 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1383 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1384 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1385 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1386 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1387 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1388 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1389 }
Lightvalve 14:8e7590227d22 1390 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1391 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1392 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1393 else
Lightvalve 13:747daba9cf59 1394 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1395 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1396 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1397 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1398 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1399 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1400 // else
Lightvalve 14:8e7590227d22 1401 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1402 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1403 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1404
Lightvalve 14:8e7590227d22 1405 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1406 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1407 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1408 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1409 } else {
Lightvalve 13:747daba9cf59 1410 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1411 }
Lightvalve 14:8e7590227d22 1412
Lightvalve 14:8e7590227d22 1413 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1414
Lightvalve 13:747daba9cf59 1415 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1416 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1417 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1418 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1419 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1420 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1421 DZ_index = 1;
Lightvalve 13:747daba9cf59 1422 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1423 }
Lightvalve 14:8e7590227d22 1424
Lightvalve 13:747daba9cf59 1425 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1426 }
Lightvalve 14:8e7590227d22 1427 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 14:8e7590227d22 1428 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1429 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1430 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1431 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1432 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1433 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1434 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1435 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1436 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1437 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1438 }
Lightvalve 14:8e7590227d22 1439 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1440 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1441 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1442 else
Lightvalve 13:747daba9cf59 1443 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1444 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1445 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1446 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1447 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1448 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1449 // else
Lightvalve 14:8e7590227d22 1450 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1451 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1452 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1453
Lightvalve 14:8e7590227d22 1454 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1455 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1456 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1457 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1458 } else {
Lightvalve 13:747daba9cf59 1459 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1460 }
Lightvalve 14:8e7590227d22 1461
Lightvalve 14:8e7590227d22 1462 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1463
Lightvalve 14:8e7590227d22 1464
Lightvalve 13:747daba9cf59 1465 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1466 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1467 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1468 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1469 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1470 first_check = 0;
Lightvalve 16:903b5a4433b4 1471
Lightvalve 16:903b5a4433b4 1472 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1473
Lightvalve 16:903b5a4433b4 1474 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 16:903b5a4433b4 1475 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 18:b8adf1582ea3 1476 //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve 13:747daba9cf59 1477 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1478 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1479 DZ_index = 1;
Lightvalve 13:747daba9cf59 1480 }
Lightvalve 14:8e7590227d22 1481
Lightvalve 13:747daba9cf59 1482 CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1483 }
Lightvalve 14:8e7590227d22 1484 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 14:8e7590227d22 1485 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1486 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1487 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1488 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1489 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1490 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1491 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1492 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1493 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1494 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1495 }
Lightvalve 14:8e7590227d22 1496 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1497 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1498 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1499 else
Lightvalve 13:747daba9cf59 1500 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1501 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1502 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1503 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1504 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1505 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1506 // else
Lightvalve 14:8e7590227d22 1507 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1508 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1509 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1510
Lightvalve 14:8e7590227d22 1511 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1512 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1513 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1514 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1515 } else {
Lightvalve 13:747daba9cf59 1516 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1517 }
Lightvalve 14:8e7590227d22 1518
Lightvalve 14:8e7590227d22 1519 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1520 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1521 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1522 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1523 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1524 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1525 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1526 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1527 DZ_index = 1;
Lightvalve 13:747daba9cf59 1528 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1529 }
Lightvalve 13:747daba9cf59 1530 }
Lightvalve 14:8e7590227d22 1531 } else {
Lightvalve 14:8e7590227d22 1532 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1533 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1534 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1535 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1536 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1537 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1538 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1539 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1540 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1541 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1542 }
Lightvalve 14:8e7590227d22 1543 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1544 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1545 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1546 else
Lightvalve 13:747daba9cf59 1547 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1548 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1549 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1550 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1551 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1552 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1553 else
Lightvalve 13:747daba9cf59 1554 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1555 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1556 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1557
Lightvalve 14:8e7590227d22 1558 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1559
Lightvalve 14:8e7590227d22 1560
Lightvalve 13:747daba9cf59 1561 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1562 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1563 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1564 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1565 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1566 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1567 first_check = 0;
Lightvalve 13:747daba9cf59 1568 VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve 16:903b5a4433b4 1569
Lightvalve 16:903b5a4433b4 1570 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1571
Lightvalve 16:903b5a4433b4 1572 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 13:747daba9cf59 1573 VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve 16:903b5a4433b4 1574
Lightvalve 16:903b5a4433b4 1575 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1576
Lightvalve 16:903b5a4433b4 1577 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 18:b8adf1582ea3 1578 //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve 13:747daba9cf59 1579 CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1580 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1581 DZ_index = 1;
Lightvalve 13:747daba9cf59 1582 }
Lightvalve 14:8e7590227d22 1583
Lightvalve 13:747daba9cf59 1584 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1585 }
Lightvalve 13:747daba9cf59 1586 }
Lightvalve 14:8e7590227d22 1587 }
Lightvalve 13:747daba9cf59 1588 break;
Lightvalve 13:747daba9cf59 1589 }
Lightvalve 14:8e7590227d22 1590
Lightvalve 14:8e7590227d22 1591 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1592 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1593 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1594 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1595 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 13:747daba9cf59 1596 CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 14:8e7590227d22 1597 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1598 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1599 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1600 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 14:8e7590227d22 1601 } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1602 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1603 } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1604 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 18:b8adf1582ea3 1605 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1606 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1607 first_check = 1;
Lightvalve 13:747daba9cf59 1608 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1609 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1610 ID_index = 0;
Lightvalve 13:747daba9cf59 1611 max_check = 0;
Lightvalve 13:747daba9cf59 1612 min_check = 0;
Lightvalve 13:747daba9cf59 1613 }
Lightvalve 14:8e7590227d22 1614 } else {
Lightvalve 14:8e7590227d22 1615 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1616 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1617 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1618 data_num = 0;
Lightvalve 14:8e7590227d22 1619 valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1620
Lightvalve 14:8e7590227d22 1621 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1622 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1623 } else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1624 valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1625 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1626 data_num = data_num + 1;
Lightvalve 14:8e7590227d22 1627 if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000) {
Lightvalve 14:8e7590227d22 1628 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1629 one_period_end = 1;
Lightvalve 13:747daba9cf59 1630 }
Lightvalve 14:8e7590227d22 1631 } else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1632 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1633 one_period_end = 1;
Lightvalve 13:747daba9cf59 1634 }
Lightvalve 14:8e7590227d22 1635
Lightvalve 14:8e7590227d22 1636 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1637 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1638 max_check = 1;
Lightvalve 14:8e7590227d22 1639 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1640 min_check = 1;
Lightvalve 13:747daba9cf59 1641 }
Lightvalve 13:747daba9cf59 1642 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 16:903b5a4433b4 1643
Lightvalve 16:903b5a4433b4 1644 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1645
Lightvalve 16:903b5a4433b4 1646 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1647 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1648 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1649 one_period_end = 0;
Lightvalve 13:747daba9cf59 1650 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1651 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1652 }
Lightvalve 14:8e7590227d22 1653
Lightvalve 14:8e7590227d22 1654 if(max_check == 1 && min_check == 1) {
Lightvalve 16:903b5a4433b4 1655
Lightvalve 16:903b5a4433b4 1656 ROM_RESET_DATA();
Lightvalve 16:903b5a4433b4 1657
Lightvalve 16:903b5a4433b4 1658 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1659 VALVE_POS_NUM = ID_index;
Lightvalve 13:747daba9cf59 1660 ID_index = 0;
Lightvalve 13:747daba9cf59 1661 first_check = 0;
Lightvalve 13:747daba9cf59 1662 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1663 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1664 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1665 }
Lightvalve 13:747daba9cf59 1666 }
Lightvalve 13:747daba9cf59 1667 break;
Lightvalve 13:747daba9cf59 1668 }
Lightvalve 14:8e7590227d22 1669
Lightvalve 12:6f2531038ea4 1670 default:
Lightvalve 12:6f2531038ea4 1671 break;
Lightvalve 12:6f2531038ea4 1672 }
Lightvalve 14:8e7590227d22 1673
Lightvalve 13:747daba9cf59 1674 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1675 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1676 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1677 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1678 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1679 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1680 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1681 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1682 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1683
Lightvalve 14:8e7590227d22 1684 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1685 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1686
Lightvalve 14:8e7590227d22 1687 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1688
Lightvalve 13:747daba9cf59 1689 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 18:b8adf1582ea3 1690 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0*1000.0; // convert PWM duty to mV
Lightvalve 13:747daba9cf59 1691 double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1692
Lightvalve 14:8e7590227d22 1693 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1694 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1695 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1696 } else {
Lightvalve 17:1865016ca2e7 1697 V_out = V_out;
Lightvalve 13:747daba9cf59 1698 }
Lightvalve 14:8e7590227d22 1699
Lightvalve 14:8e7590227d22 1700 //VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
Lightvalve 15:bd0d12728506 1701 //PWM_out = CUR_PWM;
Lightvalve 14:8e7590227d22 1702
Lightvalve 14:8e7590227d22 1703
Lightvalve 14:8e7590227d22 1704
Lightvalve 14:8e7590227d22 1705 //CAN ----------------------------------------------------------------------
Lightvalve 14:8e7590227d22 1706 //if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 14:8e7590227d22 1707 if (TMR3_COUNT_CAN_TX % 10 == 0) {
Lightvalve 14:8e7590227d22 1708
Lightvalve 13:747daba9cf59 1709 if (flag_data_request[0] == HIGH) {
Lightvalve 13:747daba9cf59 1710 //position+velocity
Lightvalve 17:1865016ca2e7 1711 CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 18:b8adf1582ea3 1712 //CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve 18:b8adf1582ea3 1713 //CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve 18:b8adf1582ea3 1714
Lightvalve 14:8e7590227d22 1715 //pc.printf("can good");
Lightvalve 13:747daba9cf59 1716 // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve 13:747daba9cf59 1717 }
Lightvalve 14:8e7590227d22 1718
Lightvalve 13:747daba9cf59 1719 if (flag_data_request[1] == HIGH) {
Lightvalve 13:747daba9cf59 1720 //torque
Lightvalve 13:747daba9cf59 1721 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 17:1865016ca2e7 1722 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 17:1865016ca2e7 1723 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 13:747daba9cf59 1724 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 13:747daba9cf59 1725 }
Lightvalve 14:8e7590227d22 1726
Lightvalve 13:747daba9cf59 1727 if (flag_data_request[2] == HIGH) {
Lightvalve 14:8e7590227d22 1728 //pressure A and B
Lightvalve 14:8e7590227d22 1729 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 15:bd0d12728506 1730 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 13:747daba9cf59 1731 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 13:747daba9cf59 1732 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 13:747daba9cf59 1733 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 14:8e7590227d22 1734
Lightvalve 13:747daba9cf59 1735 }
Lightvalve 14:8e7590227d22 1736
Lightvalve 13:747daba9cf59 1737 if (flag_data_request[3] == HIGH) {
Lightvalve 13:747daba9cf59 1738 //PWM
Lightvalve 13:747daba9cf59 1739 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 13:747daba9cf59 1740 // CAN_TX_PWM((int16_t) (CONTROL_MODE));
Lightvalve 13:747daba9cf59 1741 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 13:747daba9cf59 1742 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 13:747daba9cf59 1743 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 14:8e7590227d22 1744
Lightvalve 13:747daba9cf59 1745 }
Lightvalve 14:8e7590227d22 1746
Lightvalve 13:747daba9cf59 1747 if (flag_data_request[4] == HIGH) {
Lightvalve 13:747daba9cf59 1748 //valve position
Lightvalve 14:8e7590227d22 1749 CAN_TX_VALVE_POSITION((int16_t) (value));
Lightvalve 13:747daba9cf59 1750 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 13:747daba9cf59 1751 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve 14:8e7590227d22 1752
Lightvalve 14:8e7590227d22 1753
Lightvalve 13:747daba9cf59 1754 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 18:b8adf1582ea3 1755 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 13:747daba9cf59 1756 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 13:747daba9cf59 1757 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 13:747daba9cf59 1758 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 13:747daba9cf59 1759 }
Lightvalve 14:8e7590227d22 1760
Lightvalve 13:747daba9cf59 1761 TMR3_COUNT_CAN_TX = 0;
Lightvalve 14:8e7590227d22 1762
Lightvalve 13:747daba9cf59 1763 }
Lightvalve 13:747daba9cf59 1764 TMR3_COUNT_CAN_TX++;
Lightvalve 14:8e7590227d22 1765
Lightvalve 14:8e7590227d22 1766
Lightvalve 14:8e7590227d22 1767
Lightvalve 13:747daba9cf59 1768
jobuuu 1:e04e563be5ce 1769 /*******************************************************
Lightvalve 13:747daba9cf59 1770 *** Valve Control
jobuuu 1:e04e563be5ce 1771 ********************************************************/
Lightvalve 14:8e7590227d22 1772 //ValveControl(CONTROL_MODE);
Lightvalve 13:747daba9cf59 1773
Lightvalve 14:8e7590227d22 1774 // double t = (double)CNT_TMR4*DT_TMR4;
Lightvalve 14:8e7590227d22 1775 // double T = 1.0;
Lightvalve 14:8e7590227d22 1776 // V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
jobuuu 7:e9086c72bb22 1777 // if(V_out > 0.0) V_out = 1000.0;
Lightvalve 13:747daba9cf59 1778 // else if(V_out < 0.0) V_out = -1000.0;
jobuuu 5:a4319f79457b 1779
Lightvalve 17:1865016ca2e7 1780 //V_out = 2000.0 * sin(2 * 3.14159 * (double) CNT_TMR3 / (double) 5000.0);
Lightvalve 17:1865016ca2e7 1781
jobuuu 7:e9086c72bb22 1782 /*******************************************************
jobuuu 7:e9086c72bb22 1783 *** PWM
jobuuu 7:e9086c72bb22 1784 ********************************************************/
Lightvalve 18:b8adf1582ea3 1785 PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1786
jobuuu 2:a1c0a37df760 1787 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1788 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1789 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 17:1865016ca2e7 1790
Lightvalve 17:1865016ca2e7 1791 // Saturation of output voltage to 12.0V
Lightvalve 17:1865016ca2e7 1792 if(PWM_out > 1.0) PWM_out=1.0;
Lightvalve 17:1865016ca2e7 1793 else if (PWM_out < -1.0) PWM_out=-1.0;
Lightvalve 13:747daba9cf59 1794
jobuuu 2:a1c0a37df760 1795 if (PWM_out>0.0) {
jobuuu 2:a1c0a37df760 1796 dtc_v=0.0;
jobuuu 1:e04e563be5ce 1797 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1798 } else {
jobuuu 2:a1c0a37df760 1799 dtc_v=-PWM_out;
jobuuu 2:a1c0a37df760 1800 dtc_w=0.0;
jobuuu 1:e04e563be5ce 1801 }
Lightvalve 13:747daba9cf59 1802
jobuuu 1:e04e563be5ce 1803 //pwm
jobuuu 2:a1c0a37df760 1804 TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
jobuuu 2:a1c0a37df760 1805 TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
Lightvalve 13:747daba9cf59 1806
jobuuu 1:e04e563be5ce 1807 /*******************************************************
jobuuu 2:a1c0a37df760 1808 *** Data Send (CAN) & Print out (UART)
jobuuu 1:e04e563be5ce 1809 ********************************************************/
Lightvalve 14:8e7590227d22 1810 // if((CNT_TMR3%1000)==0){
Lightvalve 11:82d8768d7351 1811 // msg.id = 50;
Lightvalve 11:82d8768d7351 1812 // msg.len = 4;
Lightvalve 11:82d8768d7351 1813 // int temp_CUR = (int)(cur.sen*1000.0);
Lightvalve 11:82d8768d7351 1814 // msg.data[0]=0x00FF&temp_CUR;
Lightvalve 11:82d8768d7351 1815 // msg.data[1]=0x00FF&(temp_CUR>>8);
Lightvalve 11:82d8768d7351 1816 // int temp_PWM = (int)(V_out);
Lightvalve 11:82d8768d7351 1817 // msg.data[2]=0x00FF&temp_PWM;
Lightvalve 11:82d8768d7351 1818 // msg.data[3]=0x00FF&(temp_PWM>>8);
Lightvalve 11:82d8768d7351 1819 // can.write(msg);
Lightvalve 11:82d8768d7351 1820 // }
Lightvalve 11:82d8768d7351 1821
Lightvalve 13:747daba9cf59 1822 if((CNT_TMR3%5000)==0) {
Lightvalve 17:1865016ca2e7 1823 // if(LED==1) {
Lightvalve 17:1865016ca2e7 1824 // LED=0;
Lightvalve 17:1865016ca2e7 1825 // } else
Lightvalve 17:1865016ca2e7 1826 // LED = 1;
Lightvalve 11:82d8768d7351 1827 // LED != LED;
Lightvalve 15:bd0d12728506 1828 // pc.printf("A %f\n", (double) pres_A.sen);
Lightvalve 18:b8adf1582ea3 1829 // CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[j]);
Lightvalve 18:b8adf1582ea3 1830 // j++;
jobuuu 2:a1c0a37df760 1831 }
jobuuu 1:e04e563be5ce 1832
jobuuu 1:e04e563be5ce 1833 /*******************************************************
jobuuu 1:e04e563be5ce 1834 *** Timer Counting & etc.
jobuuu 1:e04e563be5ce 1835 ********************************************************/
Lightvalve 13:747daba9cf59 1836 CNT_TMR3++;
jobuuu 1:e04e563be5ce 1837 }
Lightvalve 17:1865016ca2e7 1838
Lightvalve 11:82d8768d7351 1839 TIM3->SR = 0x0; // reset the status register
Lightvalve 17:1865016ca2e7 1840
jobuuu 7:e9086c72bb22 1841 }
jobuuu 7:e9086c72bb22 1842
Lightvalve 14:8e7590227d22 1843 /*
jobuuu 7:e9086c72bb22 1844 void ValveControl(unsigned int ControlMode)
jobuuu 7:e9086c72bb22 1845 {
jobuuu 7:e9086c72bb22 1846 switch (ControlMode) {
jobuuu 7:e9086c72bb22 1847 case MODE_NO_ACT: // 0
jobuuu 7:e9086c72bb22 1848 V_out = 0.0;
jobuuu 7:e9086c72bb22 1849 break;
jobuuu 7:e9086c72bb22 1850 case MODE_VALVE_OPEN_LOOP: // 1
jobuuu 7:e9086c72bb22 1851 V_out = Vout.ref;
Lightvalve 13:747daba9cf59 1852 break;
jobuuu 7:e9086c72bb22 1853 case MODE_VALVE_POSITION_CONTROL: // 2
jobuuu 7:e9086c72bb22 1854 CurrentControl();
Lightvalve 13:747daba9cf59 1855 break;
jobuuu 7:e9086c72bb22 1856 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3
jobuuu 7:e9086c72bb22 1857 V_out = 0.0;
Lightvalve 13:747daba9cf59 1858 break;
jobuuu 7:e9086c72bb22 1859 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4
jobuuu 7:e9086c72bb22 1860 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
jobuuu 7:e9086c72bb22 1861 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 13:747daba9cf59 1862
jobuuu 7:e9086c72bb22 1863 // feedback input for position control
jobuuu 7:e9086c72bb22 1864 pos.err = pos.ref - pos.sen;
jobuuu 7:e9086c72bb22 1865 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
jobuuu 7:e9086c72bb22 1866 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
jobuuu 7:e9086c72bb22 1867 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
jobuuu 7:e9086c72bb22 1868 pos.err_old = pos.err;
jobuuu 7:e9086c72bb22 1869 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 13:747daba9cf59 1870
jobuuu 7:e9086c72bb22 1871 // feedforward input for position control
Lightvalve 13:747daba9cf59 1872 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
jobuuu 7:e9086c72bb22 1873 double K_ff = 1.3;
jobuuu 7:e9086c72bb22 1874 double K_v = 0.0;
jobuuu 7:e9086c72bb22 1875 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 13:747daba9cf59 1876 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
jobuuu 7:e9086c72bb22 1877 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 13:747daba9cf59 1878
jobuuu 7:e9086c72bb22 1879 cur.ref = I_REF_POS_FF + I_REF_POS_FB;
Lightvalve 13:747daba9cf59 1880 break;
jobuuu 7:e9086c72bb22 1881 case MODE_TEST_CURRENT_CONTROL: // 9
jobuuu 7:e9086c72bb22 1882 V_out = 0.0;
Lightvalve 13:747daba9cf59 1883 break;
jobuuu 7:e9086c72bb22 1884 case MODE_TEST_PWM_CONTROL: // 10
jobuuu 7:e9086c72bb22 1885 V_out = 0.0;
Lightvalve 13:747daba9cf59 1886 break;
jobuuu 7:e9086c72bb22 1887 case MODE_FIND_HOME: // 22
jobuuu 7:e9086c72bb22 1888 V_out = 0.0;
Lightvalve 13:747daba9cf59 1889 break;
jobuuu 7:e9086c72bb22 1890 default:
jobuuu 7:e9086c72bb22 1891 V_out = 0.0;
jobuuu 7:e9086c72bb22 1892 break;
Lightvalve 13:747daba9cf59 1893
jobuuu 7:e9086c72bb22 1894 }
jobuuu 7:e9086c72bb22 1895 }
Lightvalve 14:8e7590227d22 1896 */
jobuuu 7:e9086c72bb22 1897
Lightvalve 13:747daba9cf59 1898 void CurrentControl()
Lightvalve 13:747daba9cf59 1899 {
jobuuu 7:e9086c72bb22 1900 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1901 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1902 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1903 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1904
jobuuu 7:e9086c72bb22 1905 double R_model = 150.0; // ohm
jobuuu 7:e9086c72bb22 1906 double L_model = 0.3;
jobuuu 7:e9086c72bb22 1907 double w0 = 2.0*3.14*90.0;
jobuuu 7:e9086c72bb22 1908 double KP_I = L_model*w0;
jobuuu 7:e9086c72bb22 1909 double KI_I = R_model*w0;
jobuuu 7:e9086c72bb22 1910 double KD_I = 0.0;
jobuuu 7:e9086c72bb22 1911
jobuuu 7:e9086c72bb22 1912 double FF_gain = 0.0;
jobuuu 7:e9086c72bb22 1913 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1914 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1915 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1916
Lightvalve 13:747daba9cf59 1917 double Ka = 5.0/KP_I;
jobuuu 7:e9086c72bb22 1918 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1919 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1920 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1921 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1922 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1923 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1924 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1925 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1926 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1927 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1928 }
GiJeongKim 0:51c43836c1d7 1929 }