Sungwoo Kim
for learning
Diff: main.cpp
- Revision:
- 19:23b7c1ad8683
- Parent:
- 18:b8adf1582ea3
- Child:
- 20:806196fda269
--- a/main.cpp Wed Sep 04 11:02:57 2019 +0000
+++ b/main.cpp Mon Sep 09 06:29:56 2019 +0000
@@ -70,6 +70,22 @@
int timer_while = 0;
int while_index = 0;
+
+extern int CID_RX_CMD;
+extern int CID_RX_REF_POSITION;
+extern int CID_RX_REF_TORQUE;
+extern int CID_RX_REF_PRES_DIFF;
+extern int CID_RX_REF_VOUT;
+extern int CID_RX_REF_VALVE_POSITION;
+extern int CID_RX_REF_CURRENT;
+
+extern int CID_TX_INFO;
+extern int CID_TX_POSITION;
+extern int CID_TX_TORQUE;
+extern int CID_TX_PRES;
+extern int CID_TX_VOUT;
+extern int CID_TX_VALVE_POSITION;
+
// =============================================================================
// =============================================================================
// =============================================================================
@@ -129,8 +145,8 @@
/*********************************
*** Initialization
*********************************/
- LED = 1;
- pc.baud(9600);
+ //LED = 1;
+ //pc.baud(9600);
// i2c init
i2c.frequency(400 * 1000); // 0.4 mHz
@@ -147,8 +163,7 @@
make_delay();
//rom
-
- ROM_INIT_DATA();
+ ROM_CALL_DATA();
make_delay();
// ADC init
@@ -169,19 +184,18 @@
can.attach(&CAN_RX_HANDLER);
CAN_ID_INIT();
make_delay();
-
+ can.filter(msg.id, 0xFFFFF000, CANStandard);
+
// spi _ enc
spi_enc_set_init();
make_delay();
//DAC init
dac_1 = PRES_A_VREF / 3.3;
- //dac_1 = 0.0;
dac_2 = PRES_B_VREF / 3.3;
- //dac_2 = 0.0;
make_delay();
- for (int i=0; i<100; i++) {
+ for (int i=0; i<50; i++) {
if(i%2==0)
ID_index_array[i] = - i * 0.5;
else
@@ -192,15 +206,15 @@
*** Program is operating!
*************************************/
while(1) {
- if(timer_while==1){
+ if(timer_while==1000){
//i2c
read_field(i2c_slave_addr1);
if(DIR_VALVE_ENC < 0) value = 1023 - value;
- if(LED==1) {
- LED=0;
- } else
- LED = 1;
+// if(LED==1) {
+// LED=0;
+// } else
+// LED = 1;
timer_while = 0;
}
@@ -216,9 +230,9 @@
for(i=0; i<VALVE_POS_NUM; i++) {
if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
if(i==0) {
- Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
+ Ref_Valve_Pos_FF = ((int) 10.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
} else {
- Ref_Valve_Pos_FF = ((int) 50.0*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 50*ID_index_array[i-1];
+ Ref_Valve_Pos_FF = ((int) 10.0*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 10*ID_index_array[i-1];
}
break;
}
@@ -228,6 +242,7 @@
} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Ref_Valve_Pos_FF = VALVE_MIN_POS;
}
+ Ref_Valve_Pos_FF_CAN = Ref_Valve_Pos_FF;
return Ref_Valve_Pos_FF;
}
@@ -261,6 +276,9 @@
break;
}
}
+
+ //VALVE_PWM_RAW_FF = 0.0;
+
V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}
@@ -308,201 +326,74 @@
TIMER INTERRUPT
*******************************************************************************/
-unsigned long CNT_TMR4 = 0;
+//unsigned long CNT_TMR4 = 0;
double FREQ_TMR4 = (double)FREQ_10k;
double DT_TMR4 = (double)DT_10k;
extern "C" void TIM4_IRQHandler(void)
{
- if ( TIM4->SR & TIM_SR_UIF ) {
- /*******************************************************
- *** Sensor Read & Data Handling
- ********************************************************/
+ if (TIM4->SR & TIM_SR_UIF ) {
+
+ /*******************************************************
+ *** Sensor Read & Data Handling
+ ********************************************************/
-
- //Using LoadCell
+
+ //Using LoadCell
// ADC1->CR2 |= 0x40000000; // adc _ 12bit
// //while((ADC1->SR & 0b10));
// double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
// double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
// torq.sen = torq.sen*(1.0-alpha_update_torque)+torque_new*(alpha_update_torque);
- //Pressure sensor A
- ADC1->CR2 |= 0x40000000; // adc _ 12bit
- //while((ADC1->SR & 0b10));
- double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
- double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
- pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
+
- //Pressure sensor 1B
- //ADC2->CR2 |= 0x40000000; // adc _ 12bit
- //while((ADC2->SR & 0b10));
- double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
- double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
- pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
- torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
+ //Pressure sensor A
+ ADC1->CR2 |= 0x40000000; // adc _ 12bit
+ //while((ADC1->SR & 0b10));
+ double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
+ double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
+ pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
+
+ //Pressure sensor 1B
+ //ADC2->CR2 |= 0x40000000; // adc _ 12bit
+ //while((ADC2->SR & 0b10));
+ double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
+ double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
+ pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
+ torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
- //Current
- //ADC3->CR2 |= 0x40000000; // adc _ 12bit
+ //Current
+ //ADC3->CR2 |= 0x40000000; // adc _ 12bit
// a1=ADC2->DR;
- int raw_cur = ADC3->DR;
- //while((ADC3->SR & 0b10));
- double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
- double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
- cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
- cur.sen = raw_cur;
+ int raw_cur = ADC3->DR;
+ //while((ADC3->SR & 0b10));
+ double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
+ double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
+ cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
+ cur.sen = raw_cur;
-
-
- /*******************************************************
- *** Timer Counting & etc.
- ********************************************************/
- CNT_TMR4++;
- }
+ /*******************************************************
+ *** Timer Counting & etc.
+ ********************************************************/
+ //CNT_TMR4++;
+ }
TIM4->SR = 0x0; // reset the status register
}
+
+
int j =0;
-unsigned long CNT_TMR3 = 0;
+//unsigned long CNT_TMR3 = 0;
double FREQ_TMR3 = (double)FREQ_5k;
double DT_TMR3 = (double)DT_5k;
extern "C" void TIM3_IRQHandler(void)
-{
- if ( TIM3->SR & TIM_SR_UIF ) {
-
+{
+ if (TIM3->SR & TIM_SR_UIF ) {
ENC_UPDATE();
- /*
- // Reference Loop
- switch (REFERENCE_MODE) {
- case MODE_REF_NO_ACT: {
- break;
- }
- case MODE_REF_DIRECT: {
- if (FLAG_REFERENCE_VALVE_PWM) {
- Vout.ref = (double) Vout.ref;
- }
- if (FLAG_REFERENCE_VALVE_POSITION) {
- valve_pos.ref = (double) valve_pos.ref;
- }
- if (FLAG_REFERENCE_JOINT_POSITION) {
- pos.ref = (double) pos.ref;
- vel.ref = (double) vel.ref;
- }
- if (FLAG_REFERENCE_JOINT_TORQUE) {
- torq.ref = (double) torq.ref;
- }
- if (FLAG_REFERENCE_CURRENT) {
- cur.ref = ((double)cur.ref);
- }
- break;
- }
-
- case MODE_REF_COS_INC: {
- if (FLAG_REFERENCE_VALVE_PWM) {
- Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Vout.ref;
- }
- if (FLAG_REFERENCE_VALVE_POSITION) {
- valve_pos.ref = ((double) valve_pos.ref - (double) INIT_Valve_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Valve_Pos.ref;
- }
- if (FLAG_REFERENCE_JOINT_POSITION) {
- pos.ref = ((double) pos.ref - (double) INIT_Pos.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_Pos.ref;
- vel.ref = 0.0;
- }
- if (FLAG_REFERENCE_JOINT_TORQUE) {
- torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*(0.5 - 0.5 * cos(3.14159 * (double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_torq.ref;
- }
- TMR3_COUNT_REFERENCE++;
- if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
- //REFERENCE_MODE = MODE_REF_DIRECT;
- TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
- //TMR3_COUNT_REFERENCE = 0;
- }
- break;
- }
-
+ // CONTROL LOOP ------------------------------------------------------------
- case MODE_REF_LINE_INC: {
- if (FLAG_REFERENCE_VALVE_PWM) {
- Vout.ref = ((double) Vout.ref - (double) INIT_Vout.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_Vout.ref;
- }
- if (FLAG_REFERENCE_VALVE_POSITION) {
- valve_pos.ref = ((double) valve_pos.ref - (double) INIT_valve_pos.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_valve_pos.ref;
- }
- if (FLAG_REFERENCE_JOINT_POSITION) {
- pos.ref = ((double) pos.ref - (double) INIT_REF_POS)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_POS;
- vel.ref = ((double) pos.ref - (double) INIT_REF_POS) / (double) REF_MOVE_TIME_5k * (double) TMR_FREQ_5k; // pulse/sec
- }
- if (FLAG_REFERENCE_JOINT_TORQUE) {
- torq.ref = ((double) torq.ref - (double) INIT_torq.ref)*((double) TMR3_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_torq.ref;
- }
- TMR3_COUNT_REFERENCE++;
- if (TMR3_COUNT_REFERENCE >= REF_MOVE_TIME_5k) {
- //REFERENCE_MODE = MODE_REF_DIRECT;
- TMR3_COUNT_REFERENCE = REF_MOVE_TIME_5k;
- //TMR3_COUNT_REFERENCE = 0;
- }
- break;
- }
-
- case MODE_REF_SIN_WAVE: {
- if (FLAG_REFERENCE_VALVE_PWM) {
- Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
- }
- if (FLAG_REFERENCE_VALVE_POSITION) {
- valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
- }
- if (FLAG_REFERENCE_JOINT_POSITION) {
- Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
- }
- if (FLAG_REFERENCE_JOINT_TORQUE) {
- Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
- }
- TMR3_COUNT_REFERENCE++;
- if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
- REFERENCE_MODE = MODE_REF_DIRECT;
- TMR3_COUNT_REFERENCE = 0;
- }
- break;
- }
-
- case MODE_REF_SQUARE_WAVE: {
- if (FLAG_REFERENCE_VALVE_PWM) {
- Vout.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) Vout.ref;
- if (Vout.ref >= Vout.ref) Vout.ref = REF_MAG + Vout.ref;
- else Vout.ref = -REF_MAG + Vout.ref;
- }
- if (FLAG_REFERENCE_VALVE_POSITION) {
- valve_pos.ref = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) valve_pos.ref;
- if (valve_pos.ref >= valve_pos.ref) valve_pos.ref = REF_MAG + valve_pos.ref;
- else valve_pos.ref = -REF_MAG + valve_pos.ref;
- }
- if (FLAG_REFERENCE_JOINT_POSITION) {
- Ref_Joint_Pos = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) pos.ref;
- if (Ref_Joint_Pos >= pos.ref) valve_pos.ref = REF_MAG + pos.ref;
- else Ref_Joint_Pos = -REF_MAG + pos.ref;
- }
- if (FLAG_REFERENCE_JOINT_TORQUE) {
- Ref_Joint_Torq = REF_MAG * sin(2 * 3.14159 * (double) TMR3_COUNT_REFERENCE / (double) TMR3_COUNT_REFERENCE) + (double) torq.ref;
- if (Ref_Joint_Torq >= torq.ref) valve_pos.ref = REF_MAG + torq.ref;
- else Ref_Joint_Torq = -REF_MAG + torq.ref;
- }
- TMR3_COUNT_REFERENCE++;
- if (TMR3_COUNT_REFERENCE >= TMR3_COUNT_REFERENCE * REF_NUM) {
- REFERENCE_MODE = MODE_REF_DIRECT;
- TMR3_COUNT_REFERENCE = 0;
- }
- break;
- }
-
- default:
- break;
- }
-
- */
-
- // CONTROL LOOP ------------------------------------------------------------
-
switch (CONTROL_MODE) {
case MODE_NO_ACT: {
V_out = 0;
@@ -551,7 +442,7 @@
// if (torq.err_sum<-1000) torq.err_sum = -1000;
// VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
-
+
PWM_RAW_FORCE_FB = 0.0;
V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
@@ -561,9 +452,9 @@
case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
- double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
+ //double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
- int DDV_JOINT_CAN = 0;
+ //int DDV_JOINT_CAN = 0;
// feedback input for position control
pos.err = pos.ref - (double) pos.sen;
pos.err_diff = pos.err - pos.err_old;
@@ -594,9 +485,8 @@
// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
VALVE_POS_RAW_FORCE_FB = 0.0;
- valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
- //valve_pos.ref = DDV_JOINT_POS_FF(Ref_Joint_Vel);
-
+ //valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
+ valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
break;
}
@@ -686,7 +576,7 @@
valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
VALVE_POS_CONTROL(valve_pos.ref);
-
+
break;
}
@@ -695,66 +585,66 @@
break;
}
-
- case MODE_TEST_CURRENT_CONTROL:
- {
+
+ case MODE_TEST_CURRENT_CONTROL: {
if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
TMR3_COUNT_IREF = 0;
- } TMR3_COUNT_IREF++;
-
- // Set Current Reference
+ }
+ TMR3_COUNT_IREF++;
+
+ // Set Current Reference
double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
double I_REF_MID = 0.0;
if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
I_REF = I_REF_MID + 1.0;
} else {
I_REF = I_REF_MID - 1.0;
- }
+ }
// double T = 1.0; // wave period
// I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
// I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
-
+
if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
- CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
+ CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
}
break;
}
-
- case MODE_TEST_PWM_CONTROL:
- {
+
+ case MODE_TEST_PWM_CONTROL: {
if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
TMR3_COUNT_IREF = 0;
- } TMR3_COUNT_IREF++;
-
+ }
+ TMR3_COUNT_IREF++;
+
// Set PWM reference
double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
- double I_REF_MID = 0.0;
+ //double I_REF_MID = 0.0;
if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
CUR_PWM = 1000;
} else {
CUR_PWM = -1000;
- }
-
+ }
+
if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
}
break;
}
-
-
+
+
case MODE_CURRENT_CONTROL: {
cur.ref = cur.ref; // Unit : mA
CurrentControl();
break;
}
-
+
case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
-
+
// feedback input for position control
pos.err = pos.ref - pos.sen;
double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
@@ -762,7 +652,7 @@
pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
pos.err_old = pos.err;
I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
-
+
// feedforward input for position control
double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
double K_ff = 1.3;
@@ -770,51 +660,51 @@
if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
-
+
// feedback input for position control
I_REF_FORCE_FB = 0.0;
-
+
// feedforward input for position control
I_REF_FORCE_FF = 0.0;
-
+
cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
-
+
CurrentControl();
-
+
break;
}
-
+
case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
- double T_REF = 0.0; // Torque Reference
+ //double T_REF = 0.0; // Torque Reference
double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
double I_REF_VC = 0.; // I_REF for velocity compensation
-
+
// feedback input for position control
- double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
- double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
- double K_spring = 0.7;
- double D_damper = 0.02;
+ //double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ //double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ //double K_spring = 0.7;
+ //double D_damper = 0.02;
// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
-
+
// torque feedback
torq.err = torq.ref - torq.sen;
// torq.err_diff = torq.err - torq.err_old;
// torq.err_old = torq.err;
torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
- I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
-
+ I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
+
// velocity compensation for torque control
- double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
double K_vc = 1.5; // Velocity comp. gain
- double K_v = 0.0; // Valve gain
+ double K_v = 0.0; // Valve gain
if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
I_REF_VC = K_vc*K_v*Joint_Vel_Act;
-
+
cur.ref = I_REF_VC + I_REF_FORCE_FB;
- // cur.ref = I_REF_FORCE_FB;
-
- double I_MAX = 10.00; // Maximum Current : 10mV
+ // cur.ref = I_REF_FORCE_FB;
+
+ double I_MAX = 10.00; // Maximum Current : 10mV
double Ka = 1.0/I_GAIN_JOINT_TORQUE;
if(cur.ref > I_MAX) {
double I_rem = cur.ref-I_MAX;
@@ -823,20 +713,20 @@
torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
} else if(cur.ref < -I_MAX) {
double I_rem = cur.ref-(-I_MAX);
- I_rem = Ka*I_rem;
+ I_rem = Ka*I_rem;
cur.ref = -I_MAX;
torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
}
-
+
CurrentControl();
-
-
+
+
/*
double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
-
+
// feedback input for position control
pos.err = pos.ref - pos.sen;
double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
@@ -844,7 +734,7 @@
pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
pos.err_old = pos.err;
I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
-
+
// feedforward input for position control
double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
double K_ff = 1.3;
@@ -852,18 +742,18 @@
if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
-
+
// feedback input for position control
I_REF_FORCE_FB = 0.0;
-
+
// feedforward input for position control
I_REF_FORCE_FF = 0.0;
-
+
cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
-
+
CurrentControl();
*/
-
+
break;
}
@@ -871,18 +761,18 @@
// DAC Voltage reference set
if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
CUR_TORQUE_sum += torq.sen;
-
+
if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
CUR_TORQUE_sum = 0;
TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
-
+
if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
if (TORQUE_VREF < 0) TORQUE_VREF = 0;
-
+
ROM_RESET_DATA();
-
+
//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
dac_1 = TORQUE_VREF / 3.3;
}
@@ -891,18 +781,18 @@
TMR3_COUNT_TORQUE_NULL = 0;
CUR_TORQUE_sum = 0;
CUR_TORQUE_mean = 0;
-
+
ROM_RESET_DATA();
-
+
//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
-
+
//pc.printf("%f\n", TORQUE_VREF);
dac_1 = TORQUE_VREF / 3.3;
}
TMR3_COUNT_TORQUE_NULL++;
break;
- }
+ }
case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
if (TMR3_COUNT_DEADZONE == 0) {
@@ -967,9 +857,9 @@
VALVE_DEADZONE_MINUS = VALVE_CENTER;
}
V_out = 0;
-
+
ROM_RESET_DATA();
-
+
//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
@@ -982,8 +872,8 @@
}
case MODE_FIND_HOME: {
-
-
+
+
////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
if (FLAG_FIND_HOME == true) {
cnt_findhome = 0;
@@ -1032,7 +922,7 @@
cnt_findhome = 0;
cnt_vel_findhome = 0;
}
-
+
/*
////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
if (FLAG_FIND_HOME == true) {
@@ -1042,7 +932,7 @@
Ref_Joint_Pos = pos.sen;
FLAG_FIND_HOME = false;
}
-
+
int cnt_check_enc = (TMR_FREQ_5k/500);
if(cnt_findhome%cnt_check_enc == 0){
FINDHOME_POSITION = pos.sen;
@@ -1050,19 +940,19 @@
FINDHOME_POSITION_OLD = FINDHOME_POSITION;
} cnt_findhome++;
if(cnt_findhome == 10000) cnt_findhome = 0;
-
+
if (abs(FINDHOME_VELOCITY) <= 1) {
cnt_vel_findhome = cnt_vel_findhome + 1;
} else {
cnt_vel_findhome = 0;
}
-
+
if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
REFERENCE_MODE = MODE_REF_NO_ACT;
if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
pos.err = Ref_Joint_Pos - pos.sen;
- I_REF = 0.001*((double)pos.err);
+ I_REF = 0.001*((double)pos.err);
if(I_REF>5.0) I_REF = 5.0;
if(I_REF<-5.0) I_REF = -5.0;
cur.ref = I_REF;
@@ -1076,7 +966,7 @@
Ref_Joint_Vel = 0.0;
REFERENCE_MODE = MODE_REF_COS_INC;
CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
-
+
FINDHOME_POSITION = 0;
FINDHOME_POSITION_OLD = 0;
FINDHOME_VELOCITY = 0;
@@ -1084,7 +974,7 @@
cnt_vel_findhome = 0;
}
*/
-
+
break;
}
@@ -1135,9 +1025,9 @@
}
}
if (fl_temp_cnt2 == 100) {
-
+
ROM_RESET_DATA();
-
+
//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
cur_vel_sum = 0;
fl_temp_cnt = 0;
@@ -1180,7 +1070,7 @@
if (PRES_A_VREF < 0) PRES_A_VREF = 0;
if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
if (PRES_B_VREF < 0) PRES_B_VREF = 0;
-
+
dac_1 = PRES_A_VREF / 3.3;
dac_2 = PRES_B_VREF / 3.3;
}
@@ -1193,7 +1083,7 @@
CUR_PRES_B_mean = 0;
ROM_RESET_DATA();
-
+
dac_1 = PRES_A_VREF / 3.3;
dac_2 = PRES_B_VREF / 3.3;
//pc.printf("nulling end");
@@ -1225,7 +1115,7 @@
CUR_PRES_B_sum = 0;
CUR_PRES_A_mean = 0;
CUR_PRES_B_mean = 0;
-
+
ROM_RESET_DATA();
//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
@@ -1273,9 +1163,9 @@
VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
for(i=0; i<25; i++) {
VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
-
+
//ROM_RESET_DATA();
-
+
//spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
VALVE_MAX_POS = VALVE_POS_AVG[i];
@@ -1285,9 +1175,9 @@
VALVE_POS_AVG_OLD = VALVE_MIN_POS;
}
}
-
+
ROM_RESET_DATA();
-
+
//spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
//spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
@@ -1374,7 +1264,7 @@
//CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
}
- }else {
+ } else {
if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
@@ -1468,9 +1358,11 @@
SECOND_DZ = valve_pos.ref;
DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
first_check = 0;
-
+ VALVE_DEADZONE_MINUS = FIRST_DZ;
+ VALVE_DEADZONE_PLUS = SECOND_DZ;
+
ROM_RESET_DATA();
-
+
//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
//spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
@@ -1566,14 +1458,10 @@
DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = FIRST_DZ;
-
- ROM_RESET_DATA();
-
//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
VALVE_DEADZONE_PLUS = SECOND_DZ;
-
ROM_RESET_DATA();
-
+
//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
//spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
@@ -1616,15 +1504,15 @@
V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
} else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
data_num = 0;
- valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
+ valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
START_POS = pos.sen;
} else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
- valve_pos.ref = 50*(ID_index_array[ID_index]) + DDV_CENTER;
+ valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
data_num = data_num + 1;
- if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000) {
+ if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000.0) {
FINAL_POS = pos.sen;
one_period_end = 1;
}
@@ -1640,23 +1528,23 @@
min_check = 1;
}
JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
-
- ROM_RESET_DATA();
-
+
+ //ROM_RESET_DATA();
+
//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
VALVE_FR_timer = 0;
one_period_end = 0;
ID_index= ID_index +1;
// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
+ V_out = 0.0;
}
if(max_check == 1 && min_check == 1) {
-
- ROM_RESET_DATA();
-
+
//spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
VALVE_POS_NUM = ID_index;
+ ROM_RESET_DATA();
ID_index = 0;
first_check = 0;
VALVE_FR_timer = 0;
@@ -1704,14 +1592,13 @@
//CAN ----------------------------------------------------------------------
//if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
- if (TMR3_COUNT_CAN_TX % 10 == 0) {
+ if (TMR3_COUNT_CAN_TX % 1000 == 0) {
if (flag_data_request[0] == HIGH) {
//position+velocity
CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
//CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
//CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
-
//pc.printf("can good");
// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
}
@@ -1721,6 +1608,7 @@
//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
CAN_TX_TORQUE((int16_t) (cur.sen));
+ //CAN_TX_TORQUE((int16_t) (Ref_Valve_Pos_FF_CAN));
// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
}
@@ -1737,7 +1625,7 @@
if (flag_data_request[3] == HIGH) {
//PWM
CAN_TX_PWM((int16_t) CUR_PWM);
- // CAN_TX_PWM((int16_t) (CONTROL_MODE));
+ //CAN_TX_PWM((int16_t) (Ref_Valve_Pos_FF_CAN));
// CAN_TX_PWM((int16_t) cnt_vel_findhome);
// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
@@ -1762,9 +1650,9 @@
}
TMR3_COUNT_CAN_TX++;
-
-
-
+
+
+
/*******************************************************
*** Valve Control
@@ -1787,8 +1675,8 @@
// Saturation of output voltage to 5.0V
// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
// else if (PWM_out < -0.41667) PWM_out=-0.41667;
-
- // Saturation of output voltage to 12.0V
+
+ // Saturation of output voltage to 12.0V
if(PWM_out > 1.0) PWM_out=1.0;
else if (PWM_out < -1.0) PWM_out=-1.0;
@@ -1819,7 +1707,7 @@
// can.write(msg);
// }
- if((CNT_TMR3%5000)==0) {
+ //if((CNT_TMR3%5000)==0) {
// if(LED==1) {
// LED=0;
// } else
@@ -1828,73 +1716,18 @@
// pc.printf("A %f\n", (double) pres_A.sen);
// CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[j]);
// j++;
- }
+ //}
/*******************************************************
*** Timer Counting & etc.
********************************************************/
- CNT_TMR3++;
+ //CNT_TMR3++;
+
}
-
TIM3->SR = 0x0; // reset the status register
}
-/*
-void ValveControl(unsigned int ControlMode)
-{
- switch (ControlMode) {
- case MODE_NO_ACT: // 0
- V_out = 0.0;
- break;
- case MODE_VALVE_OPEN_LOOP: // 1
- V_out = Vout.ref;
- break;
- case MODE_VALVE_POSITION_CONTROL: // 2
- CurrentControl();
- break;
- case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3
- V_out = 0.0;
- break;
- case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4
- double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
- double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
-
- // feedback input for position control
- pos.err = pos.ref - pos.sen;
- double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
- double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
- pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
- pos.err_old = pos.err;
- I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
-
- // feedforward input for position control
- double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
- double K_ff = 1.3;
- double K_v = 0.0;
- if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
- if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
- I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
-
- cur.ref = I_REF_POS_FF + I_REF_POS_FB;
- break;
- case MODE_TEST_CURRENT_CONTROL: // 9
- V_out = 0.0;
- break;
- case MODE_TEST_PWM_CONTROL: // 10
- V_out = 0.0;
- break;
- case MODE_FIND_HOME: // 22
- V_out = 0.0;
- break;
- default:
- V_out = 0.0;
- break;
-
- }
-}
-*/
-
void CurrentControl()
{
cur.err = cur.ref - cur.sen;