Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@122:dcb3ce3056a0, 2020-09-15 (annotated)

Committer:
Lightvalve
Date:
Tue Sep 15 05:29:49 2020 +0000
Revision:
122:dcb3ce3056a0
Parent:
121:89396c37b03e
Child:
123:be3f3ce98277
200915-2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 122:dcb3ce3056a0 1 //200915-2
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 122:dcb3ce3056a0 196 {-1.8506627082824707f,2.0218918323516846f,0.12024858593940735f,0.334626168012619f,-2.249953269958496f,1.9626299142837524f,-0.1628284603357315f,1.3325554132461548f,-0.2643141448497772f,0.24690963327884674f,-0.190817192196846f,-0.6419653296470642f,-0.385654479265213f,-1.4703359603881836f,-0.2396446317434311f,-0.7596855163574219f},
Lightvalve 122:dcb3ce3056a0 197 {-1.4319499731063843f,1.4720803499221802f,-0.36603355407714844f,-0.0015192287974059582f,-1.7912445068359375f,1.2486926317214966f,-0.3777896761894226f,0.9492644667625427f,-0.07244833558797836f,-0.19318599998950958f,-0.2250930666923523f,-0.468036949634552f,0.13008064031600952f,-1.5212249755859375f,-0.1953967958688736f,-0.31536585092544556f},
Lightvalve 122:dcb3ce3056a0 198 {-0.890915036201477f,0.7970179915428162f,0.33912619948387146f,-0.3751471936702728f,-0.9556958675384521f,0.7455353140830994f,0.2676515281200409f,0.7646156549453735f,-0.14835304021835327f,-0.7684594392776489f,-0.2939259707927704f,-0.40702295303344727f,-0.04098569601774216f,-0.5739985704421997f,0.05209478735923767f,-0.350443959236145f},
Lightvalve 122:dcb3ce3056a0 199 {-0.0880332961678505f,-0.2273148149251938f,0.3703531324863434f,0.19594193994998932f,-0.17067699134349823f,-0.40647760033607483f,-0.10795548558235168f,0.4863579273223877f,0.023037606850266457f,-0.8945105671882629f,0.11969369649887085f,0.15493015944957733f,-0.1403219848871231f,-0.020145311951637268f,-0.27597576379776f,0.1543225646018982f},
Lightvalve 122:dcb3ce3056a0 200 {1.3755062818527222f,-1.1244970560073853f,-0.004794687032699585f,0.10745205730199814f,0.9105810523033142f,-1.2077865600585938f,0.12058994174003601f,-0.8482258915901184f,0.029088687151670456f,-0.2553604543209076f,0.3545044958591461f,0.24097034335136414f,0.0023218640126287937f,1.0849770307540894f,-0.36018112301826477f,0.08965467661619186f},
Lightvalve 122:dcb3ce3056a0 201 {2.90755033493042f,-3.026319742202759f,0.20290347933769226f,0.0943901315331459f,2.5411956310272217f,-2.870671033859253f,0.15389427542686462f,-2.634014844894409f,0.032256871461868286f,1.875529408454895f,-0.20045262575149536f,0.9997451901435852f,-0.12699256837368011f,2.6072731018066406f,-0.38513508439064026f,0.33966103196144104f},
Lightvalve 122:dcb3ce3056a0 202 {0.30216723680496216f,-0.09030109643936157f,-0.2331579178571701f,-0.4601763188838959f,-0.02901097945868969f,-0.27014070749282837f,0.05604562163352966f,-1.2240875959396362f,0.3410864770412445f,2.1281368732452393f,0.16920678317546844f,0.8471516966819763f,-0.19045685231685638f,0.48616722226142883f,-0.14554673433303833f,-0.018513629212975502f},
Lightvalve 122:dcb3ce3056a0 203 {0.1568038910627365f,-0.052679359912872314f,-0.24806702136993408f,0.04960189387202263f,-0.19025251269340515f,-0.2686614692211151f,-0.16704979538917542f,-0.5832833647727966f,0.02708231657743454f,0.4750233590602875f,0.12661993503570557f,0.11257220059633255f,0.31431248784065247f,0.12500332295894623f,0.04009982943534851f,0.17564482986927032f},
Lightvalve 122:dcb3ce3056a0 204 {0.37038499116897583f,0.4679296910762787f,0.09550115466117859f,-0.39122816920280457f,0.07986307144165039f,-0.029025008901953697f,-0.06753402948379517f,-0.8683886528015137f,-0.24924451112747192f,1.3740239143371582f,-0.24858735501766205f,0.3611556887626648f,0.1781640350818634f,0.3319956362247467f,-0.2847418785095215f,0.21208970248699188f},
Lightvalve 122:dcb3ce3056a0 205 {0.14103619754314423f,-0.13035796582698822f,0.17205187678337097f,-0.14981357753276825f,0.4522019326686859f,0.1493782252073288f,-0.2786858379840851f,-0.7821434736251831f,-0.004449290223419666f,1.1047570705413818f,0.020737964659929276f,-0.574953019618988f,0.30793464183807373f,-0.06897160410881042f,0.3247623145580292f,0.007590302266180515f},
Lightvalve 122:dcb3ce3056a0 206 {0.17401696741580963f,0.22213375568389893f,0.34649983048439026f,0.2206556648015976f,-0.01957986131310463f,0.3260992169380188f,-0.1895401030778885f,-0.046695638447999954f,-0.3947817385196686f,-0.95995032787323f,0.3530721664428711f,-1.2572782039642334f,-0.10333867371082306f,-0.34184521436691284f,0.24870619177818298f,-0.44091910123825073f},
Lightvalve 122:dcb3ce3056a0 207 {-0.9943146109580994f,-0.3759954869747162f,-0.3757385015487671f,-0.014625824056565762f,-0.2851690351963043f,0.5389546155929565f,0.1429324448108673f,1.6276763677597046f,-0.1364438533782959f,-4.751498222351074f,-0.3575619161128998f,-1.7067830562591553f,0.09590709954500198f,-0.519068717956543f,0.09779238700866699f,-0.32152608036994934f},
Lightvalve 122:dcb3ce3056a0 208 {-0.2625819146633148f,-0.30365893244743347f,0.18496140837669373f,0.09376431256532669f,0.1606818437576294f,0.36680442094802856f,-0.22405625879764557f,0.7386453747749329f,-0.15395772457122803f,-0.5011937618255615f,-0.07291673868894577f,-0.9210411310195923f,0.050583451986312866f,-0.33904582262039185f,-0.2075144499540329f,-0.6333385705947876f},
Lightvalve 122:dcb3ce3056a0 209 {-0.34100425243377686f,-0.4398183524608612f,0.38466766476631165f,-0.1400693655014038f,-0.09625256061553955f,-0.25562015175819397f,-0.2982172966003418f,0.35427048802375793f,-0.10424912720918655f,1.5073919296264648f,-0.15292727947235107f,-0.5606862902641296f,-0.31030091643333435f,0.5212416648864746f,0.04470124840736389f,-0.14669658243656158f},
Lightvalve 122:dcb3ce3056a0 210 {-0.09396076947450638f,-0.2132670134305954f,0.18900898098945618f,-0.006891733035445213f,0.4393378496170044f,-0.1139921024441719f,0.03916636109352112f,1.1131302118301392f,0.30513760447502136f,2.086885452270508f,-0.23151704668998718f,-0.5726979970932007f,0.09222923964262009f,0.9589197039604187f,0.062258750200271606f,-0.05595967546105385f},
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Lightvalve 65:a2d7c63419c2 218 };
Lightvalve 65:a2d7c63419c2 219
Lightvalve 112:8dcb1600cb90 220 const float h2[16][16] = {
Lightvalve 122:dcb3ce3056a0 221 {-13.123759269714355f,-10.64799690246582f,-0.06966331601142883f,0.8244877457618713f,-0.21907491981983185f,4.0606865882873535f,0.2356909215450287f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,9.276981353759766f,-0.4540843665599823f,0.056251250207424164f,-1.3451508283615112f,-1.5055451393127441f,4.240088939666748f},
Lightvalve 122:dcb3ce3056a0 222 {6.542728900909424f,0.18463732302188873f,0.057057321071624756f,-0.012478298507630825f,-0.35503754019737244f,-1.2571966648101807f,-0.5783900618553162f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,2.1687819957733154f,-0.8159777522087097f,0.121641606092453f,1.2536906003952026f,-0.015002740547060966f,-3.265460729598999f},
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Lightvalve 122:dcb3ce3056a0 224 {0.01388174295425415f,-0.3469332754611969f,-0.2894435524940491f,0.31946173310279846f,0.08946844935417175f,0.24346177279949188f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.18906588852405548f,0.3300709128379822f,-0.49054771661758423f,-0.17289645969867706f,0.24430541694164276f,0.12520535290241241f},
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Lightvalve 122:dcb3ce3056a0 228 {1.1644668579101562f,-6.186361789703369f,0.33083590865135193f,-0.9413183927536011f,-0.14358049631118774f,-0.26085901260375977f,-0.3549717962741852f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,1.7662361860275269f,-0.38025879859924316f,-0.5093775391578674f,0.701710045337677f,0.2792395055294037f,0.23897208273410797f},
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Lightvalve 122:dcb3ce3056a0 232 {0.313798725605011f,0.29133400321006775f,0.3954955041408539f,0.4571808874607086f,0.0033026933670043945f,-0.11047647893428802f,-0.32514688372612f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-0.08039194345474243f,-0.30911344289779663f,-0.14130108058452606f,-0.5991055965423584f,0.17477981746196747f,-0.0376196913421154f},
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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 122:dcb3ce3056a0 236 {-0.458335280418396f,0.15321379899978638f,0.12081471085548401f,-0.2682785987854004f,0.29976895451545715f,0.0028282348066568375f,-0.31176257133483887f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-0.278635710477829f,-0.20589298009872437f,-0.43637412786483765f,-0.22767320275306702f,0.04488081485033035f,-0.05814647302031517f},
Lightvalve 65:a2d7c63419c2 237 };
Lightvalve 65:a2d7c63419c2 238
Lightvalve 112:8dcb1600cb90 239 const float h3[16][16] = {
Lightvalve 122:dcb3ce3056a0 240 {-0.36079341173171997f,-1.6201248168945312f,0.8301860094070435f,-0.48217716813087463f,0.5664730072021484f,0.5938783288002014f,0.3332441747188568f,0.3036012351512909f,-0.3351503312587738f,-0.5333303809165955f,-0.11870327591896057f,0.4001283347606659f,1.8286677598953247f,-0.013096470385789871f,-1.445587158203125f,0.9391236901283264f},
Lightvalve 122:dcb3ce3056a0 241 {0.047732532024383545f,-0.48205438256263733f,-0.5824161171913147f,-0.41216522455215454f,-0.9947847723960876f,1.1071703433990479f,-0.3198729455471039f,0.06247803568840027f,0.07229861617088318f,-0.029003819450736046f,0.15297773480415344f,-0.3128277659416199f,0.4850897490978241f,1.1648766994476318f,-0.20866917073726654f,0.33910253643989563f},
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 122:dcb3ce3056a0 243 {-0.30922991037368774f,-0.2953498363494873f,0.3023351728916168f,-0.3808897137641907f,-0.2341996431350708f,0.06336987763643265f,0.20021501183509827f,0.07002416253089905f,-0.25833481550216675f,-0.37944620847702026f,0.13192829489707947f,0.41021624207496643f,-0.08585329353809357f,-0.06085298955440521f,-0.05164620652794838f,-0.6447161436080933f},
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Lightvalve 122:dcb3ce3056a0 245 {-0.37449589371681213f,0.5301491618156433f,-0.6153388023376465f,0.015763333067297935f,0.3733992576599121f,1.0108109712600708f,-0.18732719123363495f,0.07622884958982468f,-0.8597542643547058f,-0.8733744025230408f,-0.3998960852622986f,-0.10382425785064697f,-0.6340463757514954f,0.46026381850242615f,0.46378228068351746f,-1.0209071636199951f},
Lightvalve 122:dcb3ce3056a0 246 {0.4110594093799591f,0.16155977547168732f,-0.2606540620326996f,0.37246426939964294f,0.19412796199321747f,-0.17604853212833405f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.23844516277313232f,0.03825477510690689f,0.24671794474124908f,-0.3391006588935852f},
Lightvalve 113:4535bc97a1db 247 {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
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Lightvalve 122:dcb3ce3056a0 250 {0.15459725260734558f,0.6257462501525879f,2.4722132682800293f,-0.2541096806526184f,1.1974189281463623f,0.5241444706916809f,-0.08742031455039978f,-0.0797993466258049f,-0.08179803192615509f,0.7537839412689209f,0.1268840730190277f,-0.30447322130203247f,-4.300448894500732f,-0.528559684753418f,0.21849340200424194f,-1.7872956991195679f},
Lightvalve 122:dcb3ce3056a0 251 {-0.408692330121994f,-0.22055906057357788f,0.036167971789836884f,0.0922636091709137f,0.08667898178100586f,-0.1559617668390274f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4383557140827179f,-0.2787511944770813f,-0.3355647027492523f,0.07012176513671875f},
Lightvalve 122:dcb3ce3056a0 252 {-0.2991822361946106f,0.13270005583763123f,0.09838561713695526f,-0.05932474136352539f,0.2640399932861328f,0.06369897723197937f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.1913551241159439f,-0.30303725600242615f,0.1539403647184372f,-0.01897444948554039f},
Lightvalve 122:dcb3ce3056a0 253 {-0.2675279378890991f,-6.733436107635498f,0.04663084074854851f,-0.016923164948821068f,0.02508571371436119f,-0.15193060040473938f,-0.32875844836235046f,-0.31893211603164673f,-0.8268672227859497f,-1.467612385749817f,-0.44607219099998474f,-0.5477458834648132f,0.5839250683784485f,-0.759961724281311f,0.09728594124317169f,0.6874459981918335f},
Lightvalve 122:dcb3ce3056a0 254 {-0.015470266342163086f,-1.3787834644317627f,0.30659225583076477f,0.26224443316459656f,0.29704105854034424f,-0.33337152004241943f,0.05196094512939453f,-0.008358269929885864f,-0.4470785856246948f,-0.45836886763572693f,0.13179203867912292f,-0.11511552333831787f,1.5568339824676514f,-1.396690845489502f,-0.6800358295440674f,0.5716347098350525f},
Lightvalve 122:dcb3ce3056a0 255 {0.1863725483417511f,-7.471870422363281f,-2.1432347297668457f,-0.6515491008758545f,-2.701878309249878f,-0.6873466372489929f,0.04860696196556091f,0.03839363902807236f,-0.191893070936203f,-0.4771784543991089f,-0.5917513966560364f,-0.07967619597911835f,-4.557742595672607f,0.9240701198577881f,-0.35937249660491943f,-1.0610584020614624f},
Lightvalve 66:a8e6799dbce3 256 };
Lightvalve 65:a2d7c63419c2 257
Lightvalve 122:dcb3ce3056a0 258 const float hout[16] = { 0.45773375034332275f,0.08443395793437958f,-0.24364621937274933f,0.018310023471713066f,0.10100215673446655f,0.1674295961856842f,0.0030125975608825684f,0.0690273717045784f,-0.030205409973859787f,-0.1419939547777176f,0.06930676847696304f,-0.1930040568113327f,-0.19178131222724915f,0.21673108637332916f,0.06627470254898071f,-0.20579802989959717f };
Lightvalve 66:a8e6799dbce3 259
Lightvalve 122:dcb3ce3056a0 260 const float b1[16] = { 0.731039822101593f,0.8990240097045898f,-1.7145336866378784f,0.3026110529899597f,1.0379314422607422f,1.0104310512542725f,-0.058932315558195114f,0.8992959856987f,0.535614550113678f,-1.3062801361083984f,0.604394793510437f,0.8861756920814514f,-0.41538795828819275f,-1.6284390687942505f,-1.087764859199524f,0.9179224371910095f };
Lightvalve 87:471334725012 261
Lightvalve 122:dcb3ce3056a0 262 const float b2[16] = { 0.7752900719642639f,0.6012373566627502f,-1.4564176797866821f,-0.6743422150611877f,-0.6939148902893066f,-0.04699823260307312f,0.03530285507440567f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.2669457793235779f,0.14791935682296753f,-0.29172441363334656f,1.7034413814544678f,-0.09204483032226562f,0.5913106799125671f };
Lightvalve 65:a2d7c63419c2 263
Lightvalve 122:dcb3ce3056a0 264 const float b3[16] = { -1.963319182395935f,-0.4255251884460449f,1.0348836183547974f,-0.12362325936555862f,0.03665608540177345f,0.27929219603538513f,-0.45353031158447266f,-0.7946745753288269f,-0.00050879962509498f,1.6810349225997925f,-0.45526382327079773f,-0.24638405442237854f,-3.330601215362549f,0.33003854751586914f,-1.4941415786743164f,0.4397965669631958f };
Lightvalve 87:471334725012 265
Lightvalve 122:dcb3ce3056a0 266 const float bout[1] = { -0.07078884541988373f };
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 = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 464 } else {
Lightvalve 66:a8e6799dbce3 465 valve_pos.ref = -output*0.0001f*((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/(2.0f*3.14f*100.0f));
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/(2.0f*3.14f*100.0f));
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/(2.0f*3.14f*100.0f));
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/(2.0f*3.14f*500.0f)); // 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 < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_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=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*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(2.0f*3.14f*VALVE_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/(2.0f*3.14f*30.0f)); // 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 98:cd1b2da4704f 1866 if (flag_data_request[2] == HIGH) {
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 89:a7b45368ea0f 1870 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1871 } else {
Lightvalve 89:a7b45368ea0f 1872 t_value = -10000.0f*((double)valve_pos.ref - (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 }