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main.cpp@80:cfc7eabde63a, 2020-06-11 (annotated)
- Committer:
- Lightvalve
- Date:
- Thu Jun 11 00:37:13 2020 +0000
- Revision:
- 80:cfc7eabde63a
- Parent:
- 79:e90681c26e5d
- Child:
- 81:49a733a3eb9e
200611-1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 80:cfc7eabde63a | 1 | //200611-1 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 65:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 12 | |
Lightvalve | 61:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 110 | |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 112 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 65:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 142 | { |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 145 | |
Lightvalve | 65:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 147 | */ |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 151 | */ |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 163 | { |
Lightvalve | 65:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 165 | } |
Lightvalve | 65:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 167 | */ |
Lightvalve | 65:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 169 | { |
Lightvalve | 65:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 171 | } |
Lightvalve | 65:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 173 | */ |
Lightvalve | 65:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 180 | |
Lightvalve | 65:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 182 | { |
Lightvalve | 65:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | } |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 189 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 191 | |
Lightvalve | 73:f80dc3970c99 | 192 | float input_NN[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 193 | |
Lightvalve | 66:a8e6799dbce3 | 194 | const float h1[num_input][32] = { |
Lightvalve | 80:cfc7eabde63a | 195 | {-1.3419625759124756f,0.9880143404006958f,0.10589459538459778f,-0.4863491356372833f,-1.8615394830703735f,0.2185785323381424f,-0.41043820977211f,0.7583778500556946f,0.9108157753944397f,-1.7870731353759766f,-0.22157959640026093f,0.28310468792915344f,-0.19318288564682007f,0.21047936379909515f,-0.21103838086128235f,-0.6179659366607666f,0.5138531923294067f,0.24935457110404968f,0.9324308633804321f,0.6243491768836975f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,0.9584077000617981f,0.18374285101890564f,-0.1767144799232483f,-0.7640027403831482f,-0.613266110420227f,-0.18794111907482147f,-3.704796552658081f,1.983789324760437f}, |
Lightvalve | 80:cfc7eabde63a | 196 | {-1.1060527563095093f,0.5503573417663574f,0.29864487051963806f,-0.5936276912689209f,-1.0104845762252808f,0.09583389759063721f,0.0794341191649437f,0.4752322733402252f,0.25318101048469543f,-0.9314658641815186f,-0.3124355673789978f,-0.15781894326210022f,0.021212786436080933f,0.1345091164112091f,0.045876264572143555f,-0.4837811589241028f,0.03500048443675041f,0.06295260787010193f,0.9605327844619751f,0.47570982575416565f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,0.4059901535511017f,0.2936786115169525f,0.12686115503311157f,-0.36229363083839417f,-0.6881933212280273f,0.09809011220932007f,-3.3712096214294434f,1.140748381614685f}, |
Lightvalve | 80:cfc7eabde63a | 197 | {-0.3722703456878662f,0.2958276569843292f,-0.0042223334312438965f,-0.3476865291595459f,-0.7095304727554321f,-0.09879197925329208f,0.047582440078258514f,0.23697765171527863f,0.6745534539222717f,-0.14943772554397583f,0.25853994488716125f,0.48179471492767334f,-0.03282937407493591f,0.1476006805896759f,-0.31718650460243225f,-0.37730422616004944f,0.7761111259460449f,-0.2658354640007019f,0.8209219574928284f,0.46862345933914185f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,0.4822816848754883f,0.14537742733955383f,-0.15514154732227325f,-0.5994080901145935f,-0.5748438835144043f,0.302763432264328f,-1.0476144552230835f,0.41593626141548157f}, |
Lightvalve | 80:cfc7eabde63a | 198 | {-0.10900039225816727f,0.003912019543349743f,-0.20532599091529846f,-1.3901876211166382f,-0.9580802321434021f,-0.06512751430273056f,0.0903862863779068f,-0.209223210811615f,1.355501413345337f,-0.04476890712976456f,0.09623444825410843f,1.405250072479248f,-0.11809042096138f,0.2826938331127167f,-0.12817290425300598f,-0.05100523680448532f,0.5924532413482666f,-0.23756909370422363f,0.417018860578537f,0.335319459438324f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,0.7784829139709473f,0.14159366488456726f,0.13380053639411926f,-0.44784215092658997f,0.228046715259552f,0.1323157548904419f,2.7310166358947754f,0.41994842886924744f}, |
Lightvalve | 80:cfc7eabde63a | 199 | {0.6162493824958801f,-0.12238086760044098f,0.08410122990608215f,-0.9448950886726379f,-0.17343838512897491f,-0.2947927415370941f,0.10225407779216766f,-0.7303047776222229f,0.11548591405153275f,0.28823035955429077f,-0.27166539430618286f,1.1164205074310303f,0.211430162191391f,0.16078820824623108f,-0.25075238943099976f,0.3659665584564209f,-0.11720117926597595f,-0.18436601758003235f,-0.0031665668357163668f,-0.3202017843723297f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,0.4556337594985962f,-0.34256690740585327f,0.04057341814041138f,0.2648376226425171f,0.6511638164520264f,-0.16320037841796875f,4.237081527709961f,-0.7403703927993774f}, |
Lightvalve | 80:cfc7eabde63a | 200 | {2.0737907886505127f,-2.0233864784240723f,0.30513831973075867f,3.022453546524048f,3.1848723888397217f,-0.4780344069004059f,0.13997113704681396f,-1.2367887496948242f,-3.350696086883545f,2.795154571533203f,0.25819462537765503f,-3.217722177505493f,-0.03144201636314392f,-0.019910454750061035f,0.21901831030845642f,0.19260136783123016f,-2.4012372493743896f,-0.3195672333240509f,-3.626051425933838f,-1.8587318658828735f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-3.2866051197052f,0.20814630389213562f,-0.2925715744495392f,2.0103600025177f,0.8938607573509216f,-0.0013132691383361816f,1.4764220714569092f,-3.2789266109466553f}, |
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Lightvalve | 65:a2d7c63419c2 | 212 | }; |
Lightvalve | 65:a2d7c63419c2 | 213 | |
Lightvalve | 66:a8e6799dbce3 | 214 | const float h2[32][32] = { |
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Lightvalve | 65:a2d7c63419c2 | 247 | }; |
Lightvalve | 65:a2d7c63419c2 | 248 | |
Lightvalve | 66:a8e6799dbce3 | 249 | const float h3[32][32] = { |
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Lightvalve | 80:cfc7eabde63a | 255 | {0.10931676626205444f,0.2396949827671051f,0.12925085425376892f,-0.1617058515548706f,-0.10907124727964401f,0.2764931619167328f,-0.061815500259399414f,0.04091137647628784f,0.024587014690041542f,0.04110408574342728f,0.08972057700157166f,-0.21529507637023926f,-0.13782483339309692f,-0.16253767907619476f,0.2971965968608856f,0.25175121426582336f,-0.2889891266822815f,-0.13035915791988373f,-0.04130382090806961f,0.06524023413658142f,0.09665972739458084f,-0.06000365689396858f,0.023232191801071167f,0.27409639954566956f,0.05019580200314522f,-0.18302330374717712f,0.09057381749153137f,-0.17481780052185059f,-0.3129907548427582f,-0.29547566175460815f,-0.25800079107284546f,0.24402263760566711f}, |
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Lightvalve | 78:2a7d1399e579 | 257 | {-0.01093912124633789f,-0.23583689332008362f,0.28153905272483826f,0.2877257764339447f,0.08201509714126587f,-0.2699383497238159f,0.036741942167282104f,-0.0059101879596710205f,-0.24633634090423584f,-0.27182313799858093f,0.09319102764129639f,-0.08139897882938385f,0.19774547219276428f,-0.020215511322021484f,0.0685860812664032f,-0.29903873801231384f,0.1317853033542633f,0.20550194382667542f,-0.12251400947570801f,-0.28424710035324097f,0.24172750115394592f,0.11755815148353577f,0.0343703031539917f,0.12564969062805176f,0.03227102756500244f,0.23886635899543762f,-0.2778390347957611f,0.13853725790977478f,0.28547611832618713f,0.17161712050437927f,-0.017215043306350708f,-0.05991865694522858f}, |
Lightvalve | 66:a8e6799dbce3 | 258 | {-0.20420776307582855f,0.1970202624797821f,0.23591408133506775f,-0.282694011926651f,0.09019026160240173f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.15246456861495972f,-0.1270071268081665f,0.20025727152824402f,0.13077861070632935f,-0.2238168716430664f,-0.20709244906902313f,-0.0045506954193115234f,-0.16448761522769928f,0.28163614869117737f,0.1971360743045807f,0.30405697226524353f,-0.28959211707115173f,-0.2255709171295166f,0.15360668301582336f,0.24163606762886047f,0.19554737210273743f,-0.1804599016904831f,0.07604315876960754f,-0.1459394246339798f,-0.14081311225891113f,-0.29656586050987244f,0.19529584050178528f,-0.05168652534484863f,-0.03415781259536743f}, |
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Lightvalve | 80:cfc7eabde63a | 271 | {0.29069945216178894f,-0.23835359513759613f,0.019009560346603394f,-0.22442297637462616f,0.11959075927734375f,-0.21606405079364777f,0.045349299907684326f,-0.17138783633708954f,-0.1519719958305359f,-0.01032195519655943f,-0.16238126158714294f,-0.15074089169502258f,-0.13135893642902374f,-0.322094202041626f,0.09875330328941345f,0.08164769411087036f,0.2294725477695465f,0.10683679580688477f,-0.4421125650405884f,-0.11485231667757034f,0.17445138096809387f,0.2574264109134674f,0.16651621460914612f,-0.15362010896205902f,0.30745697021484375f,0.023651927709579468f,-0.18965283036231995f,0.31402838230133057f,0.10932914912700653f,0.19045329093933105f,0.02994692325592041f,-0.19271303713321686f}, |
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Lightvalve | 66:a8e6799dbce3 | 282 | }; |
Lightvalve | 65:a2d7c63419c2 | 283 | |
Lightvalve | 80:cfc7eabde63a | 284 | const float hout[32] = { 0.3285340666770935f,0.22085358202457428f,0.12098951637744904f,-0.09799372404813766f,-0.10965710133314133f,0.11195997148752213f,-0.0460088737308979f,0.06887952238321304f,-0.17150190472602844f,0.16806000471115112f,0.22007706761360168f,-0.17053596675395966f,-0.18258118629455566f,0.11141567677259445f,0.2356991171836853f,-0.1462659239768982f,-0.07617760449647903f,-0.10690175741910934f,-0.1045641228556633f,-0.18165844678878784f,0.10841057449579239f,0.0861072689294815f,-0.24102084338665009f,-0.14218294620513916f,0.12868660688400269f,0.18050049245357513f,-0.32975664734840393f,-0.08810361474752426f,0.10565455257892609f,-0.3257754445075989f,-0.2145686000585556f,-0.13106867671012878f }; |
Lightvalve | 66:a8e6799dbce3 | 285 | |
Lightvalve | 80:cfc7eabde63a | 286 | const float b1[32] = { 0.4818006157875061f,1.1062662601470947f,-1.7145336866378784f,-0.293131023645401f,0.9907568097114563f,0.587111234664917f,-0.07891944795846939f,0.8563322424888611f,0.7314462065696716f,-1.7802314758300781f,0.5555223226547241f,1.9427076578140259f,-0.3425353467464447f,-0.8868549466133118f,-1.087764859199524f,0.9795960187911987f,0.4756251275539398f,-0.26377663016319275f,0.4432559311389923f,0.7222383618354797f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.3485264778137207f,-2.0880801677703857f,-1.0489267110824585f,1.1429173946380615f,0.330148845911026f,-1.0887231826782227f,2.7441704273223877f,-0.7675299644470215f }; |
Lightvalve | 65:a2d7c63419c2 | 287 | |
Lightvalve | 80:cfc7eabde63a | 288 | const float b2[32] = { -0.40103670954704285f,-0.7642630338668823f,-1.4564176797866821f,-0.49962595105171204f,-0.6939148902893066f,-0.022535908967256546f,-0.6311395168304443f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.8838258385658264f,-0.014070367440581322f,-0.17915353178977966f,1.7070800065994263f,0.06387366354465485f,0.7596573829650879f,-1.798204779624939f,-1.5844906568527222f,0.2609967887401581f,-0.33118870854377747f,-0.18817031383514404f,0.02958468534052372f,-0.043277401477098465f,-1.0290855169296265f,1.4672268629074097f,0.6350066661834717f,0.6771167516708374f,-0.19818219542503357f,-0.6323830485343933f,-0.5913786292076111f,-1.178520679473877f,-1.3602246046066284f }; |
Lightvalve | 65:a2d7c63419c2 | 289 | |
Lightvalve | 80:cfc7eabde63a | 290 | const float b3[32] = { -1.963319182395935f,-0.6274195313453674f,1.1384413242340088f,1.979814052581787f,-0.15324606001377106f,1.3218547105789185f,-0.7370918393135071f,-0.7946186065673828f,-1.156858205795288f,0.9159353971481323f,-1.337450385093689f,-0.06528091430664062f,-0.020975759252905846f,-2.8651247024536133f,-1.1428403854370117f,-0.3598397970199585f,-1.4632691144943237f,-1.0953925848007202f,-1.368699312210083f,-0.006746998988091946f,-0.19747360050678253f,1.1643486022949219f,-1.210842490196228f,-1.1877007484436035f,0.4871830344200134f,-0.3806637227535248f,-0.18612292408943176f,-0.34090521931648254f,0.24618272483348846f,-2.3236680030822754f,-0.17449970543384552f,-1.8896948099136353f }; |
Lightvalve | 66:a8e6799dbce3 | 291 | |
Lightvalve | 80:cfc7eabde63a | 292 | const float bout[1] = { -0.09882741421461105f }; |
Lightvalve | 61:bc8c8270f0ab | 293 | |
Lightvalve | 61:bc8c8270f0ab | 294 | |
GiJeongKim | 0:51c43836c1d7 | 295 | int main() |
GiJeongKim | 0:51c43836c1d7 | 296 | { |
Lightvalve | 66:a8e6799dbce3 | 297 | |
Lightvalve | 65:a2d7c63419c2 | 298 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 299 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 300 | |
jobuuu | 6:df07d3491e3a | 301 | /********************************* |
jobuuu | 1:e04e563be5ce | 302 | *** Initialization |
jobuuu | 6:df07d3491e3a | 303 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 304 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 305 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 306 | |
GiJeongKim | 0:51c43836c1d7 | 307 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 308 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 309 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 310 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 311 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 312 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 313 | |
GiJeongKim | 0:51c43836c1d7 | 314 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 315 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 316 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 317 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 318 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 319 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 320 | |
Lightvalve | 16:903b5a4433b4 | 321 | //rom |
Lightvalve | 19:23b7c1ad8683 | 322 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 323 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 324 | |
GiJeongKim | 0:51c43836c1d7 | 325 | // ADC init |
jobuuu | 5:a4319f79457b | 326 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 327 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 328 | |
GiJeongKim | 0:51c43836c1d7 | 329 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 330 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 331 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 332 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 333 | |
Lightvalve | 11:82d8768d7351 | 334 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 335 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 336 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 337 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 338 | |
Lightvalve | 50:3c630b5eba9f | 339 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 340 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 341 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 342 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 343 | |
GiJeongKim | 0:51c43836c1d7 | 344 | // CAN |
jobuuu | 2:a1c0a37df760 | 345 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 346 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 347 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 348 | |
Lightvalve | 23:59218d4a256d | 349 | //Timer priority |
Lightvalve | 23:59218d4a256d | 350 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 351 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 352 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 353 | |
Lightvalve | 23:59218d4a256d | 354 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 355 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 356 | |
GiJeongKim | 0:51c43836c1d7 | 357 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 358 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 359 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 360 | |
Lightvalve | 11:82d8768d7351 | 361 | //DAC init |
Lightvalve | 58:2eade98630e2 | 362 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 363 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 364 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 365 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 366 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 367 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 368 | } |
Lightvalve | 11:82d8768d7351 | 369 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 370 | |
Lightvalve | 19:23b7c1ad8683 | 371 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 372 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 373 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 374 | else |
Lightvalve | 38:118df027d851 | 375 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 376 | } |
Lightvalve | 61:bc8c8270f0ab | 377 | |
Lightvalve | 61:bc8c8270f0ab | 378 | |
jobuuu | 6:df07d3491e3a | 379 | /************************************ |
jobuuu | 1:e04e563be5ce | 380 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 381 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 382 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 383 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 384 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 385 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 386 | |
Lightvalve | 65:a2d7c63419c2 | 387 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 388 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 389 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 390 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 391 | // } else |
Lightvalve | 65:a2d7c63419c2 | 392 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 393 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 394 | //} |
Lightvalve | 66:a8e6799dbce3 | 395 | |
Lightvalve | 66:a8e6799dbce3 | 396 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 397 | |
Lightvalve | 73:f80dc3970c99 | 398 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 399 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 400 | } |
Lightvalve | 66:a8e6799dbce3 | 401 | |
Lightvalve | 73:f80dc3970c99 | 402 | else if(NN_Control_Flag == 1) { |
Lightvalve | 66:a8e6799dbce3 | 403 | float output1[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 404 | float output2[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 405 | float output3[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 406 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 407 | |
Lightvalve | 66:a8e6799dbce3 | 408 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 68:328e1be06f5d | 409 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 410 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 411 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 412 | } |
Lightvalve | 66:a8e6799dbce3 | 413 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 414 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 415 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 416 | } |
Lightvalve | 66:a8e6799dbce3 | 417 | } |
Lightvalve | 65:a2d7c63419c2 | 418 | |
Lightvalve | 66:a8e6799dbce3 | 419 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 420 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 421 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 422 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 423 | } |
Lightvalve | 66:a8e6799dbce3 | 424 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 425 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 426 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 427 | } |
Lightvalve | 66:a8e6799dbce3 | 428 | } |
Lightvalve | 65:a2d7c63419c2 | 429 | |
Lightvalve | 66:a8e6799dbce3 | 430 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 431 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 432 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 433 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 434 | } |
Lightvalve | 66:a8e6799dbce3 | 435 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 436 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 437 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 438 | } |
Lightvalve | 65:a2d7c63419c2 | 439 | } |
Lightvalve | 66:a8e6799dbce3 | 440 | |
Lightvalve | 66:a8e6799dbce3 | 441 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 442 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 73:f80dc3970c99 | 443 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 444 | } |
Lightvalve | 66:a8e6799dbce3 | 445 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 446 | |
Lightvalve | 66:a8e6799dbce3 | 447 | } |
Lightvalve | 73:f80dc3970c99 | 448 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 68:328e1be06f5d | 449 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 66:a8e6799dbce3 | 450 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 451 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 452 | } else { |
Lightvalve | 66:a8e6799dbce3 | 453 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 454 | } |
Lightvalve | 69:3995ffeaa786 | 455 | |
Lightvalve | 69:3995ffeaa786 | 456 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 457 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 458 | } else |
Lightvalve | 69:3995ffeaa786 | 459 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 460 | |
Lightvalve | 65:a2d7c63419c2 | 461 | } |
Lightvalve | 62:b5452adfb2cd | 462 | |
Lightvalve | 69:3995ffeaa786 | 463 | |
Lightvalve | 66:a8e6799dbce3 | 464 | |
GiJeongKim | 0:51c43836c1d7 | 465 | } |
jobuuu | 1:e04e563be5ce | 466 | } |
jobuuu | 1:e04e563be5ce | 467 | |
Lightvalve | 33:91b17819ec30 | 468 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 469 | { |
Lightvalve | 14:8e7590227d22 | 470 | |
Lightvalve | 13:747daba9cf59 | 471 | int i = 0; |
Lightvalve | 48:889798ff9329 | 472 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 473 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 474 | 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 | 475 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 476 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 477 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 478 | } else { |
Lightvalve | 57:f4819de54e7a | 479 | Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; |
Lightvalve | 38:118df027d851 | 480 | } |
Lightvalve | 14:8e7590227d22 | 481 | } else { |
Lightvalve | 50:3c630b5eba9f | 482 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 483 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 484 | } else { |
Lightvalve | 57:f4819de54e7a | 485 | Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]); |
Lightvalve | 38:118df027d851 | 486 | } |
Lightvalve | 13:747daba9cf59 | 487 | } |
Lightvalve | 13:747daba9cf59 | 488 | break; |
Lightvalve | 13:747daba9cf59 | 489 | } |
Lightvalve | 13:747daba9cf59 | 490 | } |
Lightvalve | 14:8e7590227d22 | 491 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 492 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 493 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 494 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 495 | } |
Lightvalve | 36:a46e63505ed8 | 496 | |
Lightvalve | 57:f4819de54e7a | 497 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 498 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 499 | |
Lightvalve | 13:747daba9cf59 | 500 | } |
jobuuu | 6:df07d3491e3a | 501 | |
jobuuu | 6:df07d3491e3a | 502 | |
Lightvalve | 30:8d561f16383b | 503 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 504 | { |
Lightvalve | 13:747daba9cf59 | 505 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 506 | |
Lightvalve | 38:118df027d851 | 507 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 508 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 509 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 510 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 511 | } |
Lightvalve | 38:118df027d851 | 512 | |
Lightvalve | 13:747daba9cf59 | 513 | valve_pos_err = REF_VALVE_POS - value; |
Lightvalve | 13:747daba9cf59 | 514 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 515 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 516 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 517 | if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; |
Lightvalve | 13:747daba9cf59 | 518 | if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; |
Lightvalve | 13:747daba9cf59 | 519 | |
Lightvalve | 13:747daba9cf59 | 520 | 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 | 521 | |
Lightvalve | 18:b8adf1582ea3 | 522 | for(i=0; i<24; i++) { |
Lightvalve | 14:8e7590227d22 | 523 | 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 | 524 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 525 | VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); |
Lightvalve | 14:8e7590227d22 | 526 | } else { |
Lightvalve | 48:889798ff9329 | 527 | VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1]; |
Lightvalve | 13:747daba9cf59 | 528 | } |
Lightvalve | 13:747daba9cf59 | 529 | break; |
Lightvalve | 13:747daba9cf59 | 530 | } |
Lightvalve | 13:747daba9cf59 | 531 | } |
Lightvalve | 59:f308b1656d9c | 532 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 533 | } |
Lightvalve | 13:747daba9cf59 | 534 | |
Lightvalve | 14:8e7590227d22 | 535 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 536 | float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 537 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 538 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 539 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 540 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 541 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 542 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 543 | float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, |
Lightvalve | 67:c2812cf26c38 | 544 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 545 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 546 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 547 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 548 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 549 | }; // mV |
Lightvalve | 13:747daba9cf59 | 550 | |
Lightvalve | 30:8d561f16383b | 551 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 552 | { |
Lightvalve | 30:8d561f16383b | 553 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 554 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 555 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 556 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 557 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 558 | } else { |
Lightvalve | 13:747daba9cf59 | 559 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 560 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 561 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 562 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 563 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 564 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 565 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 566 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 567 | break; |
Lightvalve | 13:747daba9cf59 | 568 | } |
Lightvalve | 13:747daba9cf59 | 569 | } |
Lightvalve | 13:747daba9cf59 | 570 | } |
Lightvalve | 14:8e7590227d22 | 571 | |
Lightvalve | 13:747daba9cf59 | 572 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 573 | } |
jobuuu | 6:df07d3491e3a | 574 | |
Lightvalve | 57:f4819de54e7a | 575 | |
Lightvalve | 57:f4819de54e7a | 576 | |
Lightvalve | 57:f4819de54e7a | 577 | |
Lightvalve | 57:f4819de54e7a | 578 | |
jobuuu | 2:a1c0a37df760 | 579 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 580 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 581 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 582 | |
Lightvalve | 51:b46bed7fec80 | 583 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 584 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 585 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 586 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 587 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 588 | { |
Lightvalve | 19:23b7c1ad8683 | 589 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 590 | |
Lightvalve | 21:e5f1a43ea6f9 | 591 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 592 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 593 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 594 | |
Lightvalve | 57:f4819de54e7a | 595 | //Encoder |
Lightvalve | 57:f4819de54e7a | 596 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 597 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 598 | } |
Lightvalve | 61:bc8c8270f0ab | 599 | |
Lightvalve | 61:bc8c8270f0ab | 600 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 601 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 602 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 603 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 604 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 605 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 606 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 607 | |
Lightvalve | 67:c2812cf26c38 | 608 | |
Lightvalve | 67:c2812cf26c38 | 609 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 610 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 611 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 612 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 613 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 614 | |
Lightvalve | 17:1865016ca2e7 | 615 | |
Lightvalve | 58:2eade98630e2 | 616 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 617 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 618 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 619 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 620 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 621 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 622 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 623 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 624 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 625 | |
Lightvalve | 58:2eade98630e2 | 626 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 627 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm |
Lightvalve | 58:2eade98630e2 | 628 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 629 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N |
Lightvalve | 58:2eade98630e2 | 630 | } |
Lightvalve | 58:2eade98630e2 | 631 | } |
Lightvalve | 61:bc8c8270f0ab | 632 | |
Lightvalve | 58:2eade98630e2 | 633 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 634 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 635 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 636 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 637 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 638 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 639 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. |
Lightvalve | 58:2eade98630e2 | 640 | // |
Lightvalve | 58:2eade98630e2 | 641 | // |
Lightvalve | 58:2eade98630e2 | 642 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 643 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 644 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 645 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 646 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 647 | |
Lightvalve | 17:1865016ca2e7 | 648 | |
Lightvalve | 21:e5f1a43ea6f9 | 649 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 650 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 651 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 652 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 653 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 654 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 655 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 656 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 657 | |
Lightvalve | 57:f4819de54e7a | 658 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 659 | } |
Lightvalve | 11:82d8768d7351 | 660 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 661 | } |
Lightvalve | 19:23b7c1ad8683 | 662 | |
Lightvalve | 19:23b7c1ad8683 | 663 | |
Lightvalve | 18:b8adf1582ea3 | 664 | int j =0; |
Lightvalve | 54:647072f5307a | 665 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 666 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 667 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 668 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 669 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 670 | |
Lightvalve | 11:82d8768d7351 | 671 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 672 | { |
Lightvalve | 19:23b7c1ad8683 | 673 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 674 | |
Lightvalve | 57:f4819de54e7a | 675 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 676 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 677 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 678 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 679 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 680 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 681 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 682 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 683 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 684 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 685 | } |
Lightvalve | 50:3c630b5eba9f | 686 | |
Lightvalve | 50:3c630b5eba9f | 687 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 688 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 689 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 690 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 691 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 692 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 693 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 694 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 695 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 696 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 697 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 698 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 699 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 700 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 701 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 702 | } else { |
Lightvalve | 58:2eade98630e2 | 703 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 704 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 705 | } |
Lightvalve | 45:35fa6884d0c6 | 706 | |
Lightvalve | 50:3c630b5eba9f | 707 | |
Lightvalve | 57:f4819de54e7a | 708 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 709 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 710 | |
Lightvalve | 57:f4819de54e7a | 711 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 712 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 713 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 714 | } else { |
Lightvalve | 57:f4819de54e7a | 715 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 716 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 717 | } |
Lightvalve | 56:6f50d9d3bfee | 718 | |
Lightvalve | 56:6f50d9d3bfee | 719 | |
Lightvalve | 56:6f50d9d3bfee | 720 | |
Lightvalve | 57:f4819de54e7a | 721 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 722 | |
Lightvalve | 57:f4819de54e7a | 723 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 724 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 725 | break; |
Lightvalve | 13:747daba9cf59 | 726 | } |
Lightvalve | 14:8e7590227d22 | 727 | |
Lightvalve | 14:8e7590227d22 | 728 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 729 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 730 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 731 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 732 | |
Lightvalve | 14:8e7590227d22 | 733 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 734 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 735 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 736 | |
Lightvalve | 59:f308b1656d9c | 737 | TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 738 | |
Lightvalve | 30:8d561f16383b | 739 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 740 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 741 | |
Lightvalve | 16:903b5a4433b4 | 742 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 743 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 744 | } |
Lightvalve | 13:747daba9cf59 | 745 | } else { |
Lightvalve | 58:2eade98630e2 | 746 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 747 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 748 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 749 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 750 | |
Lightvalve | 16:903b5a4433b4 | 751 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 752 | |
Lightvalve | 30:8d561f16383b | 753 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 754 | |
Lightvalve | 13:747daba9cf59 | 755 | } |
Lightvalve | 14:8e7590227d22 | 756 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 757 | break; |
Lightvalve | 19:23b7c1ad8683 | 758 | } |
Lightvalve | 14:8e7590227d22 | 759 | |
Lightvalve | 50:3c630b5eba9f | 760 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 761 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 762 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 763 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 764 | // } |
Lightvalve | 50:3c630b5eba9f | 765 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 766 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 767 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 768 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 769 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 770 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 771 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 772 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 773 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 774 | // } |
Lightvalve | 50:3c630b5eba9f | 775 | // |
Lightvalve | 50:3c630b5eba9f | 776 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 777 | // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); |
Lightvalve | 50:3c630b5eba9f | 778 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 779 | // |
Lightvalve | 50:3c630b5eba9f | 780 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 781 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 782 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 783 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 784 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 785 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 786 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 787 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 788 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 789 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 790 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 791 | // |
Lightvalve | 50:3c630b5eba9f | 792 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 793 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 794 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 795 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 796 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 797 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 798 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 799 | // |
Lightvalve | 50:3c630b5eba9f | 800 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 801 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 802 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 803 | // } else { |
Lightvalve | 50:3c630b5eba9f | 804 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 805 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 806 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 807 | // } |
Lightvalve | 50:3c630b5eba9f | 808 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 809 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 810 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 811 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 812 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 813 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 814 | // } |
Lightvalve | 50:3c630b5eba9f | 815 | // } else { |
Lightvalve | 50:3c630b5eba9f | 816 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 817 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 818 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 819 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 820 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 821 | // } |
Lightvalve | 50:3c630b5eba9f | 822 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 823 | // |
Lightvalve | 50:3c630b5eba9f | 824 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 825 | // |
Lightvalve | 50:3c630b5eba9f | 826 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 827 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 828 | // |
Lightvalve | 50:3c630b5eba9f | 829 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 830 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 831 | // } |
Lightvalve | 50:3c630b5eba9f | 832 | // } |
Lightvalve | 50:3c630b5eba9f | 833 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 834 | // break; |
Lightvalve | 50:3c630b5eba9f | 835 | // } |
Lightvalve | 14:8e7590227d22 | 836 | |
Lightvalve | 14:8e7590227d22 | 837 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 838 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 839 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 840 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 841 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 842 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 843 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 844 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 845 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 846 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 847 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 848 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 849 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 850 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 851 | } |
Lightvalve | 29:69f3f5445d6d | 852 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 853 | |
Lightvalve | 29:69f3f5445d6d | 854 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 855 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 856 | } else { |
Lightvalve | 29:69f3f5445d6d | 857 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 858 | } |
Lightvalve | 19:23b7c1ad8683 | 859 | |
Lightvalve | 57:f4819de54e7a | 860 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 861 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 862 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 863 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 864 | |
Lightvalve | 59:f308b1656d9c | 865 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 866 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 867 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 868 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 869 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 870 | |
Lightvalve | 59:f308b1656d9c | 871 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 872 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 873 | |
Lightvalve | 34:bb2ca2fc2a8e | 874 | |
Lightvalve | 29:69f3f5445d6d | 875 | } else { |
Lightvalve | 29:69f3f5445d6d | 876 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 877 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 878 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 879 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 880 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 881 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 882 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 883 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 884 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 885 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 886 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 887 | |
Lightvalve | 67:c2812cf26c38 | 888 | |
Lightvalve | 67:c2812cf26c38 | 889 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 890 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 891 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 892 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 893 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 894 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 895 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 896 | |
Lightvalve | 67:c2812cf26c38 | 897 | |
Lightvalve | 29:69f3f5445d6d | 898 | } |
Lightvalve | 29:69f3f5445d6d | 899 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 900 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 901 | pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 902 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 903 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 904 | |
Lightvalve | 29:69f3f5445d6d | 905 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 906 | |
Lightvalve | 67:c2812cf26c38 | 907 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 908 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 909 | |
Lightvalve | 67:c2812cf26c38 | 910 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 911 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 912 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 913 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 914 | |
Lightvalve | 67:c2812cf26c38 | 915 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 916 | |
Lightvalve | 67:c2812cf26c38 | 917 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 918 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 919 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 920 | |
Lightvalve | 67:c2812cf26c38 | 921 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 922 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 923 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 924 | |
Lightvalve | 69:3995ffeaa786 | 925 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 926 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s |
Lightvalve | 67:c2812cf26c38 | 927 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 928 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 929 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 67:c2812cf26c38 | 930 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 931 | } |
Lightvalve | 67:c2812cf26c38 | 932 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 933 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 934 | |
Lightvalve | 67:c2812cf26c38 | 935 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 936 | |
Lightvalve | 67:c2812cf26c38 | 937 | |
Lightvalve | 67:c2812cf26c38 | 938 | |
Lightvalve | 67:c2812cf26c38 | 939 | } else { |
Lightvalve | 67:c2812cf26c38 | 940 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 941 | VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 67:c2812cf26c38 | 942 | |
Lightvalve | 67:c2812cf26c38 | 943 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 944 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 945 | } else { |
Lightvalve | 67:c2812cf26c38 | 946 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 947 | } |
Lightvalve | 67:c2812cf26c38 | 948 | |
Lightvalve | 67:c2812cf26c38 | 949 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 950 | |
Lightvalve | 67:c2812cf26c38 | 951 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 952 | |
Lightvalve | 67:c2812cf26c38 | 953 | } |
Lightvalve | 67:c2812cf26c38 | 954 | |
Lightvalve | 67:c2812cf26c38 | 955 | |
Lightvalve | 67:c2812cf26c38 | 956 | |
Lightvalve | 67:c2812cf26c38 | 957 | |
Lightvalve | 59:f308b1656d9c | 958 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 959 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 960 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 961 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 962 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 963 | |
Lightvalve | 29:69f3f5445d6d | 964 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 965 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 966 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 967 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 968 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 969 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 970 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 971 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 972 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 973 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 974 | } |
Lightvalve | 13:747daba9cf59 | 975 | } |
Lightvalve | 19:23b7c1ad8683 | 976 | |
Lightvalve | 13:747daba9cf59 | 977 | break; |
Lightvalve | 13:747daba9cf59 | 978 | } |
Lightvalve | 14:8e7590227d22 | 979 | |
Lightvalve | 50:3c630b5eba9f | 980 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 981 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 982 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 983 | // else { |
Lightvalve | 50:3c630b5eba9f | 984 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 985 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 986 | // } |
Lightvalve | 50:3c630b5eba9f | 987 | // } |
Lightvalve | 50:3c630b5eba9f | 988 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 989 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 990 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 991 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 992 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 993 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 994 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 995 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 996 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 997 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 998 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 999 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1000 | // } |
Lightvalve | 50:3c630b5eba9f | 1001 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1002 | // } |
Lightvalve | 50:3c630b5eba9f | 1003 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1004 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1005 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1006 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1007 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1008 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1009 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1010 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1011 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 |
Lightvalve | 50:3c630b5eba9f | 1012 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1013 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1014 | // } |
Lightvalve | 50:3c630b5eba9f | 1015 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1016 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1017 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1018 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1019 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1020 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1021 | // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); |
Lightvalve | 50:3c630b5eba9f | 1022 | // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec |
Lightvalve | 50:3c630b5eba9f | 1023 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1024 | // } |
Lightvalve | 50:3c630b5eba9f | 1025 | // } |
Lightvalve | 50:3c630b5eba9f | 1026 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1027 | // |
Lightvalve | 50:3c630b5eba9f | 1028 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1029 | // |
Lightvalve | 50:3c630b5eba9f | 1030 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1031 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1032 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1033 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1034 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1035 | // } |
Lightvalve | 50:3c630b5eba9f | 1036 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1037 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1038 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1039 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1040 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1041 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1042 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1043 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1044 | // } |
Lightvalve | 50:3c630b5eba9f | 1045 | // |
Lightvalve | 50:3c630b5eba9f | 1046 | // } |
Lightvalve | 50:3c630b5eba9f | 1047 | // break; |
Lightvalve | 50:3c630b5eba9f | 1048 | // } |
Lightvalve | 50:3c630b5eba9f | 1049 | // |
Lightvalve | 50:3c630b5eba9f | 1050 | // } |
Lightvalve | 14:8e7590227d22 | 1051 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1052 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1053 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1054 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1055 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1056 | |
Lightvalve | 14:8e7590227d22 | 1057 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1058 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1059 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1060 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1061 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1062 | |
Lightvalve | 38:118df027d851 | 1063 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1064 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1065 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1066 | |
Lightvalve | 30:8d561f16383b | 1067 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1068 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1069 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1070 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1071 | |
Lightvalve | 30:8d561f16383b | 1072 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1073 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1074 | } |
Lightvalve | 13:747daba9cf59 | 1075 | } else { |
Lightvalve | 57:f4819de54e7a | 1076 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1077 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1078 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1079 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1080 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1081 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1082 | |
Lightvalve | 16:903b5a4433b4 | 1083 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1084 | |
Lightvalve | 30:8d561f16383b | 1085 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1086 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1087 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1088 | } |
Lightvalve | 14:8e7590227d22 | 1089 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1090 | break; |
Lightvalve | 13:747daba9cf59 | 1091 | } |
Lightvalve | 14:8e7590227d22 | 1092 | |
Lightvalve | 50:3c630b5eba9f | 1093 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1094 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1095 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1096 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1097 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1098 | // } |
Lightvalve | 50:3c630b5eba9f | 1099 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1100 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1101 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1102 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1103 | // } |
Lightvalve | 50:3c630b5eba9f | 1104 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1105 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1106 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1107 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1108 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1109 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1110 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1111 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1112 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1113 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1114 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1115 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1116 | // |
Lightvalve | 50:3c630b5eba9f | 1117 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1118 | // |
Lightvalve | 50:3c630b5eba9f | 1119 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1120 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1121 | // } |
Lightvalve | 50:3c630b5eba9f | 1122 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1123 | // break; |
Lightvalve | 50:3c630b5eba9f | 1124 | // } |
Lightvalve | 19:23b7c1ad8683 | 1125 | |
Lightvalve | 50:3c630b5eba9f | 1126 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1127 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f); |
Lightvalve | 50:3c630b5eba9f | 1128 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1129 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1130 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1131 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1132 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1133 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1134 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1135 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1136 | // } |
Lightvalve | 50:3c630b5eba9f | 1137 | // break; |
Lightvalve | 50:3c630b5eba9f | 1138 | // } |
Lightvalve | 14:8e7590227d22 | 1139 | |
Lightvalve | 14:8e7590227d22 | 1140 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1141 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1142 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1143 | |
Lightvalve | 14:8e7590227d22 | 1144 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1145 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1146 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1147 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1148 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1149 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1150 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1151 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1152 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1153 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1154 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1155 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1156 | } else { |
Lightvalve | 13:747daba9cf59 | 1157 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1158 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1159 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1160 | } |
Lightvalve | 14:8e7590227d22 | 1161 | |
Lightvalve | 17:1865016ca2e7 | 1162 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1163 | int i; |
Lightvalve | 13:747daba9cf59 | 1164 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1165 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1166 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1167 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1168 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1169 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1170 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1171 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1172 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1173 | } |
Lightvalve | 13:747daba9cf59 | 1174 | } |
Lightvalve | 59:f308b1656d9c | 1175 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1176 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1177 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1178 | } |
Lightvalve | 14:8e7590227d22 | 1179 | |
Lightvalve | 14:8e7590227d22 | 1180 | |
Lightvalve | 13:747daba9cf59 | 1181 | break; |
Lightvalve | 13:747daba9cf59 | 1182 | } |
Lightvalve | 14:8e7590227d22 | 1183 | |
Lightvalve | 14:8e7590227d22 | 1184 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1185 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1186 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1187 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1188 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1189 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1190 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1191 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1192 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1193 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1194 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1195 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1196 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1197 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1198 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1199 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 30:8d561f16383b | 1200 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1201 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1202 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1203 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1204 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1205 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1206 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1207 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1208 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1209 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1210 | |
Lightvalve | 30:8d561f16383b | 1211 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1212 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1213 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1214 | |
Lightvalve | 30:8d561f16383b | 1215 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1216 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1217 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1218 | |
Lightvalve | 30:8d561f16383b | 1219 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1220 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1221 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1222 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1223 | |
Lightvalve | 60:64181f1d3e60 | 1224 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1225 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1226 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1227 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1228 | } else { |
Lightvalve | 13:747daba9cf59 | 1229 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1230 | } |
Lightvalve | 61:bc8c8270f0ab | 1231 | |
Lightvalve | 60:64181f1d3e60 | 1232 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1233 | |
Lightvalve | 13:747daba9cf59 | 1234 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1235 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1236 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1237 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1238 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1239 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1240 | |
Lightvalve | 13:747daba9cf59 | 1241 | } |
Lightvalve | 19:23b7c1ad8683 | 1242 | } else { |
Lightvalve | 14:8e7590227d22 | 1243 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1244 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1245 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1246 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1247 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1248 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1249 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1250 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1251 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1252 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1253 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1254 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1255 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1256 | } |
Lightvalve | 14:8e7590227d22 | 1257 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1258 | |
Lightvalve | 30:8d561f16383b | 1259 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1260 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1261 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1262 | |
Lightvalve | 14:8e7590227d22 | 1263 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1264 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1265 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1266 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1267 | } else { |
Lightvalve | 13:747daba9cf59 | 1268 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1269 | } |
Lightvalve | 14:8e7590227d22 | 1270 | |
Lightvalve | 13:747daba9cf59 | 1271 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1272 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1273 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1274 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1275 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1276 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1277 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1278 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1279 | } |
Lightvalve | 13:747daba9cf59 | 1280 | } |
Lightvalve | 14:8e7590227d22 | 1281 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1282 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1283 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1284 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1285 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1286 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1287 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1288 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1289 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1290 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1291 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1292 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1293 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1294 | } |
Lightvalve | 14:8e7590227d22 | 1295 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1296 | |
Lightvalve | 30:8d561f16383b | 1297 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1298 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1299 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1300 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1301 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1302 | |
Lightvalve | 14:8e7590227d22 | 1303 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1304 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1305 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1306 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1307 | } else { |
Lightvalve | 60:64181f1d3e60 | 1308 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1309 | } |
Lightvalve | 14:8e7590227d22 | 1310 | |
Lightvalve | 13:747daba9cf59 | 1311 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1312 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1313 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1314 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1315 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1316 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1317 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1318 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1319 | |
Lightvalve | 16:903b5a4433b4 | 1320 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1321 | |
Lightvalve | 60:64181f1d3e60 | 1322 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1323 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1324 | } |
Lightvalve | 13:747daba9cf59 | 1325 | } |
Lightvalve | 14:8e7590227d22 | 1326 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1327 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1328 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1329 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1330 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1331 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1332 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1333 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1334 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1335 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1336 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1337 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1338 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1339 | } |
Lightvalve | 14:8e7590227d22 | 1340 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1341 | |
Lightvalve | 30:8d561f16383b | 1342 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1343 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1344 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1345 | |
Lightvalve | 14:8e7590227d22 | 1346 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1347 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1348 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1349 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1350 | } else { |
Lightvalve | 13:747daba9cf59 | 1351 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1352 | } |
Lightvalve | 13:747daba9cf59 | 1353 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1354 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1355 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1356 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1357 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1358 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1359 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1360 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1361 | } |
Lightvalve | 13:747daba9cf59 | 1362 | } |
Lightvalve | 14:8e7590227d22 | 1363 | } else { |
Lightvalve | 30:8d561f16383b | 1364 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1365 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1366 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1367 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1368 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1369 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1370 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1371 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1372 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1373 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1374 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1375 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1376 | } |
Lightvalve | 14:8e7590227d22 | 1377 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1378 | |
Lightvalve | 30:8d561f16383b | 1379 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1380 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1381 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1382 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1383 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1384 | |
Lightvalve | 60:64181f1d3e60 | 1385 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1386 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1387 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1388 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1389 | } else { |
Lightvalve | 13:747daba9cf59 | 1390 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1391 | } |
Lightvalve | 14:8e7590227d22 | 1392 | |
Lightvalve | 13:747daba9cf59 | 1393 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1394 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1395 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1396 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1397 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1398 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1399 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1400 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1401 | |
Lightvalve | 59:f308b1656d9c | 1402 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1403 | |
Lightvalve | 57:f4819de54e7a | 1404 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1405 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1406 | } |
Lightvalve | 13:747daba9cf59 | 1407 | } |
Lightvalve | 13:747daba9cf59 | 1408 | } |
Lightvalve | 14:8e7590227d22 | 1409 | } |
Lightvalve | 13:747daba9cf59 | 1410 | break; |
Lightvalve | 13:747daba9cf59 | 1411 | } |
Lightvalve | 14:8e7590227d22 | 1412 | |
Lightvalve | 14:8e7590227d22 | 1413 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1414 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1415 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1416 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1417 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1418 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1419 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1420 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1421 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1422 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1423 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1424 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1425 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1426 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1427 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1428 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1429 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1430 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1431 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1432 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1433 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1434 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1435 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1436 | } |
Lightvalve | 14:8e7590227d22 | 1437 | } else { |
Lightvalve | 30:8d561f16383b | 1438 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1439 | //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1440 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1441 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1442 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1443 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1444 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1445 | |
Lightvalve | 14:8e7590227d22 | 1446 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1447 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1448 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1449 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1450 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1451 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1452 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1453 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1454 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1455 | } |
Lightvalve | 30:8d561f16383b | 1456 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1457 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1458 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1459 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1460 | } |
Lightvalve | 14:8e7590227d22 | 1461 | |
Lightvalve | 14:8e7590227d22 | 1462 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1463 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1464 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1465 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1466 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1467 | } |
Lightvalve | 13:747daba9cf59 | 1468 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1469 | |
Lightvalve | 13:747daba9cf59 | 1470 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1471 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1472 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1473 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1474 | } |
Lightvalve | 14:8e7590227d22 | 1475 | |
Lightvalve | 14:8e7590227d22 | 1476 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1477 | |
Lightvalve | 13:747daba9cf59 | 1478 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1479 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1480 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1481 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1482 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1483 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1484 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1485 | } |
Lightvalve | 13:747daba9cf59 | 1486 | } |
Lightvalve | 13:747daba9cf59 | 1487 | break; |
Lightvalve | 13:747daba9cf59 | 1488 | } |
Lightvalve | 58:2eade98630e2 | 1489 | |
Lightvalve | 57:f4819de54e7a | 1490 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1491 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1492 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1493 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1494 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1495 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1496 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1497 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1498 | } |
Lightvalve | 57:f4819de54e7a | 1499 | break; |
Lightvalve | 57:f4819de54e7a | 1500 | } |
Lightvalve | 58:2eade98630e2 | 1501 | |
Lightvalve | 58:2eade98630e2 | 1502 | |
Lightvalve | 57:f4819de54e7a | 1503 | |
Lightvalve | 57:f4819de54e7a | 1504 | default: |
Lightvalve | 57:f4819de54e7a | 1505 | break; |
Lightvalve | 57:f4819de54e7a | 1506 | } |
Lightvalve | 57:f4819de54e7a | 1507 | |
Lightvalve | 57:f4819de54e7a | 1508 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1509 | |
Lightvalve | 57:f4819de54e7a | 1510 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1511 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1512 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1513 | break; |
Lightvalve | 57:f4819de54e7a | 1514 | } |
Lightvalve | 57:f4819de54e7a | 1515 | |
Lightvalve | 57:f4819de54e7a | 1516 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1517 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1518 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1519 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1520 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1521 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1522 | } else { |
Lightvalve | 67:c2812cf26c38 | 1523 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1524 | } |
Lightvalve | 58:2eade98630e2 | 1525 | |
Lightvalve | 57:f4819de54e7a | 1526 | break; |
Lightvalve | 57:f4819de54e7a | 1527 | } |
Lightvalve | 57:f4819de54e7a | 1528 | |
Lightvalve | 57:f4819de54e7a | 1529 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1530 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1531 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1532 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1533 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1534 | |
Lightvalve | 67:c2812cf26c38 | 1535 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1536 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1537 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1538 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1539 | |
Lightvalve | 67:c2812cf26c38 | 1540 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1541 | |
Lightvalve | 57:f4819de54e7a | 1542 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1543 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1544 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1545 | |
Lightvalve | 57:f4819de54e7a | 1546 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1547 | |
Lightvalve | 57:f4819de54e7a | 1548 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1549 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1550 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1551 | |
Lightvalve | 57:f4819de54e7a | 1552 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1553 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1554 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1555 | |
Lightvalve | 69:3995ffeaa786 | 1556 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1557 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1558 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1559 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1560 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1561 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1562 | } |
Lightvalve | 57:f4819de54e7a | 1563 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1564 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1565 | |
Lightvalve | 57:f4819de54e7a | 1566 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1567 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1568 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1569 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s |
Lightvalve | 57:f4819de54e7a | 1570 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1571 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1572 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1573 | I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive. |
Lightvalve | 57:f4819de54e7a | 1574 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1575 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1576 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1577 | } |
Lightvalve | 57:f4819de54e7a | 1578 | if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1579 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1580 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1581 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1582 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1583 | |
Lightvalve | 57:f4819de54e7a | 1584 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1585 | |
Lightvalve | 67:c2812cf26c38 | 1586 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1587 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1588 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1589 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1590 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1591 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1592 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1593 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1594 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1595 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1596 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1597 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1598 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1599 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1600 | } |
Lightvalve | 67:c2812cf26c38 | 1601 | } |
Lightvalve | 57:f4819de54e7a | 1602 | |
Lightvalve | 57:f4819de54e7a | 1603 | } else { |
Lightvalve | 57:f4819de54e7a | 1604 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1605 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1606 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1607 | |
Lightvalve | 57:f4819de54e7a | 1608 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f |
Lightvalve | 57:f4819de54e7a | 1609 | + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 57:f4819de54e7a | 1610 | |
Lightvalve | 72:3436ce769b1e | 1611 | VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; |
Lightvalve | 72:3436ce769b1e | 1612 | |
Lightvalve | 72:3436ce769b1e | 1613 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1614 | |
Lightvalve | 72:3436ce769b1e | 1615 | |
Lightvalve | 72:3436ce769b1e | 1616 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1617 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1618 | } else { |
Lightvalve | 72:3436ce769b1e | 1619 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1620 | } |
Lightvalve | 57:f4819de54e7a | 1621 | |
Lightvalve | 57:f4819de54e7a | 1622 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1623 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1624 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1625 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1626 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1627 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1628 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1629 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1630 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1631 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1632 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1633 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1634 | } |
Lightvalve | 57:f4819de54e7a | 1635 | } |
Lightvalve | 61:bc8c8270f0ab | 1636 | |
Lightvalve | 57:f4819de54e7a | 1637 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1638 | |
Lightvalve | 67:c2812cf26c38 | 1639 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1640 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1641 | |
Lightvalve | 57:f4819de54e7a | 1642 | } |
Lightvalve | 72:3436ce769b1e | 1643 | |
Lightvalve | 72:3436ce769b1e | 1644 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1645 | |
Lightvalve | 57:f4819de54e7a | 1646 | break; |
Lightvalve | 57:f4819de54e7a | 1647 | } |
Lightvalve | 58:2eade98630e2 | 1648 | |
Lightvalve | 57:f4819de54e7a | 1649 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1650 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1651 | break; |
Lightvalve | 57:f4819de54e7a | 1652 | } |
Lightvalve | 14:8e7590227d22 | 1653 | |
Lightvalve | 12:6f2531038ea4 | 1654 | default: |
Lightvalve | 12:6f2531038ea4 | 1655 | break; |
Lightvalve | 12:6f2531038ea4 | 1656 | } |
Lightvalve | 14:8e7590227d22 | 1657 | |
Lightvalve | 57:f4819de54e7a | 1658 | |
Lightvalve | 57:f4819de54e7a | 1659 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1660 | |
Lightvalve | 57:f4819de54e7a | 1661 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1662 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1663 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1664 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1665 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1666 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1667 | |
Lightvalve | 57:f4819de54e7a | 1668 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1669 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1670 | |
Lightvalve | 57:f4819de54e7a | 1671 | |
Lightvalve | 57:f4819de54e7a | 1672 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1673 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1674 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1675 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1676 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1677 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1678 | |
Lightvalve | 57:f4819de54e7a | 1679 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1680 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1681 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1682 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1683 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1684 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1685 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1686 | } |
Lightvalve | 57:f4819de54e7a | 1687 | |
Lightvalve | 57:f4819de54e7a | 1688 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1689 | |
Lightvalve | 67:c2812cf26c38 | 1690 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1691 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1692 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1693 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1694 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1695 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1696 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1697 | |
Lightvalve | 57:f4819de54e7a | 1698 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1699 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1700 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1701 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1702 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1703 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1704 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1705 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1706 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1707 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1708 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1709 | } |
Lightvalve | 57:f4819de54e7a | 1710 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1711 | } else { |
Lightvalve | 57:f4819de54e7a | 1712 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1713 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1714 | } |
Lightvalve | 57:f4819de54e7a | 1715 | |
Lightvalve | 57:f4819de54e7a | 1716 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1717 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1718 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1719 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1720 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1721 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1722 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1723 | |
Lightvalve | 57:f4819de54e7a | 1724 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1725 | |
Lightvalve | 57:f4819de54e7a | 1726 | } else { |
Lightvalve | 57:f4819de54e7a | 1727 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1728 | } |
Lightvalve | 57:f4819de54e7a | 1729 | |
Lightvalve | 57:f4819de54e7a | 1730 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1731 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1732 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1733 | |
Lightvalve | 57:f4819de54e7a | 1734 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1735 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1736 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1737 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1738 | } |
Lightvalve | 67:c2812cf26c38 | 1739 | |
Lightvalve | 67:c2812cf26c38 | 1740 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1741 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1742 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1743 | |
jobuuu | 7:e9086c72bb22 | 1744 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1745 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1746 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1747 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1748 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1749 | } |
Lightvalve | 67:c2812cf26c38 | 1750 | |
Lightvalve | 49:e7bcfc244d40 | 1751 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1752 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1753 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1754 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1755 | } |
Lightvalve | 49:e7bcfc244d40 | 1756 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1757 | |
Lightvalve | 19:23b7c1ad8683 | 1758 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1759 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1760 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1761 | |
Lightvalve | 30:8d561f16383b | 1762 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1763 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1764 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1765 | } else { |
jobuuu | 2:a1c0a37df760 | 1766 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1767 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1768 | } |
Lightvalve | 13:747daba9cf59 | 1769 | |
jobuuu | 1:e04e563be5ce | 1770 | //pwm |
Lightvalve | 30:8d561f16383b | 1771 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1772 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1773 | |
Lightvalve | 61:bc8c8270f0ab | 1774 | |
Lightvalve | 57:f4819de54e7a | 1775 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1776 | |
Lightvalve | 54:647072f5307a | 1777 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1778 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1779 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1780 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1781 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1782 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1783 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 1784 | } |
Lightvalve | 57:f4819de54e7a | 1785 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1786 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1787 | CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); |
Lightvalve | 54:647072f5307a | 1788 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1789 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 1790 | } |
Lightvalve | 52:8ea76864368a | 1791 | } |
Lightvalve | 52:8ea76864368a | 1792 | } |
Lightvalve | 56:6f50d9d3bfee | 1793 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1794 | //valve position |
Lightvalve | 54:647072f5307a | 1795 | double t_value = 0; |
Lightvalve | 67:c2812cf26c38 | 1796 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 67:c2812cf26c38 | 1797 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1798 | } else { |
Lightvalve | 67:c2812cf26c38 | 1799 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1800 | } |
Lightvalve | 67:c2812cf26c38 | 1801 | // if(OPERATING_MODE==5) { |
Lightvalve | 67:c2812cf26c38 | 1802 | // t_value = (double) value; |
Lightvalve | 67:c2812cf26c38 | 1803 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 67:c2812cf26c38 | 1804 | // t_value = cur.sen; |
Lightvalve | 57:f4819de54e7a | 1805 | // } else { |
Lightvalve | 67:c2812cf26c38 | 1806 | // t_value = V_out; |
Lightvalve | 67:c2812cf26c38 | 1807 | // } |
Lightvalve | 67:c2812cf26c38 | 1808 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1809 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1810 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1811 | } |
Lightvalve | 58:2eade98630e2 | 1812 | |
Lightvalve | 58:2eade98630e2 | 1813 | |
Lightvalve | 56:6f50d9d3bfee | 1814 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 56:6f50d9d3bfee | 1815 | //pressure A and B |
Lightvalve | 57:f4819de54e7a | 1816 | CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400 |
Lightvalve | 55:b25725257569 | 1817 | } |
Lightvalve | 58:2eade98630e2 | 1818 | |
Lightvalve | 57:f4819de54e7a | 1819 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1820 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1821 | ; |
Lightvalve | 57:f4819de54e7a | 1822 | } |
Lightvalve | 58:2eade98630e2 | 1823 | |
Lightvalve | 56:6f50d9d3bfee | 1824 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1825 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1826 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1827 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1828 | } |
Lightvalve | 57:f4819de54e7a | 1829 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1830 | // ; |
Lightvalve | 57:f4819de54e7a | 1831 | // } |
Lightvalve | 56:6f50d9d3bfee | 1832 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1833 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1834 | CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 |
Lightvalve | 54:647072f5307a | 1835 | } |
Lightvalve | 20:806196fda269 | 1836 | |
Lightvalve | 54:647072f5307a | 1837 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1838 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1839 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1840 | // } |
Lightvalve | 54:647072f5307a | 1841 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1842 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1843 | //} |
Lightvalve | 52:8ea76864368a | 1844 | |
Lightvalve | 54:647072f5307a | 1845 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1846 | } |
Lightvalve | 54:647072f5307a | 1847 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1848 | |
Lightvalve | 20:806196fda269 | 1849 | } |
Lightvalve | 52:8ea76864368a | 1850 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1851 | |
Lightvalve | 58:2eade98630e2 | 1852 | } |