Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

main.cpp@73:f80dc3970c99, 2020-06-08 (annotated)

Committer:
Lightvalve
Date:
Mon Jun 08 11:00:23 2020 +0000
Revision:
73:f80dc3970c99
Parent:
72:3436ce769b1e
Child:
74:2bd13b02ed17
200608

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 73:f80dc3970c99 1 //200522-1
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 65:a2d7c63419c2 187
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 68:328e1be06f5d 189 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 191
Lightvalve 73:f80dc3970c99 192 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 193
Lightvalve 66:a8e6799dbce3 194 const float h1[num_input][32] = {
Lightvalve 73:f80dc3970c99 195 {-1.5316121578216553f,1.046117901802063f,0.10087299346923828f,-0.5920249819755554f,0.006000066641718149f,-0.06292402744293213f,-0.7302544713020325f,1.2003053426742554f,-0.22492285072803497f,-1.0005651712417603f,-0.19194258749485016f,0.6088903546333313f,-0.18402203917503357f,0.22412745654582977f,-0.20103082060813904f,-0.7672873735427856f,0.6400743722915649f,0.23753002285957336f,-0.3429633677005768f,1.2256020307540894f,-0.3417735695838928f,0.1018887460231781f,-0.31691664457321167f,-0.07546886801719666f,0.6211225390434265f,0.1750296652317047f,-0.16833457350730896f,-0.7552083134651184f,0.3320983946323395f,-0.17902883887290955f,-2.2890756130218506f,0.07611003518104553f},
Lightvalve 73:f80dc3970c99 196 {-1.4611567258834839f,1.0853360891342163f,0.2844829857349396f,-0.9236651062965393f,0.051900915801525116f,-0.05538089573383331f,-0.17226804792881012f,0.9712872505187988f,-0.1281311810016632f,-0.7099795341491699f,-0.27849888801574707f,0.6594517230987549f,0.020206838846206665f,0.1498834639787674f,0.04370078444480896f,-0.5641506910324097f,0.3744271993637085f,0.059967368841171265f,0.2747458517551422f,1.2454235553741455f,-0.05271541327238083f,-0.11504809558391571f,-0.0905606746673584f,0.2640003263950348f,0.4686833620071411f,0.2797521650791168f,0.12084531784057617f,-0.20431983470916748f,-0.07909221202135086f,0.09343862533569336f,-1.144808292388916f,0.09386715292930603f},
Lightvalve 73:f80dc3970c99 197 {-0.6785809397697449f,0.8657543659210205f,-0.004022121429443359f,-0.1997077912092209f,0.011013412848114967f,-0.1420801728963852f,-0.08535565435886383f,0.5210550427436829f,0.020213676616549492f,-0.5929723978042603f,0.26537173986434937f,0.6844944357872009f,-0.031272560358047485f,0.16001033782958984f,-0.3021453320980072f,-0.3262001574039459f,0.6271952390670776f,-0.25322937965393066f,0.13424378633499146f,0.9074867367744446f,0.18754218518733978f,-0.14585837721824646f,0.1290973722934723f,-0.23490183055400848f,0.22646471858024597f,0.13848352432250977f,-0.14778463542461395f,0.04744651913642883f,-0.2646981477737427f,0.28840622305870056f,-0.05210360512137413f,-0.18625950813293457f},
Lightvalve 73:f80dc3970c99 198 {-0.14816814661026f,0.1484924852848053f,-0.19558930397033691f,-0.4587199091911316f,-0.4259108603000641f,-0.003024315694347024f,0.09867669641971588f,-0.2979104220867157f,0.2820493280887604f,-0.2173389047384262f,0.1107335165143013f,0.5747724771499634f,-0.11249050498008728f,0.28691187500953674f,-0.12209486961364746f,-0.00012021820293739438f,-0.0060715447179973125f,-0.22630342841148376f,-0.2441006749868393f,0.13262957334518433f,-0.26148006319999695f,-0.08376853168010712f,-0.14013314247131348f,-0.277662992477417f,-0.09883667528629303f,0.1348792016506195f,0.12745562195777893f,0.13001176714897156f,0.13773585855960846f,0.1260412633419037f,1.1402820348739624f,0.16906705498695374f},
Lightvalve 73:f80dc3970c99 199 {0.9182100892066956f,-0.531394898891449f,0.08011308312416077f,0.04475727304816246f,-0.45140811800956726f,-0.06544674932956696f,0.27154937386512756f,-1.203261375427246f,-0.21332035958766937f,0.8113646507263184f,-0.23975150287151337f,-0.2693038582801819f,0.20140400528907776f,0.16929718852043152f,-0.2388615608215332f,0.20772291719913483f,-0.5291081070899963f,-0.17562326788902283f,0.10829375684261322f,-0.9625781774520874f,0.1068328246474266f,0.22469106316566467f,-0.2337813377380371f,-0.07104292511940002f,-0.5743539333343506f,-0.32632216811180115f,0.038649410009384155f,0.13008525967597961f,0.02648647502064705f,-0.15546131134033203f,1.5635931491851807f,0.025572150945663452f},
Lightvalve 73:f80dc3970c99 200 {2.718548536300659f,-2.4721014499664307f,0.2906685173511505f,1.2711524963378906f,-0.49755430221557617f,-0.025780361145734787f,0.5067746043205261f,-2.209226608276367f,-0.3355410695075989f,2.053006172180176f,0.2649611830711365f,-2.3765242099761963f,-0.029951006174087524f,-0.005192920565605164f,0.20863232016563416f,0.25620603561401367f,-1.375850796699524f,-0.30441316962242126f,-0.3512604534626007f,-2.340895891189575f,0.10424350202083588f,-0.009217172861099243f,0.11990180611610413f,0.3152395784854889f,-1.3226662874221802f,0.19827589392662048f,-0.278697669506073f,0.9180163145065308f,-0.34610462188720703f,-0.0012509822845458984f,0.33043405413627625f,-0.053316205739974976f},
Lightvalve 73:f80dc3970c99 201 {0.20082953572273254f,-0.3293028473854065f,0.15515866875648499f,0.38857918977737427f,0.022376351058483124f,-0.008546920493245125f,-0.04682992026209831f,-0.06396719813346863f,-0.13507501780986786f,-0.11766078323125839f,-0.08986316621303558f,-0.3768438398838043f,0.09392929077148438f,-0.02030598558485508f,-0.17407774925231934f,-0.041438039392232895f,-0.43712759017944336f,-0.07779207825660706f,0.2857636511325836f,-0.42887356877326965f,-0.18191516399383545f,-0.16872906684875488f,-0.2501657009124756f,-0.23358337581157684f,-0.5499646067619324f,-0.14798402786254883f,-0.1072954386472702f,-0.10270185768604279f,-0.3651081621646881f,-0.033211708068847656f,-1.7639816999435425f,0.11262083053588867f},
Lightvalve 73:f80dc3970c99 202 {0.1810125708580017f,0.04380026459693909f,0.1585540771484375f,0.09520703554153442f,0.13614939153194427f,-0.2871411144733429f,0.027985045686364174f,0.24350906908512115f,0.24975617229938507f,0.06216800585389137f,-0.22294187545776367f,-0.5886633396148682f,0.10294389724731445f,-0.07682676613330841f,0.052227020263671875f,-0.5156266093254089f,-0.15223275125026703f,-0.272625207901001f,-0.35299432277679443f,-0.18794843554496765f,-0.0981115773320198f,0.021598905324935913f,-0.12170252203941345f,-0.027094602584838867f,-0.28403598070144653f,0.016911834478378296f,-0.32526659965515137f,-0.22122310101985931f,-0.3122880160808563f,0.00411224365234375f,-1.6618061065673828f,0.24875596165657043f},
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Lightvalve 65:a2d7c63419c2 218
Lightvalve 66:a8e6799dbce3 219 const float h2[32][32] = {
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Lightvalve 65:a2d7c63419c2 252 };
Lightvalve 65:a2d7c63419c2 253
Lightvalve 66:a8e6799dbce3 254 const float h3[32][32] = {
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Lightvalve 72:3436ce769b1e 284 {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.13894453644752502f,0.06556430459022522f,0.29767414927482605f,0.24966773390769958f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.17675906419754028f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.23596063256263733f,0.1602974534034729f,-0.04174882173538208f,-0.11559568345546722f,-0.06235519051551819f,0.21069613099098206f,-0.19532959163188934f,-0.2486409693956375f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
Lightvalve 67:c2812cf26c38 285 {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
Lightvalve 73:f80dc3970c99 286 {0.07638216018676758f,0.07996532320976257f,-0.4532916247844696f,-0.286763995885849f,-0.14361587166786194f,0.15333548188209534f,0.2795381247997284f,-0.25668495893478394f,1.5776686668395996f,-0.3557981550693512f,-4.558074474334717f,-0.0959593802690506f,-0.2420492321252823f,1.8044195175170898f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.9772398471832275f,-1.1837528944015503f,1.1952396631240845f,-0.7478441596031189f,-0.15799765288829803f,-0.17324526607990265f,0.7002406120300293f,0.017084553837776184f,-0.2846224009990692f,-0.2008575201034546f,-0.8861852288246155f,0.22636333107948303f,-0.3774070739746094f,-0.03760375455021858f},
Lightvalve 66:a8e6799dbce3 287 };
Lightvalve 65:a2d7c63419c2 288
Lightvalve 73:f80dc3970c99 289 const float hout[32] = { 0.3285340666770935f,0.32595810294151306f,-0.16531020402908325f,-0.1120261549949646f,-0.02814103290438652f,0.20109859108924866f,-0.0071088592521846294f,0.1081397533416748f,0.14690308272838593f,-0.04607205465435982f,0.1793166697025299f,-0.09312135726213455f,-0.2741614878177643f,0.973639726638794f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.21499931812286377f,-0.22608381509780884f,-0.19660963118076324f,-0.13850048184394836f,0.33182141184806824f,-0.2774904668331146f,-0.175692617893219f,0.12098437547683716f,0.062369804829359055f,-0.26919692754745483f,-0.09816103428602219f,0.8765497207641602f,-0.3257754445075989f,-0.19969786703586578f,-0.5018784403800964f };
Lightvalve 66:a8e6799dbce3 290
Lightvalve 73:f80dc3970c99 291 const float b1[32] = { 0.360392302274704f,1.3258261680603027f,-1.7145336866378784f,0.11188247054815292f,1.0527279376983643f,0.5051818490028381f,-0.10494530200958252f,1.3075183629989624f,0.5332803726196289f,-1.3167273998260498f,0.5802411437034607f,2.0797219276428223f,-0.3425353467464447f,-0.8710014224052429f,-1.087764859199524f,0.34449902176856995f,0.6696957945823669f,-0.26377663016319275f,0.22221045196056366f,0.7987192273139954f,-0.3121899664402008f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.8851773738861084f,-2.0880801677703857f,-1.0489267110824585f,0.6635584235191345f,0.4126681685447693f,-1.0887231826782227f,0.7133725881576538f,-0.4426153898239136f };
Lightvalve 65:a2d7c63419c2 292
Lightvalve 73:f80dc3970c99 293 const float b2[32] = { -0.21426281332969666f,-0.7642630338668823f,-1.4564176797866821f,-0.4739953577518463f,-0.6939148902893066f,0.08300478756427765f,-0.4721355140209198f,-0.4483444094657898f,-1.20063054561615f,-1.912178635597229f,-0.07969088852405548f,0.6989963054656982f,-0.3409772515296936f,1.5607539415359497f,-0.1873372495174408f,0.5244904160499573f,-1.798204779624939f,-1.5844906568527222f,-0.06145767867565155f,-0.2975791394710541f,-0.05740395933389664f,0.1989542841911316f,0.09335066378116608f,-1.0665833950042725f,0.060874372720718384f,1.2573281526565552f,0.9455531239509583f,0.3112686574459076f,-0.6323830485343933f,-0.4208582937717438f,-1.178520679473877f,-0.8882189989089966f };
Lightvalve 65:a2d7c63419c2 294
Lightvalve 73:f80dc3970c99 295 const float b3[32] = { -1.963319182395935f,-0.49897506833076477f,-0.04165864363312721f,-0.24708756804466248f,-0.12295565754175186f,0.8161247372627258f,-0.490390807390213f,-0.6562485098838806f,-0.11963385343551636f,-0.35514017939567566f,-1.653018593788147f,-0.1486135721206665f,-0.8058865666389465f,-2.3385539054870605f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0192245244979858f,-0.8995988368988037f,0.8749277591705322f,0.11804358661174774f,1.180364966392517f,-1.026091456413269f,-0.8066051602363586f,0.5967051982879639f,-0.565889835357666f,-0.2720939517021179f,-0.15897169709205627f,0.0058806478045880795f,-2.3236680030822754f,-0.21091698110103607f,-2.045327663421631f };
Lightvalve 66:a8e6799dbce3 296
Lightvalve 73:f80dc3970c99 297 const float bout[1] = { -0.08369258046150208f };
Lightvalve 61:bc8c8270f0ab 298
Lightvalve 61:bc8c8270f0ab 299
GiJeongKim 0:51c43836c1d7 300 int main()
GiJeongKim 0:51c43836c1d7 301 {
Lightvalve 66:a8e6799dbce3 302
Lightvalve 65:a2d7c63419c2 303 HAL_Init();
Lightvalve 65:a2d7c63419c2 304 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 305
jobuuu 6:df07d3491e3a 306 /*********************************
jobuuu 1:e04e563be5ce 307 *** Initialization
jobuuu 6:df07d3491e3a 308 *********************************/
Lightvalve 69:3995ffeaa786 309 LED = 0;
Lightvalve 61:bc8c8270f0ab 310 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 311
GiJeongKim 0:51c43836c1d7 312 // i2c init
Lightvalve 8:5d2eebdad025 313 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 314 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 315 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 316 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 317 make_delay();
jobuuu 2:a1c0a37df760 318
GiJeongKim 0:51c43836c1d7 319 // // spi init
Lightvalve 16:903b5a4433b4 320 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 321 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 322 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 323 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 324 make_delay();
Lightvalve 21:e5f1a43ea6f9 325
Lightvalve 16:903b5a4433b4 326 //rom
Lightvalve 19:23b7c1ad8683 327 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 328 make_delay();
Lightvalve 13:747daba9cf59 329
GiJeongKim 0:51c43836c1d7 330 // ADC init
jobuuu 5:a4319f79457b 331 Init_ADC();
Lightvalve 11:82d8768d7351 332 make_delay();
jobuuu 2:a1c0a37df760 333
GiJeongKim 0:51c43836c1d7 334 // Pwm init
GiJeongKim 0:51c43836c1d7 335 Init_PWM();
GiJeongKim 0:51c43836c1d7 336 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 337 make_delay();
Lightvalve 13:747daba9cf59 338
Lightvalve 11:82d8768d7351 339 // TMR3 init
Lightvalve 11:82d8768d7351 340 Init_TMR3();
Lightvalve 11:82d8768d7351 341 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 342 make_delay();
Lightvalve 21:e5f1a43ea6f9 343
Lightvalve 50:3c630b5eba9f 344 // TMR2 init
Lightvalve 56:6f50d9d3bfee 345 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 346 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 347 // make_delay();
Lightvalve 21:e5f1a43ea6f9 348
GiJeongKim 0:51c43836c1d7 349 // CAN
jobuuu 2:a1c0a37df760 350 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 351 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 352 make_delay();
Lightvalve 34:bb2ca2fc2a8e 353
Lightvalve 23:59218d4a256d 354 //Timer priority
Lightvalve 23:59218d4a256d 355 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 356 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 357 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 358
Lightvalve 23:59218d4a256d 359 //can.reset();
Lightvalve 19:23b7c1ad8683 360 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 361
GiJeongKim 0:51c43836c1d7 362 // spi _ enc
GiJeongKim 0:51c43836c1d7 363 spi_enc_set_init();
Lightvalve 11:82d8768d7351 364 make_delay();
Lightvalve 13:747daba9cf59 365
Lightvalve 11:82d8768d7351 366 //DAC init
Lightvalve 58:2eade98630e2 367 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 368 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 369 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 370 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 371 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 372 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 373 }
Lightvalve 11:82d8768d7351 374 make_delay();
Lightvalve 13:747daba9cf59 375
Lightvalve 19:23b7c1ad8683 376 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 377 if(i%2==0)
Lightvalve 38:118df027d851 378 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 379 else
Lightvalve 38:118df027d851 380 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 381 }
Lightvalve 61:bc8c8270f0ab 382
Lightvalve 61:bc8c8270f0ab 383
jobuuu 6:df07d3491e3a 384 /************************************
jobuuu 1:e04e563be5ce 385 *** Program is operating!
jobuuu 6:df07d3491e3a 386 *************************************/
GiJeongKim 0:51c43836c1d7 387 while(1) {
Lightvalve 66:a8e6799dbce3 388 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 389 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 390 //i2c
Lightvalve 66:a8e6799dbce3 391
Lightvalve 65:a2d7c63419c2 392 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 393 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 394 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 395 // LED=0;
Lightvalve 65:a2d7c63419c2 396 // } else
Lightvalve 65:a2d7c63419c2 397 // LED = 1;
Lightvalve 65:a2d7c63419c2 398 timer_while = 0;
Lightvalve 66:a8e6799dbce3 399 //}
Lightvalve 66:a8e6799dbce3 400
Lightvalve 66:a8e6799dbce3 401 timer_while ++;
Lightvalve 66:a8e6799dbce3 402
Lightvalve 73:f80dc3970c99 403 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 404 LED = 0;
Lightvalve 73:f80dc3970c99 405 }
Lightvalve 66:a8e6799dbce3 406
Lightvalve 73:f80dc3970c99 407 else if(NN_Control_Flag == 1) {
Lightvalve 66:a8e6799dbce3 408 float output1[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 409 float output2[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 410 float output3[32] = { 0.0f };
Lightvalve 66:a8e6799dbce3 411 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 412
Lightvalve 66:a8e6799dbce3 413 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 68:328e1be06f5d 414 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 415 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 416 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 417 }
Lightvalve 66:a8e6799dbce3 418 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 419 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 420 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 421 }
Lightvalve 66:a8e6799dbce3 422 }
Lightvalve 65:a2d7c63419c2 423
Lightvalve 66:a8e6799dbce3 424 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 425 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 426 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 427 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 66:a8e6799dbce3 429 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 430 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 431 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 432 }
Lightvalve 66:a8e6799dbce3 433 }
Lightvalve 65:a2d7c63419c2 434
Lightvalve 66:a8e6799dbce3 435 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 66:a8e6799dbce3 436 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 66:a8e6799dbce3 437 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 438 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 439 }
Lightvalve 66:a8e6799dbce3 440 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 441 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 442 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 443 }
Lightvalve 65:a2d7c63419c2 444 }
Lightvalve 66:a8e6799dbce3 445
Lightvalve 66:a8e6799dbce3 446 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 66:a8e6799dbce3 447 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 73:f80dc3970c99 448 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 449 }
Lightvalve 66:a8e6799dbce3 450 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 451
Lightvalve 66:a8e6799dbce3 452 }
Lightvalve 73:f80dc3970c99 453 output = 1.0f/(1.0f+exp(-output));
Lightvalve 68:328e1be06f5d 454 output = output * 20000.0f - 10000.0f;
Lightvalve 66:a8e6799dbce3 455 if(output>=0) {
Lightvalve 66:a8e6799dbce3 456 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 457 } else {
Lightvalve 66:a8e6799dbce3 458 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 459 }
Lightvalve 69:3995ffeaa786 460
Lightvalve 69:3995ffeaa786 461 if(LED==1) {
Lightvalve 69:3995ffeaa786 462 LED=0;
Lightvalve 69:3995ffeaa786 463 } else
Lightvalve 69:3995ffeaa786 464 LED = 1;
Lightvalve 69:3995ffeaa786 465
Lightvalve 65:a2d7c63419c2 466 }
Lightvalve 62:b5452adfb2cd 467
Lightvalve 69:3995ffeaa786 468
Lightvalve 66:a8e6799dbce3 469
GiJeongKim 0:51c43836c1d7 470 }
jobuuu 1:e04e563be5ce 471 }
jobuuu 1:e04e563be5ce 472
Lightvalve 33:91b17819ec30 473 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 474 {
Lightvalve 14:8e7590227d22 475
Lightvalve 13:747daba9cf59 476 int i = 0;
Lightvalve 48:889798ff9329 477 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 478 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 479 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 480 if(i==0) {
Lightvalve 50:3c630b5eba9f 481 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 482 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 483 } else {
Lightvalve 57:f4819de54e7a 484 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 485 }
Lightvalve 14:8e7590227d22 486 } else {
Lightvalve 50:3c630b5eba9f 487 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 488 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 489 } else {
Lightvalve 57:f4819de54e7a 490 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 491 }
Lightvalve 13:747daba9cf59 492 }
Lightvalve 13:747daba9cf59 493 break;
Lightvalve 13:747daba9cf59 494 }
Lightvalve 13:747daba9cf59 495 }
Lightvalve 14:8e7590227d22 496 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 497 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 498 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 499 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 500 }
Lightvalve 36:a46e63505ed8 501
Lightvalve 57:f4819de54e7a 502 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 503 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 504
Lightvalve 13:747daba9cf59 505 }
jobuuu 6:df07d3491e3a 506
jobuuu 6:df07d3491e3a 507
Lightvalve 30:8d561f16383b 508 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 509 {
Lightvalve 13:747daba9cf59 510 int i = 0;
Lightvalve 13:747daba9cf59 511
Lightvalve 38:118df027d851 512 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 513 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 514 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 515 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 516 }
Lightvalve 38:118df027d851 517
Lightvalve 13:747daba9cf59 518 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 519 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 520 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 521 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 522 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 523 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 524
Lightvalve 13:747daba9cf59 525 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 526
Lightvalve 18:b8adf1582ea3 527 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 528 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 529 if(i==0) {
Lightvalve 48:889798ff9329 530 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 531 } else {
Lightvalve 48:889798ff9329 532 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 533 }
Lightvalve 13:747daba9cf59 534 break;
Lightvalve 13:747daba9cf59 535 }
Lightvalve 13:747daba9cf59 536 }
Lightvalve 59:f308b1656d9c 537 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 538 }
Lightvalve 13:747daba9cf59 539
Lightvalve 14:8e7590227d22 540 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 541 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 542 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 543 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 544 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 545 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 546 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 547 }; // duty
Lightvalve 67:c2812cf26c38 548 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 549 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 550 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 551 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 552 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 553 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 554 }; // mV
Lightvalve 13:747daba9cf59 555
Lightvalve 30:8d561f16383b 556 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 557 {
Lightvalve 30:8d561f16383b 558 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 559 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 560 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 561 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 562 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 563 } else {
Lightvalve 13:747daba9cf59 564 int idx = 0;
Lightvalve 13:747daba9cf59 565 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 566 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 567 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 568 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 569 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 570 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 571 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 572 break;
Lightvalve 13:747daba9cf59 573 }
Lightvalve 13:747daba9cf59 574 }
Lightvalve 13:747daba9cf59 575 }
Lightvalve 14:8e7590227d22 576
Lightvalve 13:747daba9cf59 577 return PWM_duty;
Lightvalve 13:747daba9cf59 578 }
jobuuu 6:df07d3491e3a 579
Lightvalve 57:f4819de54e7a 580
Lightvalve 57:f4819de54e7a 581
Lightvalve 57:f4819de54e7a 582
Lightvalve 57:f4819de54e7a 583
jobuuu 2:a1c0a37df760 584 /*******************************************************************************
jobuuu 2:a1c0a37df760 585 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 586 *******************************************************************************/
jobuuu 2:a1c0a37df760 587
Lightvalve 51:b46bed7fec80 588 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 589 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 590 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 591 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 592 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 593 {
Lightvalve 19:23b7c1ad8683 594 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 595
Lightvalve 21:e5f1a43ea6f9 596 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 597 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 598 ********************************************************/
Lightvalve 13:747daba9cf59 599
Lightvalve 57:f4819de54e7a 600 //Encoder
Lightvalve 57:f4819de54e7a 601 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 602 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 603 }
Lightvalve 61:bc8c8270f0ab 604
Lightvalve 61:bc8c8270f0ab 605 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 606 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 607 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 608 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 609 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 610 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 611 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 612
Lightvalve 67:c2812cf26c38 613
Lightvalve 67:c2812cf26c38 614 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 615 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 616 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 617 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 618 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 619
Lightvalve 17:1865016ca2e7 620
Lightvalve 58:2eade98630e2 621 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 622 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 623 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 624 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 625 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 626 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 627 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 628 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 629 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 630
Lightvalve 58:2eade98630e2 631 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 632 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 633 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 634 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 635 }
Lightvalve 58:2eade98630e2 636 }
Lightvalve 61:bc8c8270f0ab 637
Lightvalve 58:2eade98630e2 638 // //Pressure sensor A
Lightvalve 58:2eade98630e2 639 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 640 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 641 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 642 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 643 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 644 // 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 645 //
Lightvalve 58:2eade98630e2 646 //
Lightvalve 58:2eade98630e2 647 // //Pressure sensor B
Lightvalve 58:2eade98630e2 648 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 649 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 650 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 651 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 652
Lightvalve 17:1865016ca2e7 653
Lightvalve 21:e5f1a43ea6f9 654 //Current
Lightvalve 21:e5f1a43ea6f9 655 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 656 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 657 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 658 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 659 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 660 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 661 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 662
Lightvalve 57:f4819de54e7a 663 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 664 }
Lightvalve 11:82d8768d7351 665 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 666 }
Lightvalve 19:23b7c1ad8683 667
Lightvalve 19:23b7c1ad8683 668
Lightvalve 18:b8adf1582ea3 669 int j =0;
Lightvalve 54:647072f5307a 670 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 671 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 672 int cnt_trans = 0;
Lightvalve 48:889798ff9329 673 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 674 int can_rest =0;
Lightvalve 48:889798ff9329 675
Lightvalve 11:82d8768d7351 676 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 677 {
Lightvalve 19:23b7c1ad8683 678 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 679
Lightvalve 57:f4819de54e7a 680 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 681 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 682 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 683 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 684 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 685 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 686 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 687 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 688 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 689 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 690 }
Lightvalve 50:3c630b5eba9f 691
Lightvalve 50:3c630b5eba9f 692 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 693 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 694 cnt_trans++;
Lightvalve 46:2694daea349b 695 torq.err_sum = 0;
Lightvalve 48:889798ff9329 696 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 697 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 698 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 699 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 700 cnt_trans++;
Lightvalve 46:2694daea349b 701 torq.err_sum = 0;
Lightvalve 48:889798ff9329 702 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 703 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 704 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 705 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 706 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 707 } else {
Lightvalve 58:2eade98630e2 708 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 709 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 710 }
Lightvalve 45:35fa6884d0c6 711
Lightvalve 50:3c630b5eba9f 712
Lightvalve 57:f4819de54e7a 713 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 714 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 715
Lightvalve 57:f4819de54e7a 716 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 717 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 718 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 719 } else {
Lightvalve 57:f4819de54e7a 720 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 721 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 722 }
Lightvalve 56:6f50d9d3bfee 723
Lightvalve 56:6f50d9d3bfee 724
Lightvalve 56:6f50d9d3bfee 725
Lightvalve 57:f4819de54e7a 726 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 727
Lightvalve 57:f4819de54e7a 728 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 729 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 730 break;
Lightvalve 13:747daba9cf59 731 }
Lightvalve 14:8e7590227d22 732
Lightvalve 14:8e7590227d22 733 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 734 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 735 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 736 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 737
Lightvalve 14:8e7590227d22 738 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 739 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 740 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 741
Lightvalve 59:f308b1656d9c 742 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 743
Lightvalve 30:8d561f16383b 744 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 745 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 746
Lightvalve 16:903b5a4433b4 747 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 748 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 749 }
Lightvalve 13:747daba9cf59 750 } else {
Lightvalve 58:2eade98630e2 751 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 752 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 753 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 754 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 755
Lightvalve 16:903b5a4433b4 756 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 757
Lightvalve 30:8d561f16383b 758 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 759
Lightvalve 13:747daba9cf59 760 }
Lightvalve 14:8e7590227d22 761 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 762 break;
Lightvalve 19:23b7c1ad8683 763 }
Lightvalve 14:8e7590227d22 764
Lightvalve 50:3c630b5eba9f 765 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 766 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 767 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 768 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 769 // }
Lightvalve 50:3c630b5eba9f 770 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 771 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 772 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 773 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 774 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 775 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 776 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 777 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 778 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 779 // }
Lightvalve 50:3c630b5eba9f 780 //
Lightvalve 50:3c630b5eba9f 781 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 782 // 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 783 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 784 //
Lightvalve 50:3c630b5eba9f 785 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 786 // V_out = 0;
Lightvalve 50:3c630b5eba9f 787 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 788 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 789 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 790 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 791 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 792 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 793 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 794 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 795 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 796 //
Lightvalve 50:3c630b5eba9f 797 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 798 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 799 // // | / | / |/
Lightvalve 50:3c630b5eba9f 800 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 801 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 802 // // /| / | / |
Lightvalve 50:3c630b5eba9f 803 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 804 //
Lightvalve 50:3c630b5eba9f 805 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 806 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 807 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 808 // } else {
Lightvalve 50:3c630b5eba9f 809 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 810 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 811 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 812 // }
Lightvalve 50:3c630b5eba9f 813 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 814 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 815 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 816 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 817 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 818 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 819 // }
Lightvalve 50:3c630b5eba9f 820 // } else {
Lightvalve 50:3c630b5eba9f 821 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 822 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 823 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 824 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 825 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 826 // }
Lightvalve 50:3c630b5eba9f 827 // V_out = 0;
Lightvalve 50:3c630b5eba9f 828 //
Lightvalve 50:3c630b5eba9f 829 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 830 //
Lightvalve 50:3c630b5eba9f 831 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 832 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 833 //
Lightvalve 50:3c630b5eba9f 834 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 835 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 836 // }
Lightvalve 50:3c630b5eba9f 837 // }
Lightvalve 50:3c630b5eba9f 838 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 839 // break;
Lightvalve 50:3c630b5eba9f 840 // }
Lightvalve 14:8e7590227d22 841
Lightvalve 14:8e7590227d22 842 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 843 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 844 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 845 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 846 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 847 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 848 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 849 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 850 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 851 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 852 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 853 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 854 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 855 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 856 }
Lightvalve 29:69f3f5445d6d 857 cnt_findhome++;
Lightvalve 14:8e7590227d22 858
Lightvalve 29:69f3f5445d6d 859 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 860 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 861 } else {
Lightvalve 29:69f3f5445d6d 862 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 863 }
Lightvalve 19:23b7c1ad8683 864
Lightvalve 57:f4819de54e7a 865 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 866 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 867 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 868 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 869
Lightvalve 59:f308b1656d9c 870 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 871 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 872 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 873 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 874 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 875
Lightvalve 59:f308b1656d9c 876 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 877 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 878
Lightvalve 34:bb2ca2fc2a8e 879
Lightvalve 29:69f3f5445d6d 880 } else {
Lightvalve 29:69f3f5445d6d 881 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 882 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 883 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 884 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 885 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 886 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 887 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 888 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 889 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 890 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 891 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 892
Lightvalve 67:c2812cf26c38 893
Lightvalve 67:c2812cf26c38 894 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 895 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 896 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 897 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 898 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 899 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 900 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 901
Lightvalve 67:c2812cf26c38 902
Lightvalve 29:69f3f5445d6d 903 }
Lightvalve 29:69f3f5445d6d 904 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 905 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 906 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 907 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 908 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 909
Lightvalve 29:69f3f5445d6d 910 // input for position control
Lightvalve 67:c2812cf26c38 911
Lightvalve 67:c2812cf26c38 912 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 913 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 914
Lightvalve 67:c2812cf26c38 915 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 916 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 917 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 918 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 919
Lightvalve 67:c2812cf26c38 920 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 921
Lightvalve 67:c2812cf26c38 922 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 923 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 924 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 925
Lightvalve 67:c2812cf26c38 926 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 927 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 928 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 929
Lightvalve 69:3995ffeaa786 930 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 931 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 932 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 933 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 934 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 935 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 936 }
Lightvalve 67:c2812cf26c38 937 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 938 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 939
Lightvalve 67:c2812cf26c38 940 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 941
Lightvalve 67:c2812cf26c38 942
Lightvalve 67:c2812cf26c38 943
Lightvalve 67:c2812cf26c38 944 } else {
Lightvalve 67:c2812cf26c38 945 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 946 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 947
Lightvalve 67:c2812cf26c38 948 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 949 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 950 } else {
Lightvalve 67:c2812cf26c38 951 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 952 }
Lightvalve 67:c2812cf26c38 953
Lightvalve 67:c2812cf26c38 954 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 955
Lightvalve 67:c2812cf26c38 956 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 957
Lightvalve 67:c2812cf26c38 958 }
Lightvalve 67:c2812cf26c38 959
Lightvalve 67:c2812cf26c38 960
Lightvalve 67:c2812cf26c38 961
Lightvalve 67:c2812cf26c38 962
Lightvalve 59:f308b1656d9c 963 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 964 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 965 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 966 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 967 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 968
Lightvalve 29:69f3f5445d6d 969 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 970 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 971 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 972 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 973 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 974 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 975 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 976 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 977 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 978 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 979 }
Lightvalve 13:747daba9cf59 980 }
Lightvalve 19:23b7c1ad8683 981
Lightvalve 13:747daba9cf59 982 break;
Lightvalve 13:747daba9cf59 983 }
Lightvalve 14:8e7590227d22 984
Lightvalve 50:3c630b5eba9f 985 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 986 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 987 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 988 // else {
Lightvalve 50:3c630b5eba9f 989 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 990 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 991 // }
Lightvalve 50:3c630b5eba9f 992 // }
Lightvalve 50:3c630b5eba9f 993 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 994 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 995 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 996 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 997 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 998 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 999 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1000 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1001 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1002 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1003 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1004 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1005 // }
Lightvalve 50:3c630b5eba9f 1006 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1007 // }
Lightvalve 50:3c630b5eba9f 1008 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1009 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1010 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1011 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1012 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1013 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1014 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1015 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1016 // 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 1017 // // 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 1018 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1019 // }
Lightvalve 50:3c630b5eba9f 1020 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1021 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1022 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1023 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1024 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1025 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1026 // 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 1027 // // 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 1028 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1029 // }
Lightvalve 50:3c630b5eba9f 1030 // }
Lightvalve 50:3c630b5eba9f 1031 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1032 //
Lightvalve 50:3c630b5eba9f 1033 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1034 //
Lightvalve 50:3c630b5eba9f 1035 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1036 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1037 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1038 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1039 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1040 // }
Lightvalve 50:3c630b5eba9f 1041 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1042 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1043 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1044 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1045 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1046 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1047 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1048 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1049 // }
Lightvalve 50:3c630b5eba9f 1050 //
Lightvalve 50:3c630b5eba9f 1051 // }
Lightvalve 50:3c630b5eba9f 1052 // break;
Lightvalve 50:3c630b5eba9f 1053 // }
Lightvalve 50:3c630b5eba9f 1054 //
Lightvalve 50:3c630b5eba9f 1055 // }
Lightvalve 14:8e7590227d22 1056 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1057 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1058 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1059 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1060 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1061
Lightvalve 14:8e7590227d22 1062 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1063 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1064 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1065 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1066 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1067
Lightvalve 38:118df027d851 1068 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1069 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1070 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1071
Lightvalve 30:8d561f16383b 1072 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1073 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1074 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1075 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1076
Lightvalve 30:8d561f16383b 1077 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1078 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1079 }
Lightvalve 13:747daba9cf59 1080 } else {
Lightvalve 57:f4819de54e7a 1081 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1082 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1083 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1084 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1085 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1086 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1087
Lightvalve 16:903b5a4433b4 1088 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1089
Lightvalve 30:8d561f16383b 1090 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1091 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1092 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1093 }
Lightvalve 14:8e7590227d22 1094 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1095 break;
Lightvalve 13:747daba9cf59 1096 }
Lightvalve 14:8e7590227d22 1097
Lightvalve 50:3c630b5eba9f 1098 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1099 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1100 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1101 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1102 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1103 // }
Lightvalve 50:3c630b5eba9f 1104 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1105 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1106 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1107 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1108 // }
Lightvalve 50:3c630b5eba9f 1109 // } else {
Lightvalve 50:3c630b5eba9f 1110 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1111 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1112 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1113 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1114 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1115 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1116 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1117 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1118 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1119 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1120 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1121 //
Lightvalve 50:3c630b5eba9f 1122 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1123 //
Lightvalve 50:3c630b5eba9f 1124 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1125 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1126 // }
Lightvalve 50:3c630b5eba9f 1127 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1128 // break;
Lightvalve 50:3c630b5eba9f 1129 // }
Lightvalve 19:23b7c1ad8683 1130
Lightvalve 50:3c630b5eba9f 1131 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1132 // 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 1133 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1134 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1135 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1136 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1137 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1138 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1139 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1140 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1141 // }
Lightvalve 50:3c630b5eba9f 1142 // break;
Lightvalve 50:3c630b5eba9f 1143 // }
Lightvalve 14:8e7590227d22 1144
Lightvalve 14:8e7590227d22 1145 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1146 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1147 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1148
Lightvalve 14:8e7590227d22 1149 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1150 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1151 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1152 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1153 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1154 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1155 data_num = 0;
Lightvalve 14:8e7590227d22 1156 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1157 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1158 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1159 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1160 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1161 } else {
Lightvalve 13:747daba9cf59 1162 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1163 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1164 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1165 }
Lightvalve 14:8e7590227d22 1166
Lightvalve 17:1865016ca2e7 1167 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1168 int i;
Lightvalve 13:747daba9cf59 1169 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1170 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1171 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1172 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1173 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1174 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1175 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1176 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1177 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1178 }
Lightvalve 13:747daba9cf59 1179 }
Lightvalve 59:f308b1656d9c 1180 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1181 ID_index = 0;
Lightvalve 57:f4819de54e7a 1182 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1183 }
Lightvalve 14:8e7590227d22 1184
Lightvalve 14:8e7590227d22 1185
Lightvalve 13:747daba9cf59 1186 break;
Lightvalve 13:747daba9cf59 1187 }
Lightvalve 14:8e7590227d22 1188
Lightvalve 14:8e7590227d22 1189 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1190 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1191 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1192 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1193 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1194 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1195 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1196 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1197 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1198 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1199 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1200 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1201 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1202 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1203 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1204 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 1205 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1206 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 1207 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1208 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1209 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1210 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 1211 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1212 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1213 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1214 data_num = 0;
Lightvalve 14:8e7590227d22 1215
Lightvalve 30:8d561f16383b 1216 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1217 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1218 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1219
Lightvalve 30:8d561f16383b 1220 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1221 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1222 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1223
Lightvalve 30:8d561f16383b 1224 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1225 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1226 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1227 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1228
Lightvalve 60:64181f1d3e60 1229 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1230 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1231 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1232 DZ_case = -1;
Lightvalve 14:8e7590227d22 1233 } else {
Lightvalve 13:747daba9cf59 1234 DZ_case = 0;
Lightvalve 13:747daba9cf59 1235 }
Lightvalve 61:bc8c8270f0ab 1236
Lightvalve 60:64181f1d3e60 1237 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1238
Lightvalve 13:747daba9cf59 1239 first_check = 1;
Lightvalve 13:747daba9cf59 1240 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1241 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1242 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1243 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1244 DZ_index = 1;
Lightvalve 14:8e7590227d22 1245
Lightvalve 13:747daba9cf59 1246 }
Lightvalve 19:23b7c1ad8683 1247 } else {
Lightvalve 14:8e7590227d22 1248 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1249 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1250 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 1251 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1252 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1253 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1254 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1255 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1256 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1257 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1258 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1259 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1260 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 14:8e7590227d22 1262 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1263
Lightvalve 30:8d561f16383b 1264 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1265 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1266 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1267
Lightvalve 14:8e7590227d22 1268 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1269 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1270 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1271 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1272 } else {
Lightvalve 13:747daba9cf59 1273 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1274 }
Lightvalve 14:8e7590227d22 1275
Lightvalve 13:747daba9cf59 1276 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1277 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1278 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1279 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1280 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1281 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1282 DZ_index = 1;
Lightvalve 13:747daba9cf59 1283 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1284 }
Lightvalve 13:747daba9cf59 1285 }
Lightvalve 14:8e7590227d22 1286 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1287 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1288 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 1289 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1290 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1291 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1292 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1293 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1294 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1295 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1296 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1297 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1298 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1299 }
Lightvalve 14:8e7590227d22 1300 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1301
Lightvalve 30:8d561f16383b 1302 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1303 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1304 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1305 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1306 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1307
Lightvalve 14:8e7590227d22 1308 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1309 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1310 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1311 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1312 } else {
Lightvalve 60:64181f1d3e60 1313 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1314 }
Lightvalve 14:8e7590227d22 1315
Lightvalve 13:747daba9cf59 1316 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1317 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1318 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1319 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1320 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1321 first_check = 0;
Lightvalve 33:91b17819ec30 1322 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1323 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1324
Lightvalve 16:903b5a4433b4 1325 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1326
Lightvalve 60:64181f1d3e60 1327 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1328 DZ_index = 1;
Lightvalve 13:747daba9cf59 1329 }
Lightvalve 13:747daba9cf59 1330 }
Lightvalve 14:8e7590227d22 1331 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1332 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1333 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 1334 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1335 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1336 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1337 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1338 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1339 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1340 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1341 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1342 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1343 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1344 }
Lightvalve 14:8e7590227d22 1345 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1346
Lightvalve 30:8d561f16383b 1347 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1348 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1349 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1350
Lightvalve 14:8e7590227d22 1351 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1352 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1353 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1354 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1355 } else {
Lightvalve 13:747daba9cf59 1356 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1357 }
Lightvalve 13:747daba9cf59 1358 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1359 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1360 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1361 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1362 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1363 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1364 DZ_index = 1;
Lightvalve 13:747daba9cf59 1365 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1366 }
Lightvalve 13:747daba9cf59 1367 }
Lightvalve 14:8e7590227d22 1368 } else {
Lightvalve 30:8d561f16383b 1369 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1370 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 1371 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1372 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1373 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1374 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1375 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1376 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1377 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1378 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1379 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1380 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1381 }
Lightvalve 14:8e7590227d22 1382 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1383
Lightvalve 30:8d561f16383b 1384 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1385 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1386 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1387 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1388 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1389
Lightvalve 60:64181f1d3e60 1390 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1391 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1392 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1393 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1394 } else {
Lightvalve 13:747daba9cf59 1395 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1396 }
Lightvalve 14:8e7590227d22 1397
Lightvalve 13:747daba9cf59 1398 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1399 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1400 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1401 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1402 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1403 first_check = 0;
Lightvalve 33:91b17819ec30 1404 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1405 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1406
Lightvalve 59:f308b1656d9c 1407 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1408
Lightvalve 57:f4819de54e7a 1409 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1410 DZ_index = 1;
Lightvalve 13:747daba9cf59 1411 }
Lightvalve 13:747daba9cf59 1412 }
Lightvalve 13:747daba9cf59 1413 }
Lightvalve 14:8e7590227d22 1414 }
Lightvalve 13:747daba9cf59 1415 break;
Lightvalve 13:747daba9cf59 1416 }
Lightvalve 14:8e7590227d22 1417
Lightvalve 14:8e7590227d22 1418 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1419 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1420 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1421 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1422 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1423 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1424 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1425 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1426 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1427 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1428 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1429 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1430 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1431 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1432 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1433 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1434 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1435 first_check = 1;
Lightvalve 13:747daba9cf59 1436 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1437 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1438 ID_index = 0;
Lightvalve 13:747daba9cf59 1439 max_check = 0;
Lightvalve 13:747daba9cf59 1440 min_check = 0;
Lightvalve 13:747daba9cf59 1441 }
Lightvalve 14:8e7590227d22 1442 } else {
Lightvalve 30:8d561f16383b 1443 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1444 //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 1445 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1446 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1447 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1448 data_num = 0;
Lightvalve 57:f4819de54e7a 1449 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1450
Lightvalve 14:8e7590227d22 1451 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1452 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1453 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1454 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1455 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1456 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1457 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1458 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1459 one_period_end = 1;
Lightvalve 13:747daba9cf59 1460 }
Lightvalve 30:8d561f16383b 1461 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1462 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1463 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1464 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1465 }
Lightvalve 14:8e7590227d22 1466
Lightvalve 14:8e7590227d22 1467 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1468 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1469 max_check = 1;
Lightvalve 14:8e7590227d22 1470 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1471 min_check = 1;
Lightvalve 13:747daba9cf59 1472 }
Lightvalve 13:747daba9cf59 1473 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1474
Lightvalve 13:747daba9cf59 1475 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1476 one_period_end = 0;
Lightvalve 13:747daba9cf59 1477 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1478 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1479 }
Lightvalve 14:8e7590227d22 1480
Lightvalve 14:8e7590227d22 1481 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1482
Lightvalve 13:747daba9cf59 1483 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1484 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1485 ID_index = 0;
Lightvalve 13:747daba9cf59 1486 first_check = 0;
Lightvalve 13:747daba9cf59 1487 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1488 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1489 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1490 }
Lightvalve 13:747daba9cf59 1491 }
Lightvalve 13:747daba9cf59 1492 break;
Lightvalve 13:747daba9cf59 1493 }
Lightvalve 58:2eade98630e2 1494
Lightvalve 57:f4819de54e7a 1495 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1496 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1497 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1498 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1499 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1500 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1501 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1502 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1503 }
Lightvalve 57:f4819de54e7a 1504 break;
Lightvalve 57:f4819de54e7a 1505 }
Lightvalve 58:2eade98630e2 1506
Lightvalve 58:2eade98630e2 1507
Lightvalve 57:f4819de54e7a 1508
Lightvalve 57:f4819de54e7a 1509 default:
Lightvalve 57:f4819de54e7a 1510 break;
Lightvalve 57:f4819de54e7a 1511 }
Lightvalve 57:f4819de54e7a 1512
Lightvalve 57:f4819de54e7a 1513 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1514
Lightvalve 57:f4819de54e7a 1515 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1516 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1517 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1518 break;
Lightvalve 57:f4819de54e7a 1519 }
Lightvalve 57:f4819de54e7a 1520
Lightvalve 57:f4819de54e7a 1521 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1522 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1523 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1524 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1525 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1526 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1527 } else {
Lightvalve 67:c2812cf26c38 1528 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1529 }
Lightvalve 58:2eade98630e2 1530
Lightvalve 57:f4819de54e7a 1531 break;
Lightvalve 57:f4819de54e7a 1532 }
Lightvalve 57:f4819de54e7a 1533
Lightvalve 57:f4819de54e7a 1534 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1535 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1536 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1537 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1538 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1539
Lightvalve 67:c2812cf26c38 1540 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1541 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1542 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1543 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1544
Lightvalve 67:c2812cf26c38 1545 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1546
Lightvalve 57:f4819de54e7a 1547 // torque feedback
Lightvalve 67:c2812cf26c38 1548 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1549 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1550
Lightvalve 57:f4819de54e7a 1551 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1552
Lightvalve 57:f4819de54e7a 1553 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1554 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1555 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1556
Lightvalve 57:f4819de54e7a 1557 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1558 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1559 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1560
Lightvalve 69:3995ffeaa786 1561 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1562 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 1563 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1564 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1565 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 1566 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1567 }
Lightvalve 57:f4819de54e7a 1568 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 1569 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1570
Lightvalve 57:f4819de54e7a 1571 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1572 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1573 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1574 // 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 1575 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1576 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1577 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1578 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 1579 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1580 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1581 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1582 }
Lightvalve 57:f4819de54e7a 1583 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 1584 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1585 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1586 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1587 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1588
Lightvalve 57:f4819de54e7a 1589 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1590
Lightvalve 67:c2812cf26c38 1591 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1592 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1593 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1594 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1595 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1596 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1597 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1598 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1599 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1600 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1601 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1602 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1603 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1604 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1605 }
Lightvalve 67:c2812cf26c38 1606 }
Lightvalve 57:f4819de54e7a 1607
Lightvalve 57:f4819de54e7a 1608 } else {
Lightvalve 57:f4819de54e7a 1609 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1610 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1611 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1612
Lightvalve 57:f4819de54e7a 1613 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 1614 + 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 1615
Lightvalve 72:3436ce769b1e 1616 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 1617
Lightvalve 72:3436ce769b1e 1618 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1619
Lightvalve 72:3436ce769b1e 1620
Lightvalve 72:3436ce769b1e 1621 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1622 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1623 } else {
Lightvalve 72:3436ce769b1e 1624 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1625 }
Lightvalve 57:f4819de54e7a 1626
Lightvalve 57:f4819de54e7a 1627 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1628 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1629 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1630 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1631 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1632 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1633 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1634 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1635 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1636 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1637 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1638 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1639 }
Lightvalve 57:f4819de54e7a 1640 }
Lightvalve 61:bc8c8270f0ab 1641
Lightvalve 57:f4819de54e7a 1642 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1643
Lightvalve 67:c2812cf26c38 1644 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1645 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1646
Lightvalve 57:f4819de54e7a 1647 }
Lightvalve 72:3436ce769b1e 1648
Lightvalve 72:3436ce769b1e 1649 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1650
Lightvalve 57:f4819de54e7a 1651 break;
Lightvalve 57:f4819de54e7a 1652 }
Lightvalve 58:2eade98630e2 1653
Lightvalve 57:f4819de54e7a 1654 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1655 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1656 break;
Lightvalve 57:f4819de54e7a 1657 }
Lightvalve 14:8e7590227d22 1658
Lightvalve 12:6f2531038ea4 1659 default:
Lightvalve 12:6f2531038ea4 1660 break;
Lightvalve 12:6f2531038ea4 1661 }
Lightvalve 14:8e7590227d22 1662
Lightvalve 57:f4819de54e7a 1663
Lightvalve 57:f4819de54e7a 1664 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1665
Lightvalve 57:f4819de54e7a 1666 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1667 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1668 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1669 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1670 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1671 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1672
Lightvalve 57:f4819de54e7a 1673 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1674 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1675
Lightvalve 57:f4819de54e7a 1676
Lightvalve 57:f4819de54e7a 1677 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1678 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1679 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1680 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1681 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1682 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1683
Lightvalve 57:f4819de54e7a 1684 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1685 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1686 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1687 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1688 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1689 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1690 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1691 }
Lightvalve 57:f4819de54e7a 1692
Lightvalve 57:f4819de54e7a 1693 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1694
Lightvalve 67:c2812cf26c38 1695 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1696 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1697 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1698 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1699 // 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 1700 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1701 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1702
Lightvalve 57:f4819de54e7a 1703 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1704 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1705 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1706 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1707 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1708 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1709 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1710 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1711 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1712 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1713 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1714 }
Lightvalve 57:f4819de54e7a 1715 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1716 } else {
Lightvalve 57:f4819de54e7a 1717 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1718 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1719 }
Lightvalve 57:f4819de54e7a 1720
Lightvalve 57:f4819de54e7a 1721 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1722 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1723 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1724 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1725 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1726 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1727 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1728
Lightvalve 57:f4819de54e7a 1729 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1730
Lightvalve 57:f4819de54e7a 1731 } else {
Lightvalve 57:f4819de54e7a 1732 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1733 }
Lightvalve 57:f4819de54e7a 1734
Lightvalve 57:f4819de54e7a 1735 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1736 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1737 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1738
Lightvalve 57:f4819de54e7a 1739 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1740 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1741 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1742 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1743 }
Lightvalve 67:c2812cf26c38 1744
Lightvalve 67:c2812cf26c38 1745 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1746 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1747 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1748
jobuuu 7:e9086c72bb22 1749 /*******************************************************
jobuuu 7:e9086c72bb22 1750 *** PWM
jobuuu 7:e9086c72bb22 1751 ********************************************************/
Lightvalve 67:c2812cf26c38 1752 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1753 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1754 }
Lightvalve 67:c2812cf26c38 1755
Lightvalve 49:e7bcfc244d40 1756 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1757 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1758 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1759 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1760 }
Lightvalve 49:e7bcfc244d40 1761 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1762
Lightvalve 19:23b7c1ad8683 1763 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1764 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1765 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1766
Lightvalve 30:8d561f16383b 1767 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1768 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1769 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1770 } else {
jobuuu 2:a1c0a37df760 1771 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1772 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1773 }
Lightvalve 13:747daba9cf59 1774
jobuuu 1:e04e563be5ce 1775 //pwm
Lightvalve 30:8d561f16383b 1776 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1777 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1778
Lightvalve 61:bc8c8270f0ab 1779
Lightvalve 57:f4819de54e7a 1780 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1781
Lightvalve 54:647072f5307a 1782 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1783 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1784 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1785 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1786 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1787 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1788 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 1789 }
Lightvalve 57:f4819de54e7a 1790 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1791 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1792 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 1793 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1794 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 1795 }
Lightvalve 52:8ea76864368a 1796 }
Lightvalve 52:8ea76864368a 1797 }
Lightvalve 56:6f50d9d3bfee 1798 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1799 //valve position
Lightvalve 54:647072f5307a 1800 double t_value = 0;
Lightvalve 67:c2812cf26c38 1801 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 67:c2812cf26c38 1802 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1803 } else {
Lightvalve 67:c2812cf26c38 1804 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 67:c2812cf26c38 1805 }
Lightvalve 67:c2812cf26c38 1806 // if(OPERATING_MODE==5) {
Lightvalve 67:c2812cf26c38 1807 // t_value = (double) value;
Lightvalve 67:c2812cf26c38 1808 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 67:c2812cf26c38 1809 // t_value = cur.sen;
Lightvalve 57:f4819de54e7a 1810 // } else {
Lightvalve 67:c2812cf26c38 1811 // t_value = V_out;
Lightvalve 67:c2812cf26c38 1812 // }
Lightvalve 67:c2812cf26c38 1813 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1814 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1815 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1816 }
Lightvalve 58:2eade98630e2 1817
Lightvalve 58:2eade98630e2 1818
Lightvalve 56:6f50d9d3bfee 1819 if (flag_data_request[2] == HIGH) {
Lightvalve 56:6f50d9d3bfee 1820 //pressure A and B
Lightvalve 57:f4819de54e7a 1821 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 55:b25725257569 1822 }
Lightvalve 58:2eade98630e2 1823
Lightvalve 57:f4819de54e7a 1824 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1825 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1826 ;
Lightvalve 57:f4819de54e7a 1827 }
Lightvalve 58:2eade98630e2 1828
Lightvalve 56:6f50d9d3bfee 1829 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1830 //PWM
Lightvalve 73:f80dc3970c99 1831 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1832 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1833 }
Lightvalve 57:f4819de54e7a 1834 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1835 // ;
Lightvalve 57:f4819de54e7a 1836 // }
Lightvalve 56:6f50d9d3bfee 1837 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1838 //valve position
Lightvalve 73:f80dc3970c99 1839 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 1840 }
Lightvalve 20:806196fda269 1841
Lightvalve 54:647072f5307a 1842 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1843 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1844 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1845 // }
Lightvalve 54:647072f5307a 1846 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1847 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1848 //}
Lightvalve 52:8ea76864368a 1849
Lightvalve 54:647072f5307a 1850 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1851 }
Lightvalve 54:647072f5307a 1852 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1853
Lightvalve 20:806196fda269 1854 }
Lightvalve 52:8ea76864368a 1855 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1856
Lightvalve 58:2eade98630e2 1857 }