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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

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main.cpp@131:d08121ac87ba, 2020-09-26 (annotated)

Committer:: Lightvalve
Date:: Sat Sep 26 11:42:48 2020 +0000
Revision:: 131:d08121ac87ba
Parent:: 130:26b416050376
Child:: 132:06e670a4f416

200926-2

Who changed what in which revision?

User	Revision	Line number	New contents of line
Lightvalve	131:d08121ac87ba	1	//200926-2
GiJeongKim	0:51c43836c1d7	2	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	3	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	4	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	5	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	6	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	7	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	8	#include "setting.h"
Lightvalve	11:82d8768d7351	9	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	10	#include "stm32f4xx_flash.h"
Lightvalve	65:a2d7c63419c2	11	#include "FlashWriter.h"
Lightvalve	61:bc8c8270f0ab	12
Lightvalve	61:bc8c8270f0ab	13	using namespace std;
Lightvalve	61:bc8c8270f0ab	14	Timer t;
GiJeongKim	0:51c43836c1d7	15
Lightvalve	31:66738bfecec5	16	///191008////
Lightvalve	31:66738bfecec5	17
jobuuu	7:e9086c72bb22	18	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	19	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	20	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	21	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	22	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	23	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	24	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	25	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	26
Lightvalve	24:ef6e1092e9e6	27
jobuuu	7:e9086c72bb22	28	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	29	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	30	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	31
jobuuu	7:e9086c72bb22	32	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	33	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	34	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	35	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	36
jobuuu	7:e9086c72bb22	37	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	38	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	39	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	40	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	41	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	42	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	43	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	44
jobuuu	7:e9086c72bb22	45	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	46	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	47
jobuuu	7:e9086c72bb22	48	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	49	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	50	CANMessage msg;
Lightvalve	11:82d8768d7351	51	void onMsgReceived()
Lightvalve	11:82d8768d7351	52	{
Lightvalve	11:82d8768d7351	53	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	54	}
jobuuu	2:a1c0a37df760	55
jobuuu	7:e9086c72bb22	56	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	57	State pos;
jobuuu	7:e9086c72bb22	58	State vel;
jobuuu	7:e9086c72bb22	59	State Vout;
jobuuu	7:e9086c72bb22	60	State torq;
jobuuu	7:e9086c72bb22	61	State pres_A;
jobuuu	7:e9086c72bb22	62	State pres_B;
jobuuu	7:e9086c72bb22	63	State cur;
Lightvalve	14:8e7590227d22	64	State valve_pos;
Lightvalve	14:8e7590227d22	65
Lightvalve	14:8e7590227d22	66	State INIT_Vout;
Lightvalve	14:8e7590227d22	67	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	68	State INIT_Pos;
Lightvalve	14:8e7590227d22	69	State INIT_torq;
jobuuu	5:a4319f79457b	70
Lightvalve	19:23b7c1ad8683	71	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	72	extern int CID_RX_REF_POSITION;
Lightvalve	49:e7bcfc244d40	73	extern int CID_RX_REF_VALVE_POS;
Lightvalve	45:35fa6884d0c6	74	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	75
Lightvalve	19:23b7c1ad8683	76	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	77	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	78	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	79	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	80	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	81	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	82
Lightvalve	61:bc8c8270f0ab	83
Lightvalve	61:bc8c8270f0ab	84
Lightvalve	61:bc8c8270f0ab	85
jobuuu	7:e9086c72bb22	86	// =============================================================================
jobuuu	7:e9086c72bb22	87	// =============================================================================
jobuuu	7:e9086c72bb22	88	// =============================================================================
jobuuu	7:e9086c72bb22	89
Lightvalve	12:6f2531038ea4	90	/*******************************************************************************
Lightvalve	12:6f2531038ea4	91	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	92	******************************************************************************/
Lightvalve	13:747daba9cf59	93	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	94	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	95	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	96	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	97	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	98	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	99	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	100	};
Lightvalve	12:6f2531038ea4	101
Lightvalve	12:6f2531038ea4	102	/*******************************************************************************
Lightvalve	12:6f2531038ea4	103	* CONTROL MODE
Lightvalve	12:6f2531038ea4	104	******************************************************************************/
Lightvalve	13:747daba9cf59	105	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	106	//control mode
Lightvalve	12:6f2531038ea4	107	MODE_NO_ACT = 0, //0
Lightvalve	47:fdcb8bd86fd6	108	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	47:fdcb8bd86fd6	109	MODE_JOINT_CONTROL, //2
Lightvalve	50:3c630b5eba9f	110
Lightvalve	47:fdcb8bd86fd6	111	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	12:6f2531038ea4	112	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	113	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	114
Lightvalve	12:6f2531038ea4	115	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	116	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	117	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	120	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	121
Lightvalve	14:8e7590227d22	122	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	123	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	124	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	125
Lightvalve	12:6f2531038ea4	126	//utility
Lightvalve	12:6f2531038ea4	127	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	128	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	129	MODE_FIND_HOME, //22
Lightvalve	57:f4819de54e7a	130	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	131	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	132	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	133	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	134
Lightvalve	12:6f2531038ea4	135	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	136	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	137	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	57:f4819de54e7a	138	MODE_SYSTEM_ID, //33
Lightvalve	12:6f2531038ea4	139	};
Lightvalve	12:6f2531038ea4	140
Lightvalve	65:a2d7c63419c2	141	void SystemClock_Config(void)
Lightvalve	65:a2d7c63419c2	142	{
Lightvalve	65:a2d7c63419c2	143	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	65:a2d7c63419c2	144	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	65:a2d7c63419c2	145
Lightvalve	65:a2d7c63419c2	146	/** Configure the main internal regulator output voltage
Lightvalve	65:a2d7c63419c2	147	*/
Lightvalve	65:a2d7c63419c2	148	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	65:a2d7c63419c2	149	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	65:a2d7c63419c2	150	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	65:a2d7c63419c2	151	*/
Lightvalve	65:a2d7c63419c2	152	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	65:a2d7c63419c2	153	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	65:a2d7c63419c2	154	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	65:a2d7c63419c2	155	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	65:a2d7c63419c2	156	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	65:a2d7c63419c2	157	RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve	65:a2d7c63419c2	158	RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve	65:a2d7c63419c2	159	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	65:a2d7c63419c2	160	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	65:a2d7c63419c2	161	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	65:a2d7c63419c2	162	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve	65:a2d7c63419c2	163	{
Lightvalve	65:a2d7c63419c2	164	//Error_Handler();
Lightvalve	65:a2d7c63419c2	165	}
Lightvalve	65:a2d7c63419c2	166	/** Activate the Over-Drive mode
Lightvalve	65:a2d7c63419c2	167	*/
Lightvalve	65:a2d7c63419c2	168	if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve	65:a2d7c63419c2	169	{
Lightvalve	65:a2d7c63419c2	170	//Error_Handler();
Lightvalve	65:a2d7c63419c2	171	}
Lightvalve	65:a2d7c63419c2	172	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	65:a2d7c63419c2	173	*/
Lightvalve	65:a2d7c63419c2	174	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	65:a2d7c63419c2	175	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	65:a2d7c63419c2	176	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	65:a2d7c63419c2	177	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	65:a2d7c63419c2	178	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	65:a2d7c63419c2	179	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	65:a2d7c63419c2	180
Lightvalve	65:a2d7c63419c2	181	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve	65:a2d7c63419c2	182	{
Lightvalve	65:a2d7c63419c2	183	//Error_Handler();
Lightvalve	65:a2d7c63419c2	184	}
Lightvalve	65:a2d7c63419c2	185	}
Lightvalve	65:a2d7c63419c2	186
Lightvalve	99:7bbcb3c0fb06	187	float u_past[num_array_u_past] = {0.0f};
Lightvalve	68:328e1be06f5d	188	float x_past[num_array_x_past] = {0.0f};
Lightvalve	85:a3b46118b5cd	189	float x_future[num_array_x_future] = {0.0f};
Lightvalve	68:328e1be06f5d	190	float f_past[num_array_f_past] = {0.0f};
Lightvalve	68:328e1be06f5d	191	float f_future[num_array_f_future] = {0.0f};
Lightvalve	66:a8e6799dbce3	192
Lightvalve	73:f80dc3970c99	193	float input_NN[num_input] = { 0.0f };
Lightvalve	65:a2d7c63419c2	194
Lightvalve	112:8dcb1600cb90	195	const float h1[num_input][16] = {
Lightvalve	131:d08121ac87ba	196	{-1.1956169605255127f,1.9541065692901611f,0.12024858593940735f,0.45766109228134155f,-2.46848726272583f,2.3174383640289307f,-0.1628284603357315f,1.7106189727783203f,-0.2671312689781189f,-0.05200039967894554f,-0.19419001042842865f,-2.0949411392211914f,-0.49257272481918335f,-1.4435396194458008f,-0.2396446317434311f,-0.9453407526016235f},
Lightvalve	131:d08121ac87ba	197	{-0.9400460720062256f,1.4245012998580933f,-0.36603355407714844f,0.09679121524095535f,-1.8845808506011963f,1.4850690364837646f,-0.3777896761894226f,1.1137275695800781f,-0.07536926865577698f,0.18067102134227753f,-0.22846831381320953f,-1.3824812173843384f,0.05978057160973549f,-1.5047208070755005f,-0.1953967958688736f,-0.818098783493042f},
Lightvalve	131:d08121ac87ba	198	{-0.5974735021591187f,0.7207550406455994f,0.33912619948387146f,-0.30167949199676514f,-0.8872138857841492f,0.8307980298995972f,0.2676515281200409f,0.684933066368103f,-0.15134312212467194f,0.18280228972434998f,-0.2973056733608246f,-0.6771632432937622f,-0.07414653152227402f,-0.503684401512146f,0.05209478735923767f,-1.0339781045913696f},
Lightvalve	131:d08121ac87ba	199	{-0.09716399759054184f,-0.3238726854324341f,0.3703531324863434f,0.2439771294593811f,0.03079681470990181f,-0.44225749373435974f,-0.10795548558235168f,0.20563587546348572f,0.019950227811932564f,0.3058837950229645f,0.11630532890558243f,0.5606547594070435f,-0.13546738028526306f,0.08037986606359482f,-0.27597576379776f,-0.540359377861023f},
Lightvalve	131:d08121ac87ba	200	{0.8463809490203857f,-1.2642353773117065f,-0.004794687032699585f,0.12911343574523926f,1.1585084199905396f,-1.3141409158706665f,0.12058994174003601f,-1.2253652811050415f,0.02594391070306301f,0.1314161866903305f,0.3510971963405609f,1.3880574703216553f,0.04641415551304817f,1.2522947788238525f,-0.36018112301826477f,0.2527952492237091f},
Lightvalve	131:d08121ac87ba	201	{1.5909785032272339f,-3.175170660018921f,0.20290347933769226f,0.08839220553636551f,2.6832611560821533f,-2.9426558017730713f,0.15389427542686462f,-2.881338596343994f,0.02902456931769848f,0.1379185914993286f,-0.20390546321868896f,2.871346950531006f,-0.04241325333714485f,2.804138660430908f,-0.38513508439064026f,2.1350905895233154f},
Lightvalve	131:d08121ac87ba	202	{-0.12085642665624619f,-0.3199078142642975f,-0.2331579178571701f,-0.48533105850219727f,-0.16761304438114166f,-0.14451755583286285f,0.05604562163352966f,-0.8228414058685303f,0.3384076952934265f,0.08443693816661835f,0.1641031950712204f,0.34797629714012146f,-0.213156059384346f,0.6453942656517029f,-0.14554673433303833f,2.227891683578491f},
Lightvalve	131:d08121ac87ba	203	{-0.15758372843265533f,-0.24950604140758514f,-0.24806702136993408f,0.01830308884382248f,-0.181361585855484f,-0.24425840377807617f,-0.16704979538917542f,-0.42299458384513855f,0.024335289373993874f,0.1271706521511078f,0.12164045870304108f,-0.018594985827803612f,0.29838648438453674f,0.1081574410200119f,0.04009982943534851f,0.8046209812164307f},
Lightvalve	131:d08121ac87ba	204	{0.13237953186035156f,0.24378275871276855f,0.09550115466117859f,-0.4280838668346405f,0.11724983900785446f,-0.02897932194173336f,-0.06753402948379517f,-0.5428119897842407f,-0.25201329588890076f,0.34253764152526855f,-0.2532883286476135f,0.5114379525184631f,0.16659514605998993f,0.44910377264022827f,-0.2847418785095215f,0.8708233833312988f},
Lightvalve	131:d08121ac87ba	205	{0.020640259608626366f,-0.2428482323884964f,0.17205187678337097f,-0.18949557840824127f,0.47359582781791687f,0.1461060345172882f,-0.2786858379840851f,-0.2425689697265625f,-0.0071503291837871075f,-0.4227764308452606f,0.0162271149456501f,-0.21304276585578918f,0.3000964820384979f,0.08429371565580368f,0.3247623145580292f,0.44280844926834106f},
Lightvalve	131:d08121ac87ba	206	{0.4047212600708008f,0.28985321521759033f,0.34649983048439026f,0.17841115593910217f,0.16438840329647064f,0.05032389983534813f,-0.1895401030778885f,0.17733506858348846f,-0.3974670171737671f,0.04118736833333969f,0.3485802114009857f,-0.3962743580341339f,-0.1048535481095314f,-0.2142852544784546f,0.24870619177818298f,-0.9647120237350464f},
Lightvalve	131:d08121ac87ba	207	{-0.5234584212303162f,0.3257308602333069f,-0.3757385015487671f,-0.06390493363142014f,-0.16097404062747955f,0.23826104402542114f,0.1429324448108673f,1.6107418537139893f,-0.13908539712429047f,0.2028050422668457f,-0.36206790804862976f,-0.5547217726707458f,0.10675008594989777f,-1.219779133796692f,0.09779238700866699f,-3.4316484928131104f},
Lightvalve	131:d08121ac87ba	208	{-0.09844901412725449f,0.10108669102191925f,0.18496140837669373f,0.08368060737848282f,0.2171357423067093f,0.15216588973999023f,-0.22405625879764557f,0.44349199533462524f,-0.1580732762813568f,-0.16995948553085327f,-0.07901274412870407f,-0.5572441220283508f,0.017470277845859528f,-0.45106565952301025f,-0.2075144499540329f,-1.6240781545639038f},
Lightvalve	131:d08121ac87ba	209	{-0.2828729450702667f,-0.04551524296402931f,0.38466766476631165f,-0.16469638049602509f,-0.2127838283777237f,-0.4080352783203125f,-0.2982172966003418f,-0.05918114632368088f,-0.10835221409797668f,-0.20298826694488525f,-0.15936842560768127f,-0.467716246843338f,-0.31966355443000793f,0.015209190547466278f,0.04470124840736389f,0.08305393904447556f},
Lightvalve	131:d08121ac87ba	210	{-0.02526024915277958f,-0.10673379898071289f,0.18900898098945618f,-0.043616883456707f,0.4068395495414734f,-0.4073919355869293f,0.03916636109352112f,0.3982734978199005f,0.3009915351867676f,0.08049013465642929f,-0.2378201186656952f,-0.6291245818138123f,0.1008780375123024f,0.37950804829597473f,0.062258750200271606f,1.1864618062973022f},
Lightvalve	131:d08121ac87ba	211	{-0.2719186246395111f,-0.44829559326171875f,-0.37685394287109375f,-0.19920584559440613f,-0.1270388662815094f,-0.2079198956489563f,-0.14507901668548584f,0.25207075476646423f,0.20622950792312622f,-0.005332365166395903f,-0.4191429018974304f,-0.41693365573883057f,-0.23004379868507385f,0.4789843261241913f,-0.07684260606765747f,1.7305576801300049f},
Lightvalve	131:d08121ac87ba	212	{-0.34262335300445557f,-0.16922307014465332f,0.15568438172340393f,-0.02917546033859253f,-0.0873088389635086f,-0.18939854204654694f,-0.03859376907348633f,0.36984893679618835f,-0.040452513843774796f,0.07805625349283218f,-0.30713871121406555f,-0.11034384369850159f,0.13076388835906982f,0.5984110236167908f,0.2742314636707306f,1.1023929119110107f},
Lightvalve	131:d08121ac87ba	213	{-0.2602444589138031f,-0.15024526417255402f,0.19490453600883484f,-0.2521218955516815f,-0.2991682291030884f,-0.10734956711530685f,-0.336474746465683f,0.1193944662809372f,-0.3611188232898712f,-0.11798740923404694f,-0.13278308510780334f,-0.012485034763813019f,0.2817862927913666f,0.18208034336566925f,-0.2561379373073578f,1.009689211845398f},
Lightvalve	131:d08121ac87ba	214	{-0.500319242477417f,0.08048559725284576f,-0.2776013910770416f,0.14631828665733337f,0.28522399067878723f,0.017316730692982674f,0.25546005368232727f,-0.27694079279899597f,-0.35695821046829224f,0.02269558236002922f,-0.3737531900405884f,-0.0666629821062088f,0.09167450666427612f,0.22963275015354156f,-0.30415377020835876f,-0.15303073823451996f},
Lightvalve	131:d08121ac87ba	215	{0.20733878016471863f,0.2790791094303131f,0.1420871913433075f,-0.310675710439682f,-0.14844459295272827f,0.17805932462215424f,-0.13263443112373352f,-0.591518223285675f,-0.14417357742786407f,0.039684996008872986f,0.12231305241584778f,0.21133604645729065f,0.22742675244808197f,0.27733302116394043f,0.13351169228553772f,-0.47206178307533264f},
Lightvalve	131:d08121ac87ba	216	{-0.3225261867046356f,-0.11768028140068054f,-0.07561364769935608f,0.08295725286006927f,-0.3643610179424286f,0.012951040640473366f,0.14428457617759705f,-0.33390116691589355f,-0.3413614332675934f,-0.2919459939002991f,-0.3611116111278534f,-0.4542746841907501f,-0.1833125650882721f,0.15518221259117126f,0.019461065530776978f,-0.7060840129852295f},
Lightvalve	131:d08121ac87ba	217	{-0.37913772463798523f,-0.2526766359806061f,0.2631795108318329f,-0.5752549767494202f,0.11304201930761337f,-0.24160557985305786f,0.27224990725517273f,-0.7662065625190735f,-0.0499146394431591f,0.09269854426383972f,0.05944101884961128f,-0.393501341342926f,0.2358129620552063f,0.23764903843402863f,0.06011766195297241f,-0.06155134737491608f},
Lightvalve	65:a2d7c63419c2	218	};
Lightvalve	65:a2d7c63419c2	219
Lightvalve	112:8dcb1600cb90	220	const float h2[16][16] = {
Lightvalve	131:d08121ac87ba	221	{1.118157982826233f,0.026402628049254417f,-0.06966331601142883f,-0.01751459203660488f,-0.21907491981983185f,0.4986690878868103f,-0.028952009975910187f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.4330671429634094f,-0.29910382628440857f,0.019865797832608223f,-0.5019774436950684f,-0.965875506401062f,-0.12867528200149536f},
Lightvalve	131:d08121ac87ba	222	{1.8996304273605347f,-1.5267117023468018f,0.057057321071624756f,0.08965644985437393f,-0.35503754019737244f,-1.574440836906433f,-0.566491425037384f,-0.3689810335636139f,-0.33757925033569336f,0.2895788848400116f,-1.861789584159851f,-0.7174742817878723f,0.22530922293663025f,0.9965652227401733f,-0.1983392834663391f,-1.3351067304611206f},
Lightvalve	112:8dcb1600cb90	223	{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve	131:d08121ac87ba	224	{-0.30105364322662354f,-0.2681814432144165f,-0.2894435524940491f,0.295579731464386f,0.08946844935417175f,0.29065629839897156f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2228393852710724f,0.3810819983482361f,-0.5158584713935852f,-0.21033982932567596f,0.2123195081949234f,0.16286467015743256f},
Lightvalve	131:d08121ac87ba	225	{1.9263973236083984f,-6.4410223960876465f,-0.25313520431518555f,0.12884916365146637f,0.036378175020217896f,1.7120977640151978f,-0.4249382019042969f,-0.13983429968357086f,-0.024399548768997192f,-0.39465832710266113f,0.6666945219039917f,-0.6493611335754395f,-0.011714352294802666f,-1.8275744915008545f,-1.04521644115448f,0.7345888018608093f},
Lightvalve	131:d08121ac87ba	226	{3.7787277698516846f,-0.6443707346916199f,-0.3519742488861084f,0.45545488595962524f,-0.3015052080154419f,-3.639652967453003f,-0.6845589876174927f,-0.10691878944635391f,-0.23047015070915222f,0.3579089343547821f,-2.359076976776123f,-0.24991123378276825f,-0.32143542170524597f,2.6964616775512695f,1.2543081045150757f,0.4813939034938812f},
Lightvalve	112:8dcb1600cb90	227	{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve	131:d08121ac87ba	228	{-2.880831718444824f,-2.5246427059173584f,0.33083590865135193f,-0.24984709918498993f,-0.14358049631118774f,-0.13872985541820526f,-0.2296978086233139f,-0.36773961782455444f,0.2600560486316681f,-0.37898191809654236f,0.51035475730896f,-0.40991485118865967f,-0.31673234701156616f,1.4167289733886719f,-0.03128518536686897f,-1.6549022197723389f},
Lightvalve	131:d08121ac87ba	229	{-0.2084311544895172f,0.32353609800338745f,-0.11379697918891907f,0.10241877287626266f,0.041274964809417725f,-0.3846627175807953f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.03845156729221344f,-0.3197441101074219f,-0.37024784088134766f,-0.27218618988990784f,-0.37640514969825745f,-0.23703627288341522f},
Lightvalve	131:d08121ac87ba	230	{-0.1247129961848259f,0.19229479134082794f,-0.13502129912376404f,0.09134597331285477f,0.12987366318702698f,0.08067499846220016f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.2095015048980713f,0.3686753809452057f,0.3811538517475128f,-0.2097279578447342f,0.04410898685455322f,-0.26628780364990234f},
Lightvalve	131:d08121ac87ba	231	{-0.25566571950912476f,-0.03334655612707138f,0.0457797646522522f,-0.3833528161048889f,-0.03321319818496704f,-0.43721693754196167f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.23595042526721954f,0.3545852601528168f,-0.3647043704986572f,0.44764262437820435f,-0.3679425120353699f,-0.31210198998451233f},
Lightvalve	131:d08121ac87ba	232	{3.029474973678589f,1.5539413690567017f,0.3954955041408539f,0.19658516347408295f,0.0033026933670043945f,1.0192269086837769f,-0.40522921085357666f,-0.22022095322608948f,0.3487861454486847f,-0.32520344853401184f,-0.6443755626678467f,-0.5238021016120911f,-0.030794570222496986f,-1.304523229598999f,-0.187196746468544f,-0.7065238952636719f},
Lightvalve	131:d08121ac87ba	233	{-0.17512467503547668f,-0.17936718463897705f,-0.15798500180244446f,0.22627809643745422f,-0.37393757700920105f,0.36229458451271057f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.08606293797492981f,-0.31362128257751465f,0.30660009384155273f,-0.10633572190999985f,-0.18593157827854156f,0.11668103188276291f},
Lightvalve	131:d08121ac87ba	234	{-0.7335237860679626f,1.0983631610870361f,-0.2018718123435974f,-0.09944558888673782f,0.07545611262321472f,-0.0704403966665268f,-0.3188112676143646f,-0.34943315386772156f,-0.24509364366531372f,0.19522181153297424f,1.3507957458496094f,-0.6690428256988525f,-0.27907073497772217f,-0.51666659116745f,-0.5962638258934021f,0.3479926884174347f},
Lightvalve	112:8dcb1600cb90	235	{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve	131:d08121ac87ba	236	{-1.6585843563079834f,-2.8949406147003174f,0.12081471085548401f,-0.20656532049179077f,0.29976895451545715f,-0.4545046389102936f,-0.3059020936489105f,0.2837134599685669f,-0.3893685042858124f,-0.02222958207130432f,0.7774568200111389f,-0.34831833839416504f,-0.31249529123306274f,-0.37280145287513733f,-1.0618226528167725f,0.19856099784374237f},
Lightvalve	65:a2d7c63419c2	237	};
Lightvalve	65:a2d7c63419c2	238
Lightvalve	112:8dcb1600cb90	239	const float h3[16][16] = {
Lightvalve	131:d08121ac87ba	240	{-0.36079341173171997f,-6.634408473968506f,0.2660183310508728f,0.3780023157596588f,-1.052498459815979f,0.00011058850213885307f,0.2158546894788742f,0.15318068861961365f,-0.4799728989601135f,-0.19770589470863342f,-0.11870327591896057f,0.08692313730716705f,-1.5373475551605225f,1.4960458278656006f,1.1136343479156494f,0.33341190218925476f},
Lightvalve	131:d08121ac87ba	241	{0.047732532024383545f,-0.0008532904321327806f,0.1749679297208786f,0.15211161971092224f,-0.18240192532539368f,2.944945812225342f,-0.3198729455471039f,0.06247803568840027f,0.03570694103837013f,-0.5405685901641846f,0.4144817292690277f,-0.4696841835975647f,0.4540969431400299f,-0.608070433139801f,1.9369739294052124f,-0.41805732250213623f},
Lightvalve	115:f41863b95e6f	242	{0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve	131:d08121ac87ba	243	{-0.30922991037368774f,-0.16988709568977356f,0.30958712100982666f,-0.37309399247169495f,-0.2169945240020752f,0.10060708969831467f,0.20021501183509827f,0.07002416253089905f,-0.21373674273490906f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.04561224579811096f,0.07542174309492111f,0.13873246312141418f,-0.03370444104075432f},
Lightvalve	130:26b416050376	244	{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve	131:d08121ac87ba	245	{-0.37449589371681213f,-3.4455225467681885f,-1.4439983367919922f,-0.22731581330299377f,-3.1937830448150635f,0.18943846225738525f,-0.31342682242393494f,0.07509345561265945f,-0.7288225293159485f,-0.4627543091773987f,-0.08919548988342285f,-0.12296706438064575f,4.677646636962891f,-4.959240436553955f,3.2397050857543945f,0.6110252737998962f},
Lightvalve	131:d08121ac87ba	246	{0.4110594093799591f,0.21796488761901855f,-0.28898707032203674f,0.25129392743110657f,0.15261942148208618f,-0.08698523789644241f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.35564061999320984f,0.0884476900100708f,0.16810166835784912f,-0.3391006588935852f},
Lightvalve	131:d08121ac87ba	247	{-0.40892091393470764f,0.03546829894185066f,-0.4707719385623932f,0.1387016326189041f,0.22356410324573517f,0.07907699793577194f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.48474669456481934f,0.07994696497917175f,0.005298197269439697f},
Lightvalve	115:f41863b95e6f	248	{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve	125:2397bee14630	249	{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve	131:d08121ac87ba	250	{0.15459725260734558f,1.5904432535171509f,-0.1097959503531456f,-0.9696974158287048f,0.1818193793296814f,0.340238094329834f,-0.08742031455039978f,-0.04813981428742409f,-0.2547273635864258f,-0.573274552822113f,0.1268840730190277f,-0.6060346961021423f,0.24557127058506012f,-3.25490403175354f,1.3931238651275635f,-0.10349390655755997f},
Lightvalve	131:d08121ac87ba	251	{-0.408692330121994f,-0.051464516669511795f,-0.005845870357006788f,0.022719833999872208f,-0.08350561559200287f,-0.11579781025648117f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5204461812973022f,-0.26505690813064575f,-0.23564808070659637f,0.31690117716789246f},
Lightvalve	131:d08121ac87ba	252	{-0.2991822361946106f,0.3198093771934509f,-0.03278012573719025f,-0.05932474136352539f,0.12838001549243927f,0.18775075674057007f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.05636082589626312f,-0.17220379412174225f,0.3176133632659912f,-0.16869547963142395f},
Lightvalve	131:d08121ac87ba	253	{-0.2675279378890991f,1.8016947507858276f,0.606451690196991f,0.8853660225868225f,0.16671153903007507f,-0.6507490277290344f,-0.4582195281982422f,-0.4366315007209778f,-0.8873895406723022f,-0.739578366279602f,-0.3685331642627716f,-0.7161888480186462f,-2.9520368576049805f,-1.2378021478652954f,-1.1619811058044434f,-0.7018218636512756f},
Lightvalve	131:d08121ac87ba	254	{-0.015470266342163086f,-1.1638100147247314f,0.5526279211044312f,-0.46289893984794617f,0.1222415640950203f,-0.12419240921735764f,0.05196094512939453f,-0.008358269929885864f,-0.5885560512542725f,-0.5304774641990662f,0.13179203867912292f,-0.11511552333831787f,0.9951580166816711f,0.09855327755212784f,-0.3216860592365265f,-0.45090147852897644f},
Lightvalve	131:d08121ac87ba	255	{0.1863725483417511f,1.511878490447998f,-0.37864598631858826f,-0.37369877099990845f,0.3111405074596405f,0.5492295622825623f,0.07846614718437195f,0.02850668504834175f,-0.294668972492218f,-0.06887666881084442f,-0.3929237127304077f,-0.11778708547353745f,-1.0746829509735107f,2.953195571899414f,-4.6077470779418945f,-0.059049513190984726f},
Lightvalve	66:a8e6799dbce3	256	};
Lightvalve	65:a2d7c63419c2	257
Lightvalve	131:d08121ac87ba	258	const float hout[16] = { 0.45773375034332275f,0.31196489930152893f,-0.13185198605060577f,-0.16391754150390625f,-0.19424588978290558f,0.359182208776474f,-0.03189801052212715f,0.03921443596482277f,-0.1738540083169937f,0.08527485281229019f,0.24303162097930908f,-0.023280441761016846f,-0.739281177520752f,-0.4194124639034271f,-0.3134619891643524f,-0.01592673920094967f };
Lightvalve	66:a8e6799dbce3	259
Lightvalve	131:d08121ac87ba	260	const float b1[16] = { 0.8415809273719788f,1.0703039169311523f,-1.7145336866378784f,0.3049679398536682f,1.2612354755401611f,0.7037971019744873f,-0.058932315558195114f,0.8694376349449158f,0.5314441323280334f,-0.8952388167381287f,0.5985291600227356f,1.553392767906189f,-0.4700530469417572f,-1.0793685913085938f,-1.087764859199524f,0.22083836793899536f };
Lightvalve	87:471334725012	261
Lightvalve	131:d08121ac87ba	262	const float b2[16] = { -0.8204003572463989f,-1.251840591430664f,-1.4564176797866821f,-0.5728105306625366f,-0.6939148902893066f,0.08014484494924545f,0.23218181729316711f,-0.356546014547348f,-1.20063054561615f,-1.912178635597229f,-0.3182550072669983f,0.3313150703907013f,-0.19166316092014313f,1.605037808418274f,-0.18490852415561676f,1.2165850400924683f };
Lightvalve	65:a2d7c63419c2	263
Lightvalve	131:d08121ac87ba	264	const float b3[16] = { -1.963319182395935f,-3.8163950443267822f,0.02664731629192829f,-0.1306416541337967f,0.26941177248954773f,1.0376825332641602f,-0.5807558298110962f,-0.80561363697052f,0.1578773856163025f,0.12574471533298492f,-0.14371006190776825f,-0.2634562849998474f,-3.3797802925109863f,-1.3627538681030273f,0.32906922698020935f,-1.0846413373947144f };
Lightvalve	87:471334725012	265
Lightvalve	131:d08121ac87ba	266	const float bout[1] = { -0.2638187110424042f };
Lightvalve	65:a2d7c63419c2	267
Lightvalve	66:a8e6799dbce3	268
Lightvalve	87:471334725012	269	float VALVE_POS_RAW_NN = 0.0f;
Lightvalve	87:471334725012	270	float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve	61:bc8c8270f0ab	271
GiJeongKim	0:51c43836c1d7	272	int main()
GiJeongKim	0:51c43836c1d7	273	{
Lightvalve	66:a8e6799dbce3	274
Lightvalve	65:a2d7c63419c2	275	HAL_Init();
Lightvalve	65:a2d7c63419c2	276	SystemClock_Config();
Lightvalve	65:a2d7c63419c2	277
jobuuu	6:df07d3491e3a	278	/*********************************
jobuuu	1:e04e563be5ce	279	*** Initialization
jobuuu	6:df07d3491e3a	280	*********************************/
Lightvalve	69:3995ffeaa786	281	LED = 0;
Lightvalve	61:bc8c8270f0ab	282	pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	283
GiJeongKim	0:51c43836c1d7	284	// i2c init
Lightvalve	8:5d2eebdad025	285	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	286	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	287	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	288	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	289	make_delay();
jobuuu	2:a1c0a37df760	290
GiJeongKim	0:51c43836c1d7	291	// // spi init
Lightvalve	16:903b5a4433b4	292	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	293	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	294	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	295	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	296	make_delay();
Lightvalve	21:e5f1a43ea6f9	297
Lightvalve	16:903b5a4433b4	298	//rom
Lightvalve	19:23b7c1ad8683	299	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	300	make_delay();
Lightvalve	13:747daba9cf59	301
GiJeongKim	0:51c43836c1d7	302	// ADC init
jobuuu	5:a4319f79457b	303	Init_ADC();
Lightvalve	11:82d8768d7351	304	make_delay();
jobuuu	2:a1c0a37df760	305
GiJeongKim	0:51c43836c1d7	306	// Pwm init
GiJeongKim	0:51c43836c1d7	307	Init_PWM();
GiJeongKim	0:51c43836c1d7	308	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	309	make_delay();
Lightvalve	13:747daba9cf59	310
Lightvalve	11:82d8768d7351	311	// TMR3 init
Lightvalve	11:82d8768d7351	312	Init_TMR3();
Lightvalve	11:82d8768d7351	313	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	314	make_delay();
Lightvalve	21:e5f1a43ea6f9	315
Lightvalve	50:3c630b5eba9f	316	// TMR2 init
Lightvalve	56:6f50d9d3bfee	317	// Init_TMR2();
Lightvalve	56:6f50d9d3bfee	318	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	56:6f50d9d3bfee	319	// make_delay();
Lightvalve	21:e5f1a43ea6f9	320
GiJeongKim	0:51c43836c1d7	321	// CAN
jobuuu	2:a1c0a37df760	322	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	323	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	324	make_delay();
Lightvalve	34:bb2ca2fc2a8e	325
Lightvalve	23:59218d4a256d	326	//Timer priority
Lightvalve	23:59218d4a256d	327	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	57:f4819de54e7a	328	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	54:647072f5307a	329	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	330
Lightvalve	23:59218d4a256d	331	//can.reset();
Lightvalve	19:23b7c1ad8683	332	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	333
GiJeongKim	0:51c43836c1d7	334	// spi _ enc
GiJeongKim	0:51c43836c1d7	335	spi_enc_set_init();
Lightvalve	11:82d8768d7351	336	make_delay();
Lightvalve	13:747daba9cf59	337
Lightvalve	11:82d8768d7351	338	//DAC init
Lightvalve	58:2eade98630e2	339	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	340	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	58:2eade98630e2	341	dac_2 = 0.0f;
Lightvalve	58:2eade98630e2	342	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	343	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	58:2eade98630e2	344	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	58:2eade98630e2	345	}
Lightvalve	11:82d8768d7351	346	make_delay();
Lightvalve	13:747daba9cf59	347
Lightvalve	19:23b7c1ad8683	348	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	349	if(i%2==0)
Lightvalve	38:118df027d851	350	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	351	else
Lightvalve	38:118df027d851	352	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	353	}
Lightvalve	61:bc8c8270f0ab	354
Lightvalve	61:bc8c8270f0ab	355
jobuuu	6:df07d3491e3a	356	/************************************
jobuuu	1:e04e563be5ce	357	*** Program is operating!
jobuuu	6:df07d3491e3a	358	*************************************/
GiJeongKim	0:51c43836c1d7	359	while(1) {
Lightvalve	66:a8e6799dbce3	360	// if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve	66:a8e6799dbce3	361	//if(timer_while==1000) {
Lightvalve	65:a2d7c63419c2	362	//i2c
Lightvalve	66:a8e6799dbce3	363
Lightvalve	65:a2d7c63419c2	364	read_field(i2c_slave_addr1);
Lightvalve	65:a2d7c63419c2	365	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	65:a2d7c63419c2	366	// if(LED==1) {
Lightvalve	65:a2d7c63419c2	367	// LED=0;
Lightvalve	65:a2d7c63419c2	368	// } else
Lightvalve	65:a2d7c63419c2	369	// LED = 1;
Lightvalve	65:a2d7c63419c2	370	timer_while = 0;
Lightvalve	66:a8e6799dbce3	371	//}
Lightvalve	66:a8e6799dbce3	372
Lightvalve	66:a8e6799dbce3	373	timer_while ++;
Lightvalve	66:a8e6799dbce3	374
Lightvalve	87:471334725012	375	//LED = 0;
Lightvalve	87:471334725012	376
Lightvalve	73:f80dc3970c99	377	if(NN_Control_Flag == 0) {
Lightvalve	73:f80dc3970c99	378	LED = 0;
Lightvalve	73:f80dc3970c99	379	}
Lightvalve	66:a8e6799dbce3	380
Lightvalve	73:f80dc3970c99	381	else if(NN_Control_Flag == 1) {
Lightvalve	117:7141c0517b82	382
Lightvalve	117:7141c0517b82	383	int ind = 0;
Lightvalve	117:7141c0517b82	384	for(int i=0; i<numpast_u; i++) {
Lightvalve	118:af86e883dcb4	385	input_NN[ind] = u_past[time_interval*i];
Lightvalve	117:7141c0517b82	386	ind = ind + 1;
Lightvalve	117:7141c0517b82	387	}
Lightvalve	117:7141c0517b82	388
Lightvalve	117:7141c0517b82	389	for(int i=0; i<numpast_x; i++) {
Lightvalve	118:af86e883dcb4	390	input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve	117:7141c0517b82	391	ind = ind + 1;
Lightvalve	117:7141c0517b82	392	}
Lightvalve	117:7141c0517b82	393	input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	117:7141c0517b82	394	ind = ind + 1;
Lightvalve	121:89396c37b03e	395
Lightvalve	122:dcb3ce3056a0	396	// for(int i=0; i<numfuture_x; i++) {
Lightvalve	122:dcb3ce3056a0	397	// input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve	122:dcb3ce3056a0	398	// ind = ind + 1;
Lightvalve	122:dcb3ce3056a0	399	// }
Lightvalve	117:7141c0517b82	400
Lightvalve	117:7141c0517b82	401	for(int i=0; i<numpast_f; i++) {
Lightvalve	118:af86e883dcb4	402	input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve	117:7141c0517b82	403	ind = ind + 1;
Lightvalve	117:7141c0517b82	404	}
Lightvalve	117:7141c0517b82	405	input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	117:7141c0517b82	406	ind = ind + 1;
Lightvalve	117:7141c0517b82	407	for(int i=0; i<numfuture_f; i++) {
Lightvalve	118:af86e883dcb4	408	input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve	118:af86e883dcb4	409	// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve	117:7141c0517b82	410	ind = ind + 1;
Lightvalve	117:7141c0517b82	411	}
Lightvalve	117:7141c0517b82	412
Lightvalve	112:8dcb1600cb90	413	float output1[16] = { 0.0f };
Lightvalve	112:8dcb1600cb90	414	float output2[16] = { 0.0f };
Lightvalve	112:8dcb1600cb90	415	float output3[16] = { 0.0f };
Lightvalve	66:a8e6799dbce3	416	float output = 0.0f;
Lightvalve	65:a2d7c63419c2	417
Lightvalve	112:8dcb1600cb90	418	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	68:328e1be06f5d	419	for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve	66:a8e6799dbce3	420	output1[index2] = output1[index2]
Lightvalve	73:f80dc3970c99	421	+ h1[index1][index2] * input_NN[index1];
Lightvalve	66:a8e6799dbce3	422	}
Lightvalve	66:a8e6799dbce3	423	output1[index2] = output1[index2] + b1[index2];
Lightvalve	66:a8e6799dbce3	424	if (output1[index2] < 0) {
Lightvalve	66:a8e6799dbce3	425	output1[index2] = 0;
Lightvalve	66:a8e6799dbce3	426	}
Lightvalve	66:a8e6799dbce3	427	}
Lightvalve	65:a2d7c63419c2	428
Lightvalve	112:8dcb1600cb90	429	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	112:8dcb1600cb90	430	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	431	output2[index2] = output2[index2]
Lightvalve	66:a8e6799dbce3	432	+ h2[index1][index2] * output1[index1];
Lightvalve	66:a8e6799dbce3	433	}
Lightvalve	66:a8e6799dbce3	434	output2[index2] = output2[index2] + b2[index2];
Lightvalve	66:a8e6799dbce3	435	if (output2[index2] < 0) {
Lightvalve	66:a8e6799dbce3	436	output2[index2] = 0;
Lightvalve	66:a8e6799dbce3	437	}
Lightvalve	66:a8e6799dbce3	438	}
Lightvalve	65:a2d7c63419c2	439
Lightvalve	112:8dcb1600cb90	440	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	112:8dcb1600cb90	441	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	66:a8e6799dbce3	442	output3[index2] = output3[index2]
Lightvalve	66:a8e6799dbce3	443	+ h3[index1][index2] * output2[index1];
Lightvalve	66:a8e6799dbce3	444	}
Lightvalve	66:a8e6799dbce3	445	output3[index2] = output3[index2] + b3[index2];
Lightvalve	66:a8e6799dbce3	446	if (output3[index2] < 0) {
Lightvalve	66:a8e6799dbce3	447	output3[index2] = 0;
Lightvalve	66:a8e6799dbce3	448	}
Lightvalve	65:a2d7c63419c2	449	}
Lightvalve	66:a8e6799dbce3	450
Lightvalve	66:a8e6799dbce3	451	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	112:8dcb1600cb90	452	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	73:f80dc3970c99	453	output = output + hout[index1] * output3[index1];
Lightvalve	66:a8e6799dbce3	454	}
Lightvalve	66:a8e6799dbce3	455	output = output + bout[index2];
Lightvalve	73:f80dc3970c99	456
Lightvalve	66:a8e6799dbce3	457	}
Lightvalve	73:f80dc3970c99	458	output = 1.0f/(1.0f+exp(-output));
Lightvalve	101:50159049a518	459	output_normalized = output;
Lightvalve	68:328e1be06f5d	460	output = output * 20000.0f - 10000.0f;
Lightvalve	101:50159049a518	461
Lightvalve	66:a8e6799dbce3	462	if(output>=0) {
Lightvalve	66:a8e6799dbce3	463	valve_pos.ref = output0.0001f((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	66:a8e6799dbce3	464	} else {
Lightvalve	66:a8e6799dbce3	465	valve_pos.ref = -output0.0001f((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	65:a2d7c63419c2	466	}
Lightvalve	87:471334725012	467
Lightvalve	88:d6e591bece22	468	// // torque feedback
Lightvalve	88:d6e591bece22	469	// torq.err = f_past[0] - torq.sen; //[N]
Lightvalve	88:d6e591bece22	470	//// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	88:d6e591bece22	471	// torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve	88:d6e591bece22	472	//
Lightvalve	88:d6e591bece22	473	//
Lightvalve	88:d6e591bece22	474	// valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve	88:d6e591bece22	475	//
Lightvalve	88:d6e591bece22	476	// if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	88:d6e591bece22	477	// double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	88:d6e591bece22	478	// if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	88:d6e591bece22	479	// double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	480	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	481	// valve_pos.ref = VALVE_MAX_POS;
Lightvalve	88:d6e591bece22	482	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	483	// } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	88:d6e591bece22	484	// double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	485	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	88:d6e591bece22	486	// valve_pos.ref = VALVE_MIN_POS;
Lightvalve	88:d6e591bece22	487	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	88:d6e591bece22	488	// }
Lightvalve	88:d6e591bece22	489	// }
Lightvalve	87:471334725012	490
Lightvalve	69:3995ffeaa786	491
Lightvalve	69:3995ffeaa786	492	if(LED==1) {
Lightvalve	69:3995ffeaa786	493	LED=0;
Lightvalve	69:3995ffeaa786	494	} else
Lightvalve	69:3995ffeaa786	495	LED = 1;
Lightvalve	69:3995ffeaa786	496
Lightvalve	65:a2d7c63419c2	497	}
Lightvalve	62:b5452adfb2cd	498
Lightvalve	87:471334725012	499	//LED = 1;
Lightvalve	69:3995ffeaa786	500
Lightvalve	66:a8e6799dbce3	501
GiJeongKim	0:51c43836c1d7	502	}
jobuuu	1:e04e563be5ce	503	}
jobuuu	1:e04e563be5ce	504
Lightvalve	33:91b17819ec30	505	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	506	{
Lightvalve	14:8e7590227d22	507
Lightvalve	13:747daba9cf59	508	int i = 0;
Lightvalve	48:889798ff9329	509	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	510	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	511	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	512	if(i==0) {
Lightvalve	50:3c630b5eba9f	513	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	57:f4819de54e7a	514	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	515	} else {
Lightvalve	57:f4819de54e7a	516	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	517	}
Lightvalve	14:8e7590227d22	518	} else {
Lightvalve	50:3c630b5eba9f	519	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	57:f4819de54e7a	520	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	521	} else {
Lightvalve	57:f4819de54e7a	522	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	523	}
Lightvalve	13:747daba9cf59	524	}
Lightvalve	13:747daba9cf59	525	break;
Lightvalve	13:747daba9cf59	526	}
Lightvalve	13:747daba9cf59	527	}
Lightvalve	14:8e7590227d22	528	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	529	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	530	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	531	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	532	}
Lightvalve	36:a46e63505ed8	533
Lightvalve	57:f4819de54e7a	534	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	535	return Ref_Valve_Pos_FF;
Lightvalve	50:3c630b5eba9f	536
Lightvalve	13:747daba9cf59	537	}
jobuuu	6:df07d3491e3a	538
jobuuu	6:df07d3491e3a	539
Lightvalve	30:8d561f16383b	540	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	541	{
Lightvalve	13:747daba9cf59	542	int i = 0;
Lightvalve	13:747daba9cf59	543
Lightvalve	38:118df027d851	544	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	545	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	546	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	547	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	548	}
Lightvalve	38:118df027d851	549
Lightvalve	89:a7b45368ea0f	550	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	551	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	552	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	553	valve_pos_err_sum += valve_pos_err;
Lightvalve	89:a7b45368ea0f	554	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	89:a7b45368ea0f	555	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	556
Lightvalve	13:747daba9cf59	557	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	558
Lightvalve	18:b8adf1582ea3	559	for(i=0; i<24; i++) {
Lightvalve	89:a7b45368ea0f	560	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	561	if(i==0) {
Lightvalve	48:889798ff9329	562	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	563	} else {
Lightvalve	48:889798ff9329	564	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	565	}
Lightvalve	13:747daba9cf59	566	break;
Lightvalve	13:747daba9cf59	567	}
Lightvalve	13:747daba9cf59	568	}
Lightvalve	59:f308b1656d9c	569	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	570	}
Lightvalve	13:747daba9cf59	571
Lightvalve	14:8e7590227d22	572	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	573	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	574	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	575	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	576	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	577	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	578	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	579	}; // duty
Lightvalve	67:c2812cf26c38	580	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	581	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	67:c2812cf26c38	582	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	67:c2812cf26c38	583	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	67:c2812cf26c38	584	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	67:c2812cf26c38	585	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	586	}; // mV
Lightvalve	13:747daba9cf59	587
Lightvalve	30:8d561f16383b	588	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	589	{
Lightvalve	30:8d561f16383b	590	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	591	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	592	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	593	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	594	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	595	} else {
Lightvalve	13:747daba9cf59	596	int idx = 0;
Lightvalve	13:747daba9cf59	597	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	598	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	599	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	600	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	601	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	602	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	603	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	604	break;
Lightvalve	13:747daba9cf59	605	}
Lightvalve	13:747daba9cf59	606	}
Lightvalve	13:747daba9cf59	607	}
Lightvalve	14:8e7590227d22	608
Lightvalve	13:747daba9cf59	609	return PWM_duty;
Lightvalve	13:747daba9cf59	610	}
jobuuu	6:df07d3491e3a	611
Lightvalve	57:f4819de54e7a	612
Lightvalve	57:f4819de54e7a	613
Lightvalve	57:f4819de54e7a	614
Lightvalve	57:f4819de54e7a	615
jobuuu	2:a1c0a37df760	616	/*******************************************************************************
jobuuu	2:a1c0a37df760	617	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	618	*******************************************************************************/
jobuuu	2:a1c0a37df760	619
Lightvalve	51:b46bed7fec80	620	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	51:b46bed7fec80	621	float DT_TMR4 = (float)DT_20k;
Lightvalve	57:f4819de54e7a	622	long CNT_TMR4 = 0;
Lightvalve	57:f4819de54e7a	623	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	624	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	625	{
Lightvalve	19:23b7c1ad8683	626	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	627
Lightvalve	21:e5f1a43ea6f9	628	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	629	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	630	********************************************************/
Lightvalve	13:747daba9cf59	631
Lightvalve	57:f4819de54e7a	632	//Encoder
Lightvalve	57:f4819de54e7a	633	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	57:f4819de54e7a	634	ENC_UPDATE();
Lightvalve	57:f4819de54e7a	635	}
Lightvalve	61:bc8c8270f0ab	636
Lightvalve	61:bc8c8270f0ab	637	ADC1->CR2 \|= 0x40000000;
Lightvalve	58:2eade98630e2	638	if (SENSING_MODE == 0) {
Lightvalve	58:2eade98630e2	639	// Torque Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	640	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	58:2eade98630e2	641	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	58:2eade98630e2	642	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	67:c2812cf26c38	643	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	67:c2812cf26c38	644
Lightvalve	67:c2812cf26c38	645
Lightvalve	67:c2812cf26c38	646	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	67:c2812cf26c38	647	//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	67:c2812cf26c38	648	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	67:c2812cf26c38	649	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	67:c2812cf26c38	650	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	67:c2812cf26c38	651
Lightvalve	17:1865016ca2e7	652
Lightvalve	58:2eade98630e2	653	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	654	// Pressure Sensing (0~210)bar =============================================
Lightvalve	58:2eade98630e2	655	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	58:2eade98630e2	656	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	58:2eade98630e2	657	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	58:2eade98630e2	658	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	58:2eade98630e2	659	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	58:2eade98630e2	660	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	58:2eade98630e2	661	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	50:3c630b5eba9f	662
Lightvalve	58:2eade98630e2	663	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	58:2eade98630e2	664	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	665	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	58:2eade98630e2	666	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	667	}
Lightvalve	58:2eade98630e2	668	}
Lightvalve	61:bc8c8270f0ab	669
Lightvalve	58:2eade98630e2	670	// //Pressure sensor A
Lightvalve	58:2eade98630e2	671	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	58:2eade98630e2	672	// //while((ADC1->SR & 0b10));
Lightvalve	58:2eade98630e2	673	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	674	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	58:2eade98630e2	675	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	58:2eade98630e2	676	// 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	677	//
Lightvalve	58:2eade98630e2	678	//
Lightvalve	58:2eade98630e2	679	// //Pressure sensor B
Lightvalve	58:2eade98630e2	680	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	58:2eade98630e2	681	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	58:2eade98630e2	682	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	58:2eade98630e2	683	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	684
Lightvalve	17:1865016ca2e7	685
Lightvalve	21:e5f1a43ea6f9	686	//Current
Lightvalve	21:e5f1a43ea6f9	687	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	688	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	689	//while((ADC3->SR & 0b10));
Lightvalve	51:b46bed7fec80	690	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	691	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	692	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	693	//cur.sen = raw_cur;
Lightvalve	58:2eade98630e2	694
Lightvalve	57:f4819de54e7a	695	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	696	}
Lightvalve	11:82d8768d7351	697	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	698	}
Lightvalve	19:23b7c1ad8683	699
Lightvalve	19:23b7c1ad8683	700
Lightvalve	18:b8adf1582ea3	701	int j =0;
Lightvalve	54:647072f5307a	702	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	48:889798ff9329	703	float DT_TMR3 = (float)DT_5k;
Lightvalve	45:35fa6884d0c6	704	int cnt_trans = 0;
Lightvalve	48:889798ff9329	705	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	57:f4819de54e7a	706	int can_rest =0;
Lightvalve	48:889798ff9329	707
Lightvalve	11:82d8768d7351	708	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	709	{
Lightvalve	19:23b7c1ad8683	710	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	57:f4819de54e7a	711
Lightvalve	57:f4819de54e7a	712	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	57:f4819de54e7a	713	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	714	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	57:f4819de54e7a	715	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	716	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	57:f4819de54e7a	717	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	57:f4819de54e7a	718	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	57:f4819de54e7a	719	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	57:f4819de54e7a	720	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	57:f4819de54e7a	721	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	57:f4819de54e7a	722	}
Lightvalve	50:3c630b5eba9f	723
Lightvalve	50:3c630b5eba9f	724	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	48:889798ff9329	725	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	726	cnt_trans++;
Lightvalve	46:2694daea349b	727	torq.err_sum = 0;
Lightvalve	48:889798ff9329	728	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	45:35fa6884d0c6	729	MODE_POS_FT_TRANS = 2;
Lightvalve	50:3c630b5eba9f	730	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	48:889798ff9329	731	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	45:35fa6884d0c6	732	cnt_trans++;
Lightvalve	46:2694daea349b	733	torq.err_sum = 0;
Lightvalve	48:889798ff9329	734	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	45:35fa6884d0c6	735	MODE_POS_FT_TRANS = 0;
Lightvalve	50:3c630b5eba9f	736	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	58:2eade98630e2	737	alpha_trans = 1.0f;
Lightvalve	45:35fa6884d0c6	738	cnt_trans = 0;
Lightvalve	50:3c630b5eba9f	739	} else {
Lightvalve	58:2eade98630e2	740	alpha_trans = 0.0f;
Lightvalve	45:35fa6884d0c6	741	cnt_trans = 0;
Lightvalve	45:35fa6884d0c6	742	}
Lightvalve	45:35fa6884d0c6	743
Lightvalve	50:3c630b5eba9f	744
Lightvalve	57:f4819de54e7a	745	int UTILITY_MODE = 0;
Lightvalve	57:f4819de54e7a	746	int CONTROL_MODE = 0;
Lightvalve	58:2eade98630e2	747
Lightvalve	57:f4819de54e7a	748	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	57:f4819de54e7a	749	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	750	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	751	} else {
Lightvalve	57:f4819de54e7a	752	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	57:f4819de54e7a	753	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	754	}
Lightvalve	56:6f50d9d3bfee	755
Lightvalve	56:6f50d9d3bfee	756
Lightvalve	56:6f50d9d3bfee	757
Lightvalve	57:f4819de54e7a	758	// UTILITY MODE ------------------------------------------------------------
Lightvalve	56:6f50d9d3bfee	759
Lightvalve	57:f4819de54e7a	760	switch (UTILITY_MODE) {
Lightvalve	57:f4819de54e7a	761	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	762	break;
Lightvalve	13:747daba9cf59	763	}
Lightvalve	14:8e7590227d22	764
Lightvalve	14:8e7590227d22	765	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	766	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	767	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	768	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	769
Lightvalve	14:8e7590227d22	770	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	771	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	772	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	773
Lightvalve	84:c355d3e52bf1	774	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	775
Lightvalve	30:8d561f16383b	776	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	59:f308b1656d9c	777	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	50:3c630b5eba9f	778
Lightvalve	16:903b5a4433b4	779	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	780	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	781	}
Lightvalve	13:747daba9cf59	782	} else {
Lightvalve	58:2eade98630e2	783	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	784	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	785	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	786	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	787
Lightvalve	16:903b5a4433b4	788	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	789
Lightvalve	30:8d561f16383b	790	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	791
Lightvalve	13:747daba9cf59	792	}
Lightvalve	14:8e7590227d22	793	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	794	break;
Lightvalve	19:23b7c1ad8683	795	}
Lightvalve	14:8e7590227d22	796
Lightvalve	50:3c630b5eba9f	797	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	50:3c630b5eba9f	798	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	50:3c630b5eba9f	799	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	800	// else temp_time = 0;
Lightvalve	50:3c630b5eba9f	801	// }
Lightvalve	50:3c630b5eba9f	802	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	803	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	804	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	805	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	806	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	807	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	808	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	809	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	50:3c630b5eba9f	810	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	811	// }
Lightvalve	50:3c630b5eba9f	812	//
Lightvalve	50:3c630b5eba9f	813	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	814	// 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	815	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	50:3c630b5eba9f	816	//
Lightvalve	50:3c630b5eba9f	817	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	50:3c630b5eba9f	818	// V_out = 0;
Lightvalve	50:3c630b5eba9f	819	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	820	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	821	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	822	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	50:3c630b5eba9f	823	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	50:3c630b5eba9f	824	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	825	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	826	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	827	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	50:3c630b5eba9f	828	//
Lightvalve	50:3c630b5eba9f	829	// // Position of Dead Zone
Lightvalve	50:3c630b5eba9f	830	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	50:3c630b5eba9f	831	// // \| / \| / \|/
Lightvalve	50:3c630b5eba9f	832	// // \| ______/ ___\|___/ ______/\|
Lightvalve	50:3c630b5eba9f	833	// // \|/ / \| / \|
Lightvalve	50:3c630b5eba9f	834	// // /\| / \| / \|
Lightvalve	50:3c630b5eba9f	835	// // 0V 0V 0V
Lightvalve	50:3c630b5eba9f	836	//
Lightvalve	50:3c630b5eba9f	837	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	50:3c630b5eba9f	838	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	50:3c630b5eba9f	839	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	50:3c630b5eba9f	840	// } else {
Lightvalve	50:3c630b5eba9f	841	// V_out -= DZ_dir;
Lightvalve	50:3c630b5eba9f	842	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	50:3c630b5eba9f	843	// CUR_VELOCITY_sum = 0;
Lightvalve	50:3c630b5eba9f	844	// }
Lightvalve	50:3c630b5eba9f	845	// if (DZ_temp_cnt == 5) {
Lightvalve	50:3c630b5eba9f	846	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	847	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	50:3c630b5eba9f	848	// DZ_dir = -DZ_dir;
Lightvalve	50:3c630b5eba9f	849	// DZ_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	850	// DZ_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	851	// }
Lightvalve	50:3c630b5eba9f	852	// } else {
Lightvalve	50:3c630b5eba9f	853	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	50:3c630b5eba9f	854	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	50:3c630b5eba9f	855	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	50:3c630b5eba9f	856	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	857	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	50:3c630b5eba9f	858	// }
Lightvalve	50:3c630b5eba9f	859	// V_out = 0;
Lightvalve	50:3c630b5eba9f	860	//
Lightvalve	50:3c630b5eba9f	861	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	862	//
Lightvalve	50:3c630b5eba9f	863	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	50:3c630b5eba9f	864	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	50:3c630b5eba9f	865	//
Lightvalve	50:3c630b5eba9f	866	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	867	// DZ_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	868	// }
Lightvalve	50:3c630b5eba9f	869	// }
Lightvalve	50:3c630b5eba9f	870	// TMR3_COUNT_DEADZONE++;
Lightvalve	50:3c630b5eba9f	871	// break;
Lightvalve	50:3c630b5eba9f	872	// }
Lightvalve	14:8e7590227d22	873
Lightvalve	14:8e7590227d22	874	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	875	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	876	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	877	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	878	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	59:f308b1656d9c	879	pos.ref = pos.sen;
Lightvalve	59:f308b1656d9c	880	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	881	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	882	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	67:c2812cf26c38	883	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	884	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	885	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	886	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	887	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	888	}
Lightvalve	29:69f3f5445d6d	889	cnt_findhome++;
Lightvalve	14:8e7590227d22	890
Lightvalve	29:69f3f5445d6d	891	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	892	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	893	} else {
Lightvalve	29:69f3f5445d6d	894	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	895	}
Lightvalve	19:23b7c1ad8683	896
Lightvalve	57:f4819de54e7a	897	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	898	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	67:c2812cf26c38	899	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	67:c2812cf26c38	900	else pos.ref = pos.ref - 12.0f;
Lightvalve	61:bc8c8270f0ab	901
Lightvalve	59:f308b1656d9c	902	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	59:f308b1656d9c	903	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	904	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	59:f308b1656d9c	905	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	906	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	907
Lightvalve	59:f308b1656d9c	908	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	59:f308b1656d9c	909	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	910
Lightvalve	34:bb2ca2fc2a8e	911
Lightvalve	29:69f3f5445d6d	912	} else {
Lightvalve	29:69f3f5445d6d	913	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	67:c2812cf26c38	914	// ENC_SET_ZERO();
Lightvalve	29:69f3f5445d6d	915	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	916	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	917	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	918	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	919	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	920	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	921	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	922	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	923	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	67:c2812cf26c38	924
Lightvalve	67:c2812cf26c38	925
Lightvalve	67:c2812cf26c38	926	cnt_findhome = 0;
Lightvalve	67:c2812cf26c38	927	pos.ref = 0.0f;
Lightvalve	67:c2812cf26c38	928	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	929	pos.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	930	vel.ref_home_pos = 0.0f;
Lightvalve	67:c2812cf26c38	931	//FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	67:c2812cf26c38	932	//CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	933
Lightvalve	67:c2812cf26c38	934
Lightvalve	29:69f3f5445d6d	935	}
Lightvalve	29:69f3f5445d6d	936	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	937	int T_move = 2*TMR_FREQ_5k;
Lightvalve	59:f308b1656d9c	938	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	939	//pos.ref = 0.0f;
Lightvalve	59:f308b1656d9c	940	vel.ref = 0.0f;
Lightvalve	67:c2812cf26c38	941
Lightvalve	29:69f3f5445d6d	942	// input for position control
Lightvalve	67:c2812cf26c38	943
Lightvalve	67:c2812cf26c38	944	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	67:c2812cf26c38	945	alpha_trans = 0.0f;
Lightvalve	61:bc8c8270f0ab	946
Lightvalve	67:c2812cf26c38	947	double torq_ref = 0.0f;
Lightvalve	67:c2812cf26c38	948	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	949	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	67:c2812cf26c38	950	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	951
Lightvalve	67:c2812cf26c38	952	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	67:c2812cf26c38	953
Lightvalve	67:c2812cf26c38	954	double I_REF_POS = 0.0f;
Lightvalve	67:c2812cf26c38	955	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	67:c2812cf26c38	956	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	67:c2812cf26c38	957
Lightvalve	67:c2812cf26c38	958	double temp_vel_pos = 0.0f;
Lightvalve	67:c2812cf26c38	959	double temp_vel_torq = 0.0f;
Lightvalve	67:c2812cf26c38	960	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	67:c2812cf26c38	961
Lightvalve	69:3995ffeaa786	962	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	67:c2812cf26c38	963	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	964	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	965	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	67:c2812cf26c38	966	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	967	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:c2812cf26c38	968	}
Lightvalve	67:c2812cf26c38	969	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	970	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	67:c2812cf26c38	971
Lightvalve	67:c2812cf26c38	972	I_REF = I_REF_POS;
Lightvalve	67:c2812cf26c38	973
Lightvalve	67:c2812cf26c38	974
Lightvalve	67:c2812cf26c38	975
Lightvalve	67:c2812cf26c38	976	} else {
Lightvalve	67:c2812cf26c38	977	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	67:c2812cf26c38	978	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	979
Lightvalve	67:c2812cf26c38	980	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	67:c2812cf26c38	981	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	67:c2812cf26c38	982	} else {
Lightvalve	67:c2812cf26c38	983	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	67:c2812cf26c38	984	}
Lightvalve	67:c2812cf26c38	985
Lightvalve	67:c2812cf26c38	986	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	67:c2812cf26c38	987
Lightvalve	67:c2812cf26c38	988	V_out = (float) Vout.ref;
Lightvalve	67:c2812cf26c38	989
Lightvalve	67:c2812cf26c38	990	}
Lightvalve	67:c2812cf26c38	991
Lightvalve	67:c2812cf26c38	992
Lightvalve	67:c2812cf26c38	993
Lightvalve	67:c2812cf26c38	994
Lightvalve	59:f308b1656d9c	995	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	59:f308b1656d9c	996	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	59:f308b1656d9c	997	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	59:f308b1656d9c	998	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	59:f308b1656d9c	999	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	1000
Lightvalve	29:69f3f5445d6d	1001	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	1002	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	1003	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	1004	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1005	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1006	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1007	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1008	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1009	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	57:f4819de54e7a	1010	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	1011	}
Lightvalve	13:747daba9cf59	1012	}
Lightvalve	19:23b7c1ad8683	1013
Lightvalve	13:747daba9cf59	1014	break;
Lightvalve	13:747daba9cf59	1015	}
Lightvalve	14:8e7590227d22	1016
Lightvalve	50:3c630b5eba9f	1017	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	50:3c630b5eba9f	1018	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	50:3c630b5eba9f	1019	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	50:3c630b5eba9f	1020	// else {
Lightvalve	50:3c630b5eba9f	1021	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1022	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	50:3c630b5eba9f	1023	// }
Lightvalve	50:3c630b5eba9f	1024	// }
Lightvalve	50:3c630b5eba9f	1025	// if (need_enc_init) {
Lightvalve	50:3c630b5eba9f	1026	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	50:3c630b5eba9f	1027	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1028	// pos_plus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	1029	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1030	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1031	// pos_minus_end = pos.sen;
Lightvalve	50:3c630b5eba9f	1032	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1033	// need_enc_init = false;
Lightvalve	50:3c630b5eba9f	1034	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	1035	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	50:3c630b5eba9f	1036	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	50:3c630b5eba9f	1037	// }
Lightvalve	50:3c630b5eba9f	1038	// temp_time = TMR_FREQ_5k;
Lightvalve	50:3c630b5eba9f	1039	// }
Lightvalve	50:3c630b5eba9f	1040	// TMR3_COUNT_FLOWRATE++;
Lightvalve	50:3c630b5eba9f	1041	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	50:3c630b5eba9f	1042	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	50:3c630b5eba9f	1043	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1044	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1045	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1046	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1047	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1048	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	50:3c630b5eba9f	1049	// // 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	1050	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1051	// }
Lightvalve	50:3c630b5eba9f	1052	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	50:3c630b5eba9f	1053	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	50:3c630b5eba9f	1054	// V_out = VALVE_VOLTAGE;
Lightvalve	50:3c630b5eba9f	1055	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	50:3c630b5eba9f	1056	// fl_temp_cnt++;
Lightvalve	50:3c630b5eba9f	1057	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	50:3c630b5eba9f	1058	// 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	1059	// // 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	1060	// fl_temp_cnt2++;
Lightvalve	50:3c630b5eba9f	1061	// }
Lightvalve	50:3c630b5eba9f	1062	// }
Lightvalve	50:3c630b5eba9f	1063	// if (fl_temp_cnt2 == 100) {
Lightvalve	50:3c630b5eba9f	1064	//
Lightvalve	50:3c630b5eba9f	1065	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1066	//
Lightvalve	50:3c630b5eba9f	1067	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	50:3c630b5eba9f	1068	// cur_vel_sum = 0;
Lightvalve	50:3c630b5eba9f	1069	// fl_temp_cnt = 0;
Lightvalve	50:3c630b5eba9f	1070	// fl_temp_cnt2 = 0;
Lightvalve	50:3c630b5eba9f	1071	// flag_flowrate++;
Lightvalve	50:3c630b5eba9f	1072	// }
Lightvalve	50:3c630b5eba9f	1073	// if (flag_flowrate == 10) {
Lightvalve	50:3c630b5eba9f	1074	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1075	// flag_flowrate = 0;
Lightvalve	50:3c630b5eba9f	1076	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	50:3c630b5eba9f	1077	// valve_gain_repeat_cnt++;
Lightvalve	50:3c630b5eba9f	1078	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	50:3c630b5eba9f	1079	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1080	// valve_gain_repeat_cnt = 0;
Lightvalve	50:3c630b5eba9f	1081	// }
Lightvalve	50:3c630b5eba9f	1082	//
Lightvalve	50:3c630b5eba9f	1083	// }
Lightvalve	50:3c630b5eba9f	1084	// break;
Lightvalve	50:3c630b5eba9f	1085	// }
Lightvalve	50:3c630b5eba9f	1086	//
Lightvalve	50:3c630b5eba9f	1087	// }
Lightvalve	14:8e7590227d22	1088	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1089	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1090	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1091	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1092	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1093
Lightvalve	14:8e7590227d22	1094	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1095	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1096	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1097	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1098	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1099
Lightvalve	38:118df027d851	1100	float VREF_NullingGain = 0.0003f;
Lightvalve	58:2eade98630e2	1101	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	58:2eade98630e2	1102	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	1103
Lightvalve	30:8d561f16383b	1104	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1105	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1106	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1107	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1108
Lightvalve	30:8d561f16383b	1109	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1110	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1111	}
Lightvalve	13:747daba9cf59	1112	} else {
Lightvalve	57:f4819de54e7a	1113	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1114	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1115	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1116	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1117	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1118	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1119
Lightvalve	16:903b5a4433b4	1120	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1121
Lightvalve	30:8d561f16383b	1122	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1123	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1124	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1125	}
Lightvalve	14:8e7590227d22	1126	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1127	break;
Lightvalve	13:747daba9cf59	1128	}
Lightvalve	14:8e7590227d22	1129
Lightvalve	50:3c630b5eba9f	1130	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	50:3c630b5eba9f	1131	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1132	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1133	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1134	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	50:3c630b5eba9f	1135	// }
Lightvalve	50:3c630b5eba9f	1136	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1137	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1138	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1139	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	50:3c630b5eba9f	1140	// }
Lightvalve	50:3c630b5eba9f	1141	// } else {
Lightvalve	50:3c630b5eba9f	1142	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1143	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	50:3c630b5eba9f	1144	// V_out = 0;
Lightvalve	50:3c630b5eba9f	1145	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	50:3c630b5eba9f	1146	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1147	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	50:3c630b5eba9f	1148	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	50:3c630b5eba9f	1149	// CUR_PRES_A_sum = 0;
Lightvalve	50:3c630b5eba9f	1150	// CUR_PRES_B_sum = 0;
Lightvalve	50:3c630b5eba9f	1151	// CUR_PRES_A_mean = 0;
Lightvalve	50:3c630b5eba9f	1152	// CUR_PRES_B_mean = 0;
Lightvalve	50:3c630b5eba9f	1153	//
Lightvalve	50:3c630b5eba9f	1154	// ROM_RESET_DATA();
Lightvalve	50:3c630b5eba9f	1155	//
Lightvalve	50:3c630b5eba9f	1156	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1157	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	50:3c630b5eba9f	1158	// }
Lightvalve	50:3c630b5eba9f	1159	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	50:3c630b5eba9f	1160	// break;
Lightvalve	50:3c630b5eba9f	1161	// }
Lightvalve	19:23b7c1ad8683	1162
Lightvalve	50:3c630b5eba9f	1163	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	50:3c630b5eba9f	1164	// 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	1165	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	50:3c630b5eba9f	1166	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1167	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	50:3c630b5eba9f	1168	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	50:3c630b5eba9f	1169	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	50:3c630b5eba9f	1170	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	50:3c630b5eba9f	1171	// V_out = 0.0f;
Lightvalve	50:3c630b5eba9f	1172	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	50:3c630b5eba9f	1173	// }
Lightvalve	50:3c630b5eba9f	1174	// break;
Lightvalve	50:3c630b5eba9f	1175	// }
Lightvalve	14:8e7590227d22	1176
Lightvalve	14:8e7590227d22	1177	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	59:f308b1656d9c	1178	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1179	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1180
Lightvalve	14:8e7590227d22	1181	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	60:64181f1d3e60	1182	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1183	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	59:f308b1656d9c	1184	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1185	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1186	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1187	data_num = 0;
Lightvalve	14:8e7590227d22	1188	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1189	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1190	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1191	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	59:f308b1656d9c	1192	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1193	} else {
Lightvalve	13:747daba9cf59	1194	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1195	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1196	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1197	}
Lightvalve	14:8e7590227d22	1198
Lightvalve	17:1865016ca2e7	1199	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1200	int i;
Lightvalve	13:747daba9cf59	1201	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1202	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1203	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1204	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1205	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1206	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1207	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1208	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1209	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1210	}
Lightvalve	13:747daba9cf59	1211	}
Lightvalve	59:f308b1656d9c	1212	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1213	ID_index = 0;
Lightvalve	57:f4819de54e7a	1214	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1215	}
Lightvalve	14:8e7590227d22	1216
Lightvalve	14:8e7590227d22	1217
Lightvalve	13:747daba9cf59	1218	break;
Lightvalve	13:747daba9cf59	1219	}
Lightvalve	14:8e7590227d22	1220
Lightvalve	14:8e7590227d22	1221	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	59:f308b1656d9c	1222	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1223	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1224	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1225	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1226	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1227	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1228	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1229	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1230	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1231	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1232	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1233	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1234	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1235	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1236	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	1237	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1238	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	1239	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1240	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1241	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1242	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	1243	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1244	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1245	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1246	data_num = 0;
Lightvalve	14:8e7590227d22	1247
Lightvalve	30:8d561f16383b	1248	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1249	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1250	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1251
Lightvalve	30:8d561f16383b	1252	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1253	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1254	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1255
Lightvalve	30:8d561f16383b	1256	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1257	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1258	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1259	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1260
Lightvalve	60:64181f1d3e60	1261	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	1262	DZ_case = 1;
Lightvalve	60:64181f1d3e60	1263	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	1264	DZ_case = -1;
Lightvalve	14:8e7590227d22	1265	} else {
Lightvalve	13:747daba9cf59	1266	DZ_case = 0;
Lightvalve	13:747daba9cf59	1267	}
Lightvalve	61:bc8c8270f0ab	1268
Lightvalve	60:64181f1d3e60	1269	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	50:3c630b5eba9f	1270
Lightvalve	13:747daba9cf59	1271	first_check = 1;
Lightvalve	13:747daba9cf59	1272	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1273	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1274	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1275	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1276	DZ_index = 1;
Lightvalve	14:8e7590227d22	1277
Lightvalve	13:747daba9cf59	1278	}
Lightvalve	19:23b7c1ad8683	1279	} else {
Lightvalve	14:8e7590227d22	1280	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1281	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1282	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	1283	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1284	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1285	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1286	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1287	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1288	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1289	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1290	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1291	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1292	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1293	}
Lightvalve	14:8e7590227d22	1294	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1295
Lightvalve	30:8d561f16383b	1296	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1297	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1298	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1299
Lightvalve	14:8e7590227d22	1300	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1301	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1302	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1303	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1304	} else {
Lightvalve	13:747daba9cf59	1305	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1306	}
Lightvalve	14:8e7590227d22	1307
Lightvalve	13:747daba9cf59	1308	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1309	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1310	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1311	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1312	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1313	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1314	DZ_index = 1;
Lightvalve	13:747daba9cf59	1315	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1316	}
Lightvalve	13:747daba9cf59	1317	}
Lightvalve	14:8e7590227d22	1318	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1319	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1320	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	1321	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1322	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1323	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1324	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1325	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1326	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1327	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1328	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1329	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1330	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1331	}
Lightvalve	14:8e7590227d22	1332	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1333
Lightvalve	30:8d561f16383b	1334	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1335	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1336	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1337	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1338	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1339
Lightvalve	14:8e7590227d22	1340	if((FINAL_POS - START_POS)>100) {
Lightvalve	60:64181f1d3e60	1341	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1342	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1343	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1344	} else {
Lightvalve	60:64181f1d3e60	1345	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1346	}
Lightvalve	14:8e7590227d22	1347
Lightvalve	13:747daba9cf59	1348	VALVE_DZ_timer = 0;
Lightvalve	60:64181f1d3e60	1349	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1350	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1351	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1352	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1353	first_check = 0;
Lightvalve	33:91b17819ec30	1354	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1355	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1356
Lightvalve	16:903b5a4433b4	1357	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1358
Lightvalve	60:64181f1d3e60	1359	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1360	DZ_index = 1;
Lightvalve	13:747daba9cf59	1361	}
Lightvalve	13:747daba9cf59	1362	}
Lightvalve	14:8e7590227d22	1363	} else if(DZ_case == 0 && DZ_NUM ==1) {
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;
Lightvalve	13:747daba9cf59	1376	}
Lightvalve	14:8e7590227d22	1377	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1378
Lightvalve	30:8d561f16383b	1379	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1380	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1381	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1382
Lightvalve	14:8e7590227d22	1383	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1384	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1385	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1386	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1387	} else {
Lightvalve	13:747daba9cf59	1388	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1389	}
Lightvalve	13:747daba9cf59	1390	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1391	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1392	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1393	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1394	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1395	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1396	DZ_index = 1;
Lightvalve	13:747daba9cf59	1397	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1398	}
Lightvalve	13:747daba9cf59	1399	}
Lightvalve	14:8e7590227d22	1400	} else {
Lightvalve	30:8d561f16383b	1401	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	60:64181f1d3e60	1402	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	1403	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	60:64181f1d3e60	1404	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1405	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1406	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1407	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1408	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1409	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1410	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1411	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1412	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1413	}
Lightvalve	14:8e7590227d22	1414	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	60:64181f1d3e60	1415
Lightvalve	30:8d561f16383b	1416	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1417	Vout.ref = 0.0f;
Lightvalve	59:f308b1656d9c	1418	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1419	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1420	FINAL_POS = pos.sen;
Lightvalve	61:bc8c8270f0ab	1421
Lightvalve	60:64181f1d3e60	1422	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1423	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1424	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	60:64181f1d3e60	1425	DZ_DIRECTION = -1;
Lightvalve	60:64181f1d3e60	1426	} else {
Lightvalve	13:747daba9cf59	1427	DZ_DIRECTION = 1;
Lightvalve	60:64181f1d3e60	1428	}
Lightvalve	14:8e7590227d22	1429
Lightvalve	13:747daba9cf59	1430	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1431	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1432	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1433	SECOND_DZ = valve_pos.ref;
Lightvalve	57:f4819de54e7a	1434	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1435	first_check = 0;
Lightvalve	33:91b17819ec30	1436	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1437	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	61:bc8c8270f0ab	1438
Lightvalve	59:f308b1656d9c	1439	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1440
Lightvalve	57:f4819de54e7a	1441	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1442	DZ_index = 1;
Lightvalve	13:747daba9cf59	1443	}
Lightvalve	13:747daba9cf59	1444	}
Lightvalve	13:747daba9cf59	1445	}
Lightvalve	14:8e7590227d22	1446	}
Lightvalve	13:747daba9cf59	1447	break;
Lightvalve	13:747daba9cf59	1448	}
Lightvalve	14:8e7590227d22	1449
Lightvalve	14:8e7590227d22	1450	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	59:f308b1656d9c	1451	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1452	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1453	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1454	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1455	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1456	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1457	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1458	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1459	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1460	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1461	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1462	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1463	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1464	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	59:f308b1656d9c	1465	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1466	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1467	first_check = 1;
Lightvalve	13:747daba9cf59	1468	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1469	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1470	ID_index = 0;
Lightvalve	13:747daba9cf59	1471	max_check = 0;
Lightvalve	13:747daba9cf59	1472	min_check = 0;
Lightvalve	13:747daba9cf59	1473	}
Lightvalve	14:8e7590227d22	1474	} else {
Lightvalve	30:8d561f16383b	1475	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	59:f308b1656d9c	1476	//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	1477	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	59:f308b1656d9c	1478	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1479	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1480	data_num = 0;
Lightvalve	57:f4819de54e7a	1481	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1482
Lightvalve	14:8e7590227d22	1483	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1484	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1485	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f4819de54e7a	1486	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1487	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1488	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1489	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1490	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1491	one_period_end = 1;
Lightvalve	13:747daba9cf59	1492	}
Lightvalve	30:8d561f16383b	1493	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1494	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1495	one_period_end = 1;
Lightvalve	59:f308b1656d9c	1496	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1497	}
Lightvalve	14:8e7590227d22	1498
Lightvalve	14:8e7590227d22	1499	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1500	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1501	max_check = 1;
Lightvalve	14:8e7590227d22	1502	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1503	min_check = 1;
Lightvalve	13:747daba9cf59	1504	}
Lightvalve	13:747daba9cf59	1505	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1506
Lightvalve	13:747daba9cf59	1507	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1508	one_period_end = 0;
Lightvalve	13:747daba9cf59	1509	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1510	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1511	}
Lightvalve	14:8e7590227d22	1512
Lightvalve	14:8e7590227d22	1513	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1514
Lightvalve	13:747daba9cf59	1515	VALVE_POS_NUM = ID_index;
Lightvalve	59:f308b1656d9c	1516	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1517	ID_index = 0;
Lightvalve	13:747daba9cf59	1518	first_check = 0;
Lightvalve	13:747daba9cf59	1519	VALVE_FR_timer = 0;
Lightvalve	57:f4819de54e7a	1520	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	49:e7bcfc244d40	1521	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1522	}
Lightvalve	13:747daba9cf59	1523	}
Lightvalve	13:747daba9cf59	1524	break;
Lightvalve	13:747daba9cf59	1525	}
Lightvalve	58:2eade98630e2	1526
Lightvalve	57:f4819de54e7a	1527	case MODE_SYSTEM_ID: {
Lightvalve	57:f4819de54e7a	1528	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	57:f4819de54e7a	1529	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	57:f4819de54e7a	1530	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	57:f4819de54e7a	1531	cnt_sysid++;
Lightvalve	57:f4819de54e7a	1532	if (freq_sysid_Iref >= 300) {
Lightvalve	57:f4819de54e7a	1533	cnt_sysid = 0;
Lightvalve	57:f4819de54e7a	1534	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	57:f4819de54e7a	1535	}
Lightvalve	57:f4819de54e7a	1536	break;
Lightvalve	57:f4819de54e7a	1537	}
Lightvalve	58:2eade98630e2	1538
Lightvalve	58:2eade98630e2	1539
Lightvalve	57:f4819de54e7a	1540
Lightvalve	57:f4819de54e7a	1541	default:
Lightvalve	57:f4819de54e7a	1542	break;
Lightvalve	57:f4819de54e7a	1543	}
Lightvalve	57:f4819de54e7a	1544
Lightvalve	57:f4819de54e7a	1545	// CONTROL MODE ------------------------------------------------------------
Lightvalve	57:f4819de54e7a	1546
Lightvalve	57:f4819de54e7a	1547	switch (CONTROL_MODE) {
Lightvalve	57:f4819de54e7a	1548	case MODE_NO_ACT: {
Lightvalve	57:f4819de54e7a	1549	V_out = 0.0f;
Lightvalve	57:f4819de54e7a	1550	break;
Lightvalve	57:f4819de54e7a	1551	}
Lightvalve	57:f4819de54e7a	1552
Lightvalve	57:f4819de54e7a	1553	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	67:c2812cf26c38	1554	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	57:f4819de54e7a	1555	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:f308b1656d9c	1556	V_out = Vout.ref;
Lightvalve	67:c2812cf26c38	1557	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	67:c2812cf26c38	1558	V_out = valve_pos.ref;
Lightvalve	67:c2812cf26c38	1559	} else {
Lightvalve	67:c2812cf26c38	1560	I_REF = valve_pos.ref * 0.001f;
Lightvalve	57:f4819de54e7a	1561	}
Lightvalve	58:2eade98630e2	1562
Lightvalve	57:f4819de54e7a	1563	break;
Lightvalve	57:f4819de54e7a	1564	}
Lightvalve	57:f4819de54e7a	1565
Lightvalve	57:f4819de54e7a	1566	case MODE_JOINT_CONTROL: {
Lightvalve	57:f4819de54e7a	1567	double torq_ref = 0.0f;
Lightvalve	57:f4819de54e7a	1568	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	67:c2812cf26c38	1569	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	57:f4819de54e7a	1570	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	67:c2812cf26c38	1571
Lightvalve	67:c2812cf26c38	1572	//K & D Low Pass Filter
Lightvalve	67:c2812cf26c38	1573	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	67:c2812cf26c38	1574	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	67:c2812cf26c38	1575	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	67:c2812cf26c38	1576
Lightvalve	67:c2812cf26c38	1577	torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	57:f4819de54e7a	1578
Lightvalve	57:f4819de54e7a	1579	// torque feedback
Lightvalve	67:c2812cf26c38	1580	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	57:f4819de54e7a	1581	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	57:f4819de54e7a	1582
Lightvalve	57:f4819de54e7a	1583	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	58:2eade98630e2	1584
Lightvalve	57:f4819de54e7a	1585	double I_REF_POS = 0.0f;
Lightvalve	57:f4819de54e7a	1586	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	57:f4819de54e7a	1587	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	57:f4819de54e7a	1588
Lightvalve	57:f4819de54e7a	1589	double temp_vel_pos = 0.0f;
Lightvalve	57:f4819de54e7a	1590	double temp_vel_torq = 0.0f;
Lightvalve	57:f4819de54e7a	1591	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	58:2eade98630e2	1592
Lightvalve	69:3995ffeaa786	1593	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1594	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	1595	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	69:3995ffeaa786	1596	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1597	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	1598	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	57:f4819de54e7a	1599	}
Lightvalve	57:f4819de54e7a	1600	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	1601	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1602
Lightvalve	57:f4819de54e7a	1603	// velocity compensation for torque control
Lightvalve	69:3995ffeaa786	1604	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	57:f4819de54e7a	1605	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	57:f4819de54e7a	1606	// 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	1607	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	57:f4819de54e7a	1608	// L feedforward velocity
Lightvalve	69:3995ffeaa786	1609	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	57:f4819de54e7a	1610	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	1611	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1612	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	57:f4819de54e7a	1613	// L feedforward velocity
Lightvalve	57:f4819de54e7a	1614	}
Lightvalve	57:f4819de54e7a	1615	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	1616	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	57:f4819de54e7a	1617	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	57:f4819de54e7a	1618	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	57:f4819de54e7a	1619	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	57:f4819de54e7a	1620
Lightvalve	57:f4819de54e7a	1621	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	67:c2812cf26c38	1622
Lightvalve	67:c2812cf26c38	1623	// Anti-windup for FT
Lightvalve	67:c2812cf26c38	1624	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	67:c2812cf26c38	1625	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	67:c2812cf26c38	1626	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	67:c2812cf26c38	1627	if (I_REF > I_MAX) {
Lightvalve	67:c2812cf26c38	1628	double I_rem = I_REF - I_MAX;
Lightvalve	67:c2812cf26c38	1629	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1630	I_REF = I_MAX;
Lightvalve	67:c2812cf26c38	1631	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1632	} else if (I_REF < -I_MAX) {
Lightvalve	67:c2812cf26c38	1633	double I_rem = I_REF - (-I_MAX);
Lightvalve	67:c2812cf26c38	1634	I_rem = Ka*I_rem;
Lightvalve	67:c2812cf26c38	1635	I_REF = -I_MAX;
Lightvalve	67:c2812cf26c38	1636	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	67:c2812cf26c38	1637	}
Lightvalve	67:c2812cf26c38	1638	}
Lightvalve	57:f4819de54e7a	1639
Lightvalve	57:f4819de54e7a	1640	} else {
Lightvalve	57:f4819de54e7a	1641	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	72:3436ce769b1e	1642	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	72:3436ce769b1e	1643	float VALVE_POS_RAW = 0.0f;
Lightvalve	72:3436ce769b1e	1644
Lightvalve	57:f4819de54e7a	1645	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	1646	+ 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	1647
Lightvalve	72:3436ce769b1e	1648	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	1649
Lightvalve	72:3436ce769b1e	1650	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	72:3436ce769b1e	1651
Lightvalve	72:3436ce769b1e	1652
Lightvalve	72:3436ce769b1e	1653	if (VALVE_POS_RAW >= 0) {
Lightvalve	72:3436ce769b1e	1654	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	57:f4819de54e7a	1655	} else {
Lightvalve	72:3436ce769b1e	1656	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	57:f4819de54e7a	1657	}
Lightvalve	57:f4819de54e7a	1658
Lightvalve	57:f4819de54e7a	1659	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	57:f4819de54e7a	1660	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	57:f4819de54e7a	1661	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	57:f4819de54e7a	1662	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1663	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1664	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	57:f4819de54e7a	1665	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1666	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	57:f4819de54e7a	1667	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1668	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	57:f4819de54e7a	1669	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	57:f4819de54e7a	1670	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	57:f4819de54e7a	1671	}
Lightvalve	57:f4819de54e7a	1672	}
Lightvalve	61:bc8c8270f0ab	1673
Lightvalve	57:f4819de54e7a	1674	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	61:bc8c8270f0ab	1675
Lightvalve	67:c2812cf26c38	1676	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	60:64181f1d3e60	1677	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1678
Lightvalve	57:f4819de54e7a	1679	}
Lightvalve	72:3436ce769b1e	1680
Lightvalve	72:3436ce769b1e	1681	torq_ref_past = torq_ref;
Lightvalve	58:2eade98630e2	1682
Lightvalve	57:f4819de54e7a	1683	break;
Lightvalve	57:f4819de54e7a	1684	}
Lightvalve	58:2eade98630e2	1685
Lightvalve	57:f4819de54e7a	1686	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	57:f4819de54e7a	1687	V_out = (float) Vout.ref;
Lightvalve	57:f4819de54e7a	1688	break;
Lightvalve	57:f4819de54e7a	1689	}
Lightvalve	14:8e7590227d22	1690
Lightvalve	12:6f2531038ea4	1691	default:
Lightvalve	12:6f2531038ea4	1692	break;
Lightvalve	12:6f2531038ea4	1693	}
Lightvalve	14:8e7590227d22	1694
Lightvalve	57:f4819de54e7a	1695
Lightvalve	57:f4819de54e7a	1696	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	58:2eade98630e2	1697
Lightvalve	57:f4819de54e7a	1698	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1699	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	57:f4819de54e7a	1700	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1701	if (CURRENT_CONTROL_MODE) {
Lightvalve	67:c2812cf26c38	1702	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	57:f4819de54e7a	1703	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	57:f4819de54e7a	1704
Lightvalve	57:f4819de54e7a	1705	I_ERR = I_REF_fil - cur.sen;
Lightvalve	67:c2812cf26c38	1706	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	57:f4819de54e7a	1707
Lightvalve	57:f4819de54e7a	1708
Lightvalve	57:f4819de54e7a	1709	// Moog Valve Current Control Gain
Lightvalve	67:c2812cf26c38	1710	double R_model = 500.0f; // ohm
Lightvalve	57:f4819de54e7a	1711	double L_model = 1.2f;
Lightvalve	57:f4819de54e7a	1712	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	57:f4819de54e7a	1713	double KP_I = 0.1f * L_model*w0;
Lightvalve	57:f4819de54e7a	1714	double KI_I = 0.1f * R_model*w0;
Lightvalve	57:f4819de54e7a	1715
Lightvalve	57:f4819de54e7a	1716	// KNR Valve Current Control Gain
Lightvalve	57:f4819de54e7a	1717	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	57:f4819de54e7a	1718	R_model = 163.0f; // ohm
Lightvalve	57:f4819de54e7a	1719	L_model = 1.0f;
Lightvalve	57:f4819de54e7a	1720	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	57:f4819de54e7a	1721	KP_I = 1.0f * L_model*w0;
Lightvalve	57:f4819de54e7a	1722	KI_I = 0.08f * R_model*w0;
Lightvalve	57:f4819de54e7a	1723	}
Lightvalve	57:f4819de54e7a	1724
Lightvalve	57:f4819de54e7a	1725	double FF_gain = 1.0f;
Lightvalve	57:f4819de54e7a	1726
Lightvalve	67:c2812cf26c38	1727	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	57:f4819de54e7a	1728	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	57:f4819de54e7a	1729	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	57:f4819de54e7a	1730	I_REF_fil_old = I_REF_fil;
Lightvalve	67:c2812cf26c38	1731	// 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	1732	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	67:c2812cf26c38	1733	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	57:f4819de54e7a	1734
Lightvalve	57:f4819de54e7a	1735	double Ka = 3.0f / KP_I;
Lightvalve	57:f4819de54e7a	1736	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	57:f4819de54e7a	1737	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	57:f4819de54e7a	1738	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1739	VALVE_PWM_RAW = V_MAX;
Lightvalve	67:c2812cf26c38	1740	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1741	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	57:f4819de54e7a	1742	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	57:f4819de54e7a	1743	V_rem = Ka*V_rem;
Lightvalve	57:f4819de54e7a	1744	VALVE_PWM_RAW = -V_MAX;
Lightvalve	67:c2812cf26c38	1745	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	57:f4819de54e7a	1746	}
Lightvalve	57:f4819de54e7a	1747	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1748	} else {
Lightvalve	57:f4819de54e7a	1749	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	57:f4819de54e7a	1750	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	57:f4819de54e7a	1751	}
Lightvalve	57:f4819de54e7a	1752
Lightvalve	57:f4819de54e7a	1753	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1754	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	57:f4819de54e7a	1755	////////////////////////////////////////////////////////////////////////////
Lightvalve	57:f4819de54e7a	1756	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	57:f4819de54e7a	1757	if (FLAG_VALVE_DEADZONE) {
Lightvalve	57:f4819de54e7a	1758	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1759	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1760
Lightvalve	57:f4819de54e7a	1761	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	57:f4819de54e7a	1762
Lightvalve	57:f4819de54e7a	1763	} else {
Lightvalve	57:f4819de54e7a	1764	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	57:f4819de54e7a	1765	}
Lightvalve	57:f4819de54e7a	1766
Lightvalve	57:f4819de54e7a	1767	// Output Voltage Linearization
Lightvalve	57:f4819de54e7a	1768	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	67:c2812cf26c38	1769	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	57:f4819de54e7a	1770
Lightvalve	57:f4819de54e7a	1771	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	67:c2812cf26c38	1772	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	67:c2812cf26c38	1773	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	67:c2812cf26c38	1774	else V_out = (float) (CUR_PWM_lin);
Lightvalve	57:f4819de54e7a	1775	}
Lightvalve	89:a7b45368ea0f	1776	else { //////////////////////////sw valve
Lightvalve	89:a7b45368ea0f	1777	// Output Voltage Linearization
Lightvalve	89:a7b45368ea0f	1778	double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	89:a7b45368ea0f	1779	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	89:a7b45368ea0f	1780
Lightvalve	89:a7b45368ea0f	1781	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	89:a7b45368ea0f	1782	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	89:a7b45368ea0f	1783	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	89:a7b45368ea0f	1784	else V_out = (float) (CUR_PWM_lin);
Lightvalve	89:a7b45368ea0f	1785	}
Lightvalve	67:c2812cf26c38	1786
Lightvalve	67:c2812cf26c38	1787	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	67:c2812cf26c38	1788	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	67:c2812cf26c38	1789	// else V_out = V_out;
Lightvalve	67:c2812cf26c38	1790
jobuuu	7:e9086c72bb22	1791	/*******************************************************
jobuuu	7:e9086c72bb22	1792	*** PWM
jobuuu	7:e9086c72bb22	1793	********************************************************/
Lightvalve	67:c2812cf26c38	1794	if(DIR_VALVE<0){
Lightvalve	67:c2812cf26c38	1795	V_out = -V_out;
Lightvalve	67:c2812cf26c38	1796	}
Lightvalve	67:c2812cf26c38	1797
Lightvalve	49:e7bcfc244d40	1798	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1799	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	49:e7bcfc244d40	1800	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	49:e7bcfc244d40	1801	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1802	}
Lightvalve	49:e7bcfc244d40	1803	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1804
Lightvalve	19:23b7c1ad8683	1805	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1806	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1807	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1808
Lightvalve	30:8d561f16383b	1809	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1810	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1811	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1812	} else {
jobuuu	2:a1c0a37df760	1813	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1814	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1815	}
Lightvalve	13:747daba9cf59	1816
jobuuu	1:e04e563be5ce	1817	//pwm
Lightvalve	30:8d561f16383b	1818	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1819	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	67:c2812cf26c38	1820
Lightvalve	61:bc8c8270f0ab	1821
Lightvalve	57:f4819de54e7a	1822	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1823
Lightvalve	54:647072f5307a	1824	// Position, Velocity, and Torque (ID:1200)
Lightvalve	56:6f50d9d3bfee	1825	if (flag_data_request[0] == HIGH) {
Lightvalve	57:f4819de54e7a	1826	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	54:647072f5307a	1827	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1828	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	54:647072f5307a	1829	} else if (SENSING_MODE == 1) {
Lightvalve	58:2eade98630e2	1830	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	1831	}
Lightvalve	57:f4819de54e7a	1832	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	54:647072f5307a	1833	if (SENSING_MODE == 0) {
Lightvalve	67:c2812cf26c38	1834	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	1835	} else if (SENSING_MODE == 1) {
Lightvalve	67:c2812cf26c38	1836	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	1837	}
Lightvalve	52:8ea76864368a	1838	}
Lightvalve	52:8ea76864368a	1839	}
Lightvalve	56:6f50d9d3bfee	1840	if (flag_data_request[1] == HIGH) {
Lightvalve	54:647072f5307a	1841	//valve position
Lightvalve	54:647072f5307a	1842	double t_value = 0;
Lightvalve	97:d71c57e3515e	1843	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	97:d71c57e3515e	1844	t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1845	} else {
Lightvalve	97:d71c57e3515e	1846	t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1847	}
Lightvalve	97:d71c57e3515e	1848	// if(OPERATING_MODE==5) {
Lightvalve	97:d71c57e3515e	1849	// if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	97:d71c57e3515e	1850	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1851	// } else {
Lightvalve	97:d71c57e3515e	1852	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	97:d71c57e3515e	1853	// }
Lightvalve	97:d71c57e3515e	1854	//t_value = (double) value;
Lightvalve	97:d71c57e3515e	1855	// } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	97:d71c57e3515e	1856	// t_value = cur.sen * 1000.0f;
Lightvalve	89:a7b45368ea0f	1857	// } else {
Lightvalve	97:d71c57e3515e	1858	// t_value = V_out;
Lightvalve	89:a7b45368ea0f	1859	// }
Lightvalve	67:c2812cf26c38	1860	CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve	67:c2812cf26c38	1861	//CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve	67:c2812cf26c38	1862	//CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve	54:647072f5307a	1863	}
Lightvalve	58:2eade98630e2	1864
Lightvalve	58:2eade98630e2	1865
Lightvalve	131:d08121ac87ba	1866	if (flag_data_request[2] == LOW) {
Lightvalve	89:a7b45368ea0f	1867	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve	89:a7b45368ea0f	1868	double t_value = 0;
Lightvalve	89:a7b45368ea0f	1869	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	131:d08121ac87ba	1870	t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1871	} else {
Lightvalve	131:d08121ac87ba	1872	t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	89:a7b45368ea0f	1873	}
Lightvalve	89:a7b45368ea0f	1874	CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve	55:b25725257569	1875	}
Lightvalve	58:2eade98630e2	1876
Lightvalve	57:f4819de54e7a	1877	//If it doesn't rest, below can can not work.
Lightvalve	57:f4819de54e7a	1878	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	57:f4819de54e7a	1879	;
Lightvalve	57:f4819de54e7a	1880	}
Lightvalve	58:2eade98630e2	1881
Lightvalve	56:6f50d9d3bfee	1882	if (flag_data_request[3] == HIGH) {
Lightvalve	54:647072f5307a	1883	//PWM
Lightvalve	73:f80dc3970c99	1884	//CAN_TX_PWM((int16_t) value); //1500
Lightvalve	73:f80dc3970c99	1885	CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve	54:647072f5307a	1886	}
Lightvalve	57:f4819de54e7a	1887	//for (i = 0; i < 10000; i++) {
Lightvalve	57:f4819de54e7a	1888	// ;
Lightvalve	57:f4819de54e7a	1889	// }
Lightvalve	56:6f50d9d3bfee	1890	if (flag_data_request[4] == HIGH) {
Lightvalve	54:647072f5307a	1891	//valve position
Lightvalve	73:f80dc3970c99	1892	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	1893	}
Lightvalve	20:806196fda269	1894
Lightvalve	54:647072f5307a	1895	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	52:8ea76864368a	1896	// if (flag_data_request[1] == HIGH) {
Lightvalve	52:8ea76864368a	1897	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	52:8ea76864368a	1898	// }
Lightvalve	54:647072f5307a	1899	//if (flag_delay_test == 1){
Lightvalve	58:2eade98630e2	1900	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	54:647072f5307a	1901	//}
Lightvalve	52:8ea76864368a	1902
Lightvalve	54:647072f5307a	1903	TMR2_COUNT_CAN_TX = 0;
Lightvalve	54:647072f5307a	1904	}
Lightvalve	54:647072f5307a	1905	TMR2_COUNT_CAN_TX++;
Lightvalve	52:8ea76864368a	1906
Lightvalve	20:806196fda269	1907	}
Lightvalve	52:8ea76864368a	1908	TIM3->SR = 0x0; // reset the status register
Lightvalve	52:8ea76864368a	1909
Lightvalve	58:2eade98630e2	1910	}

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

main.cpp@131:d08121ac87ba, 2020-09-26 (annotated)

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