File content as of revision 63:3c6869477483:

#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
#include "function_CAN.h"
#include "SPI_EEP_ENC.h"
#include "I2C_AS5510.h"
#include "setting.h"
#include "function_utilities.h"
#include "stm32f4xx_flash.h"
#include "FlashWriter.h"
#include "Eigen/Dense.h"

using namespace std;
using namespace Eigen;
Timer t;

///191008////

// dac & check ///////////////////////////////////////////
DigitalOut check(PC_2);
DigitalOut check_2(PC_3);
AnalogOut dac_1(PA_4);
AnalogOut dac_2(PA_5);
AnalogIn adc1(PC_4); //pressure_1
AnalogIn adc2(PB_0); //pressure_2
AnalogIn adc3(PC_1); //current


// PWM ///////////////////////////////////////////
float dtc_v=0.0f;
float dtc_w=0.0f;

// I2C ///////////////////////////////////////////
I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
const int i2c_slave_addr1 =  0x56;
unsigned int value; // 10bit output of reading sensor AS5510

// SPI ///////////////////////////////////////////
//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
//DigitalOut eeprom_cs(PB_12);
//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
DigitalOut LED(PA_15);

// UART ///////////////////////////////////////////
Serial pc(PA_9,PA_10); //  _ UART

// CAN ///////////////////////////////////////////
CAN can(PB_8, PB_9, 1000000);
CANMessage msg;
void onMsgReceived()
{
    CAN_RX_HANDLER();
}

// Variables ///////////////////////////////////////////
State pos;
State vel;
State Vout;
State torq;
State pres_A;
State pres_B;
State cur;
State valve_pos;

State INIT_Vout;
State INIT_Valve_Pos;
State INIT_Pos;
State INIT_torq;

extern int CID_RX_CMD;
extern int CID_RX_REF_POSITION;
extern int CID_RX_REF_VALVE_POS;
extern int CID_RX_REF_PWM;

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;

MatrixXd Input = MatrixXd::Zero(1,22);     //input
MatrixXd h1 = MatrixXd::Zero(22,32);
MatrixXd h2 = MatrixXd::Zero(32,32);
MatrixXd h3 = MatrixXd::Zero(32,32);
MatrixXd hout = MatrixXd::Zero(32,1);

MatrixXd b1 = MatrixXd::Zero(32,1);
MatrixXd b2 = MatrixXd::Zero(32,1);
MatrixXd b3 = MatrixXd::Zero(32,1);
MatrixXd bout = MatrixXd::Zero(1,1);

MatrixXd X;
ArrayXf Y;
float NNoutput;
float input_array[6] ={0.0f};
float position_array[10] = {0.0f};


// =============================================================================
// =============================================================================
// =============================================================================

/*******************************************************************************
 *  REFERENCE MODE
 ******************************************************************************/
enum _REFERENCE_MODE {
    MODE_REF_NO_ACT = 0,                                //0
    MODE_REF_DIRECT,                                //1
    MODE_REF_COS_INC,                                  //2
    MODE_REF_LINE_INC,                                 //3
    MODE_REF_SIN_WAVE,                                  //4
    MODE_REF_SQUARE_WAVE,                                  //5
};

/*******************************************************************************
 *  CONTROL MODE
 ******************************************************************************/
enum _CONTROL_MODE {
    //control mode
    MODE_NO_ACT = 0,                                    //0
    MODE_VALVE_POSITION_CONTROL,                        //1
    MODE_JOINT_CONTROL,                                 //2

    MODE_VALVE_OPEN_LOOP,                               //3
    MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION,  //4
    MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING,        //5

    MODE_JOINT_POSITION_PRES_CONTROL_PWM,               //6
    MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION,    //7
    MODE_VALVE_POSITION_PRES_CONTROL_LEARNING,          //8

    MODE_TEST_CURRENT_CONTROL,                          //9
    MODE_TEST_PWM_CONTROL,                              //10

    MODE_CURRENT_CONTROL,                               //11
    MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT,         //12
    MODE_JOINT_POSITION_PRES_CONTROL_CURRENT,           //13

    //utility
    MODE_TORQUE_SENSOR_NULLING = 20,                    //20
    MODE_VALVE_NULLING_AND_DEADZONE_SETTING,            //21
    MODE_FIND_HOME,                                     //22
    MODE_VALVE_GAIN_SETTING,                            //23
    MODE_PRESSURE_SENSOR_NULLING,                       //24
    MODE_PRESSURE_SENSOR_CALIB,                         //25
    MODE_ROTARY_FRICTION_TUNING,                        //26

    MODE_DDV_POS_VS_PWM_ID = 30,                           //30
    MODE_DDV_DEADZONE_AND_CENTER,                       //31
    MODE_DDV_POS_VS_FLOWRATE,                           //32
    MODE_SYSTEM_ID,                                     //33
};



int main()
{
    /*********************************
    ***     Initialization
    *********************************/
    LED = 1;
    pc.baud(9600);

    // i2c init
    i2c.frequency(400 * 1000);          // 0.4 mHz
    wait_ms(2);                         // Power Up wait
    look_for_hardware_i2c();            // Hardware present
    init_as5510(i2c_slave_addr1);
    make_delay();

//    // spi init
    //eeprom.format(8,3);
    //eeprom.frequency(5000000); //5M
    enc.format(8,0);
    enc.frequency(5000000); //5M
    make_delay();

    //rom
    ROM_CALL_DATA();
    make_delay();

    // ADC init
    Init_ADC();
    make_delay();

    // Pwm init
    Init_PWM();
    TIM4->CR1 ^= TIM_CR1_UDIS;
    make_delay();

    // TMR3 init
    Init_TMR3();
    TIM3->CR1 ^= TIM_CR1_UDIS;
    make_delay();

    // TMR2 init
//    Init_TMR2();
//    TIM2->CR1 ^= TIM_CR1_UDIS;
//    make_delay();

    // CAN
    can.attach(&CAN_RX_HANDLER);
    CAN_ID_INIT();
    make_delay();

    //Timer priority
    NVIC_SetPriority(TIM3_IRQn, 2);
    //NVIC_SetPriority(TIM2_IRQn, 3);
    NVIC_SetPriority(TIM4_IRQn, 3);

    //can.reset();
    can.filter(msg.id, 0xFFFFF000, CANStandard);

    // spi _ enc
    spi_enc_set_init();
    make_delay();

    //DAC init
    if (SENSING_MODE == 0) {
        dac_1 = TORQUE_VREF / 3.3f;
        dac_2 = 0.0f;
    } else if (SENSING_MODE == 1) {
        dac_1 = PRES_A_VREF / 3.3f;
        dac_2 = PRES_B_VREF / 3.3f;
    }
    make_delay();

    for (int i=0; i<50; i++) {
        if(i%2==0)
            ID_index_array[i] = - i * 0.5f;
        else
            ID_index_array[i] =  (i+1) * 0.5f;
    }
    
    Input <<
       0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.052414,0.066907,0.085407,0.109023;


    h1 <<
       -0.02454003319144249,0.13071660697460175,0.08675816655158997,0.1402530074119568,-0.24982963502407074,0.12202739715576172,-0.13030944764614105,-0.11353740841150284,-0.2542628347873688,-0.04588286578655243,-0.14282149076461792,-0.2201535552740097,-0.18691661953926086,0.30389177799224854,-0.1729012429714203,-0.12240276485681534,-0.11355798691511154,0.2349482625722885,-0.24878336489200592,0.07184267044067383,-0.3221011161804199,0.08763179183006287,-0.27257153391838074,-0.06490874290466309,-0.06682667881250381,0.1505383551120758,-0.14478006958961487,-0.07367490231990814,0.23569869995117188,-0.1539779156446457,-0.1400003880262375,0.051764924079179764
       ,-0.19842876493930817,0.18337926268577576,0.24467620253562927,-0.29177823662757874,-0.08481606096029282,0.09983056783676147,0.17972804605960846,-0.07474377751350403,-0.1711931675672531,0.12607872486114502,-0.21832025051116943,-0.1755477339029312,-0.010855759494006634,0.2378554791212082,0.03758585453033447,-0.13797838985919952,-0.15582887828350067,0.08006728440523148,0.280606746673584,0.28338202834129333,-0.06711727380752563,-0.09894979000091553,-0.07788881659507751,0.22705963253974915,-0.0012174372095614672,0.240607351064682,0.1039358377456665,0.18501906096935272,-0.03155122324824333,0.08036407828330994,-0.20284514129161835,0.06699042022228241
       ,0.14068114757537842,0.13828633725643158,-0.0034593045711517334,0.1392701119184494,0.01057615876197815,-0.007689331658184528,0.07328304648399353,-0.14162643253803253,-0.04415355995297432,0.09164466708898544,0.24845272302627563,-0.05588914453983307,-0.054479751735925674,0.24456734955310822,-0.2598671317100525,-0.15801946818828583,0.2817283868789673,-0.19191598892211914,0.15788163244724274,0.28144943714141846,0.14735294878482819,-0.12544888257980347,0.11103320121765137,-0.20203278958797455,0.0017974432557821274,0.1191059947013855,-0.12710560858249664,0.1702873408794403,-0.09684925526380539,0.2480504810810089,-0.28676652908325195,-0.17398564517498016
       ,0.04844924807548523,-0.06973694264888763,-0.1682211458683014,-0.3513043522834778,-0.22794683277606964,0.08840374648571014,0.026485737413167953,-0.3492684066295624,0.1813228577375412,0.06481858342885971,0.11471711844205856,0.1854662299156189,-0.12381665408611298,0.35136616230010986,-0.10501053929328918,-0.016016438603401184,0.03148011490702629,-0.17074286937713623,-0.1689852625131607,0.1171770691871643,-0.23076696693897247,-0.07204706966876984,-0.12052477896213531,-0.23881052434444427,-0.004284285008907318,0.11600598692893982,0.10962119698524475,-0.012203623540699482,0.33345603942871094,0.1084047257900238,0.015447823330760002,0.1315833479166031
       ,0.12315890938043594,0.16742177307605743,0.0689031183719635,-0.29923000931739807,-0.10478553920984268,0.0034702986013144255,-0.06286507844924927,-0.3965417146682739,-0.24317654967308044,0.2535353899002075,-0.18702425062656403,0.2042631357908249,0.14613179862499237,0.2476590871810913,-0.20543844997882843,0.15613335371017456,-0.024847690016031265,-0.12820857763290405,0.13289833068847656,-0.033144671469926834,0.09313736855983734,0.19325080513954163,-0.20106908679008484,-0.061102136969566345,-0.028910696506500244,-0.2806609869003296,0.033241331577301025,-0.26521533727645874,0.33587634563446045,-0.13370811939239502,0.21700626611709595,0.008141759783029556
       ,0.3156174421310425,0.033245913684368134,0.24999621510505676,0.14565978944301605,0.02309553697705269,-0.05169738829135895,-0.15119729936122894,-0.10350330173969269,-0.3457512855529785,0.03809545189142227,0.25342249870300293,-0.19578632712364197,-0.05333413928747177,0.09492939710617065,0.17943906784057617,-0.21144242584705353,-0.1867227405309677,-0.23938390612602234,-0.2632395327091217,0.06656297296285629,0.0961865782737732,-0.00792744755744934,0.10312435030937195,0.27112916111946106,-0.12544961273670197,0.17053177952766418,-0.23970040678977966,0.16830605268478394,0.18481910228729248,-0.0010759234428405762,0.049939122051000595,-0.059725455939769745
       ,0.021065108478069305,-0.17225059866905212,0.1334478259086609,0.09036531299352646,0.22687482833862305,0.03710803762078285,-0.1765347123146057,0.0036233423743396997,-0.17170532047748566,-0.11777474731206894,-0.054618652909994125,-0.17656885087490082,0.052830975502729416,0.10441931337118149,-0.14971962571144104,-0.24781031906604767,-0.023929525166749954,-0.04490154981613159,0.2847473621368408,0.014796234667301178,-0.14429597556591034,-0.14511936902999878,-0.21516084671020508,-0.20089882612228394,-0.10562898963689804,-0.12727710604667664,-0.09228193759918213,-0.08893769234418869,-0.12074583023786545,-0.028564512729644775,0.008117200806736946,0.08297917991876602
       ,0.19532811641693115,-0.05014912784099579,0.13636812567710876,0.048916492611169815,0.26100409030914307,-0.17881926894187927,0.012918300926685333,0.06905974447727203,0.16022373735904694,0.06287040561437607,-0.1698886901140213,-0.3164767324924469,0.06106283515691757,0.05603136122226715,0.04491907358169556,0.16258767247200012,0.06191227212548256,-0.2078513652086258,-0.26503077149391174,0.019191648811101913,-0.06990422308444977,0.018576622009277344,-0.10467308759689331,-0.023303329944610596,0.11910765618085861,0.014545410871505737,-0.2797531187534332,-0.014093500562012196,-0.09087783098220825,0.003536820411682129,-0.08422576636075974,0.20006318390369415
       ,0.03522654250264168,-0.15291047096252441,0.11232474446296692,0.08317171782255173,0.01103570032864809,-0.23718038201332092,-0.043577663600444794,-0.10673496872186661,-0.08802048116922379,0.06057487800717354,-0.2207462638616562,0.21330848336219788,0.06867198646068573,0.31874582171440125,0.19785529375076294,0.11854913830757141,0.0048002502880990505,0.07107115536928177,0.1471722573041916,-0.021459000185132027,-0.25434109568595886,-0.01829427480697632,-0.2427632212638855,0.06919881701469421,-0.2938772141933441,-0.06733335554599762,-0.07296852767467499,0.21985474228858948,0.27857765555381775,-0.09769320487976074,-0.2202656865119934,0.06659334897994995
       ,-0.18176554143428802,0.05808980390429497,-0.2002866566181183,0.2209930419921875,0.22003944218158722,-0.12194468080997467,0.16832226514816284,-0.32419517636299133,-0.31987497210502625,0.020202845335006714,-0.2701215445995331,0.15670055150985718,0.04660305753350258,0.2134874314069748,-0.21944394707679749,-0.25474902987480164,0.27780312299728394,0.28777045011520386,0.10909196734428406,-0.06471110135316849,-0.1670646369457245,0.13422733545303345,-0.09569443762302399,-0.2635143995285034,-0.14163701236248016,0.04615262150764465,0.11132439970970154,0.23280498385429382,0.23840151727199554,0.24882283806800842,0.0529453419148922,0.13884255290031433
       ,-0.10154614597558975,-0.21454781293869019,-0.05455450713634491,0.2060181051492691,-0.24331730604171753,-0.18322165310382843,0.08804970234632492,-0.09168499708175659,-0.3127654492855072,-0.20708662271499634,-0.26258623600006104,-0.2734098434448242,-0.1649116575717926,0.33747056126594543,0.014040976762771606,0.23592090606689453,-0.13581429421901703,-0.1899891048669815,0.19671878218650818,-0.23027168214321136,0.14086498320102692,-0.20761027932167053,0.19642561674118042,0.00928562879562378,-0.07803404331207275,0.08413159847259521,0.06599533557891846,-0.2540142834186554,0.209262415766716,0.0242612361907959,-0.008453809656202793,0.13509076833724976
       ,0.19965791702270508,0.15909932553768158,-0.2523933947086334,-0.024008844047784805,-0.3288625478744507,-0.3593894839286804,-0.10659854859113693,-0.09668480604887009,-0.25964510440826416,0.24553023278713226,0.2584691643714905,-0.13047806918621063,-0.045685749500989914,-0.027066625654697418,-0.24520277976989746,0.2635043263435364,0.06614753603935242,-0.14302769303321838,-0.22128811478614807,-0.2489294409751892,0.2430250197649002,0.1864563524723053,-0.19150227308273315,0.26879218220710754,-0.3449307382106781,0.1727219521999359,0.2771519124507904,0.08954040706157684,0.2631568908691406,0.12126106023788452,0.12375504523515701,-0.054388467222452164
       ,0.19592446088790894,-0.34142163395881653,0.15802547335624695,0.18388450145721436,0.031184343621134758,-0.08831250667572021,-0.20661622285842896,0.06958860903978348,-0.161506786942482,0.25045934319496155,-0.10389973968267441,0.21004287898540497,-0.2358747273683548,-0.1947477161884308,0.05316495895385742,-0.0015946561470627785,-0.15815018117427826,0.1855827420949936,0.01572786457836628,-0.2823503911495209,-0.19912849366664886,0.022287487983703613,0.01019778847694397,-0.002432197332382202,0.1125744953751564,0.024761438369750977,0.28052565455436707,0.06848252564668655,0.07588296383619308,-0.2828674018383026,-0.1949537843465805,0.0682394951581955
       ,-0.06400725990533829,-0.039301756769418716,0.05148342251777649,0.15645751357078552,-0.015306415967643261,-0.027875764295458794,0.19478058815002441,-0.1143186166882515,-0.11950938403606415,0.21234765648841858,0.2555554211139679,-0.05989915132522583,0.014815526083111763,0.12010202556848526,0.08785843849182129,0.0018573424313217402,-0.014310447499155998,0.08359912782907486,-0.05963675677776337,0.08984222263097763,-0.17661209404468536,-0.01255887746810913,0.09742525219917297,-0.2715410590171814,0.019773131236433983,-0.12170138955116272,0.21204951405525208,-0.0392717681825161,0.22050541639328003,0.1981203556060791,-0.12718753516674042,0.18615314364433289
       ,0.207803875207901,-0.10612393915653229,0.2099064588546753,0.048610176891088486,-0.18356028199195862,0.05922550708055496,0.09807947278022766,0.05448151379823685,0.00759892538189888,0.008583632297813892,-0.02326703630387783,0.03895118832588196,0.142264261841774,-0.17807096242904663,0.03243169188499451,0.29156458377838135,0.16580337285995483,-0.04512497037649155,0.24243946373462677,0.19388025999069214,0.2613176107406616,0.21572408080101013,0.021654754877090454,0.19459950923919678,-0.12517954409122467,0.1592874825000763,0.1632046103477478,-0.2606440782546997,-0.08548226952552795,-0.08548004925251007,-0.13906358182430267,-0.16921734809875488
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       ,0.06582912802696228,0.2796666920185089,-0.2556927502155304,0.0023079216480255127,0.2043982446193695,0.13894453644752502,0.06556430459022522,0.29767414927482605,0.24966773390769958,-0.16670267283916473,-0.1203770637512207,-0.06570860743522644,-0.015925198793411255,0.17675906419754028,-0.014884740114212036,-0.05300724506378174,0.26490333676338196,0.15243005752563477,-0.07319167256355286,0.2353842556476593,0.23596063256263733,0.1602974534034729,-0.04174882173538208,-0.11559568345546722,-0.06235519051551819,0.21069613099098206,-0.19532959163188934,-0.2486409693956375,0.032513976097106934,-0.2712400257587433,-0.19435247778892517,-0.23200613260269165
       ,-0.1299392580986023,-0.06208275258541107,-0.21278081834316254,0.04117914289236069,-0.25799769163131714,0.0023174630478024483,-0.19175797700881958,0.02903696894645691,-0.3028421998023987,0.016345679759979248,-0.24767392873764038,0.2033931314945221,-0.36241284012794495,0.1515057384967804,0.13206014037132263,0.15829482674598694,-0.21012049913406372,0.2088232934474945,-0.016727611422538757,-0.24573293328285217,0.20467910170555115,0.11925628036260605,-0.3039346933364868,-0.11097411066293716,0.34144315123558044,-0.007939159870147705,-0.20167969167232513,0.059701401740312576,0.20017050206661224,0.18135693669319153,-0.008151531219482422,0.029283329844474792
       ,0.07638216018676758,0.07996532320976257,-0.30373215675354004,-0.2700393795967102,0.11718190461397171,0.05212600901722908,0.2795381247997284,-0.25668495893478394,-0.100021593272686,0.1293344497680664,-0.026776641607284546,0.02524423599243164,0.07603725790977478,0.29519766569137573,-0.029521822929382324,-0.19500072300434113,0.06506577134132385,-0.011876672506332397,0.0938519686460495,0.2426283210515976,0.10203439742326736,0.03793451562523842,-0.15799765288829803,-0.17324526607990265,0.25468015670776367,0.1901901364326477,-0.22690120339393616,-0.09443645179271698,-0.0595262236893177,0.22636333107948303,-0.2613427937030792,0.21909776329994202;
    
    
    hout <<
         0.3285340666770935
         ,0.2858171761035919
         ,-0.36366742849349976
         ,-0.2632009983062744
         ,-0.25631460547447205
         ,0.33468252420425415
         ,0.002162247896194458
         ,0.1081397533416748
         ,-0.19566167891025543
         ,-0.007266071625053883
         ,0.1744336485862732
         ,-0.19491273164749146
         ,-0.16939763724803925
         ,0.1573415994644165
         ,0.2356991171836853
         ,-0.1462659239768982
         ,0.09851181507110596
         ,-0.21499931812286377
         ,-0.013007339090108871
         ,-0.26934152841567993
         ,-0.10125408321619034
         ,0.16949352622032166
         ,-0.2570975124835968
         ,-0.21437735855579376
         ,0.2278641164302826
         ,0.2520971894264221
         ,-0.38587644696235657
         ,-0.3990364372730255
         ,0.24998146295547485
         ,-0.3257754445075989
         ,-0.41329723596572876
         ,-0.26551106572151184;

    b1 <<
       0.6920363306999207
       ,0.9509658217430115
       ,-1.7145336866378784
       ,0.4119643270969391
       ,1.0741286277770996
       ,0.8546265363693237
       ,-0.07467586547136307
       ,0.93145751953125
       ,0.5193935036659241
       ,-0.8871728777885437
       ,0.593039333820343
       ,1.6031073331832886
       ,-0.33494266867637634
       ,-0.8010779023170471
       ,-1.087764859199524
       ,1.1554406881332397
       ,0.6632958650588989
       ,-0.224932461977005
       ,0.26702749729156494
       ,0.5859951972961426
       ,-0.31409698724746704
       ,-1.1118980646133423
       ,-1.6770726442337036
       ,-1.2263047695159912
       ,2.018333911895752
       ,-2.0880801677703857
       ,-1.0489267110824585
       ,0.7445360422134399
       ,0.4031659960746765
       ,-1.0887231826782227
       ,1.5438745021820068
       ,-0.4563482999801636;
       
    b2 <<
       -0.10466054826974869
       ,-0.7642630338668823
       ,-1.4564176797866821
       ,-0.528777003288269
       ,-0.7297643423080444
       ,0.2625555098056793
       ,0.389851450920105
       ,-0.33048292994499207
       ,-1.20063054561615
       ,-1.912178635597229
       ,0.31253743171691895
       ,0.6883504390716553
       ,-0.04988760128617287
       ,2.26581072807312
       ,0.13501279056072235
       ,1.132785677909851
       ,-1.8237234354019165
       ,-1.5844906568527222
       ,0.26375624537467957
       ,-0.23789723217487335
       ,0.17283980548381805
       ,0.3692796230316162
       ,0.09335066378116608
       ,-1.0231001377105713
       ,1.2738454341888428
       ,1.44853675365448
       ,0.9071134924888611
       ,8.9274239144288e-05
       ,-0.6323830485343933
       ,-0.4208582937717438
       ,-1.1864360570907593
       ,-1.3916414976119995;
       
    b3 <<
       -1.963319182395935
       ,-0.4028509557247162
       ,0.3184174597263336
       ,0.1579766422510147
       ,0.1897633820772171
       ,0.866980791091919
       ,-0.45353031158447266
       ,-0.6562485098838806
       ,0.5865635275840759
       ,0.5033581852912903
       ,-0.14371006190776825
       ,0.050810977816581726
       ,-0.5131177306175232
       ,0.5688209533691406
       ,-1.1428403854370117
       ,-0.3598397970199585
       ,-1.3594286441802979
       ,-1.0192245244979858
       ,-0.2365882694721222
       ,0.5294732451438904
       ,1.530857801437378
       ,1.2039998769760132
       ,-1.0573883056640625
       ,-0.7962622046470642
       ,0.7248114347457886
       ,-0.36519983410835266
       ,-0.07752024382352829
       ,0.767806887626648
       ,0.2635451555252075
       ,-2.3236680030822754
       ,0.06150589883327484
       ,1.0375205278396606;
       
    bout <<
         -0.3124803602695465;

    /************************************
    ***     Program is operating!
    *************************************/
    while(1) {
        if(timer_while==1000 && OPERATING_MODE==5) {
            //i2c
            read_field(i2c_slave_addr1);
            if(DIR_VALVE_ENC < 0) value = 1023 - value;
            //            if(LED==1) {
            //                LED=0;
            //            } else
            //                LED = 1;
            timer_while = 0;
        }
        timer_while ++;
        
        //t.reset();
        //t.start();
        
        
        
//        Input <<
//        input_array[0],input_array[1],input_array[2],input_array[3],input_array[4];
        
        X = Input*h1+b1.transpose();
        for(int i=0; i<32; i++){
            if(X(i)<0)
                X(i) = 0;
        }
        X = X*h2+b2.transpose();
        for(int i=0; i<32; i++){
            if(X(i)<0)
                X(i) = 0;
        }
        X = X*h3+b3.transpose();
        for(int i=0; i<32; i++){
            if(X(i)<0)
                X(i) = 0;
        }
        X = X*hout+bout.transpose();
        NNoutput=1.0f/(1.0f+exp(-X(0,0)));
        
        //t.stop();
        
        printf("NNoutput : %f\n", NNoutput);
        printf("time : %f\n", t.read());
        
        //wait(1);
        
        CAN_TX_PWM((int16_t) 78); //1500
        
//        PWM_out = NNoutput * 24000.0f - 12000.0f;
//
//
//        if (PWM_out>0.0f) {
//            dtc_v=0.0f;
//            dtc_w=PWM_out;
//        } else {
//            dtc_v=-PWM_out;
//            dtc_w=0.0f;
//        }
//
//        //pwm
//        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
//        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
        
        
        
    }
}

float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
{

    int i = 0;
    float Ref_Valve_Pos_FF = 0.0f;
    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) {
                if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
                    Ref_Valve_Pos_FF = (float) VALVE_CENTER;
                } else {
                    Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
                }
            } else {
                if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
                    Ref_Valve_Pos_FF = (float) VALVE_CENTER;
                } else {
                    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]);
                }
            }
            break;
        }
    }
    if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
        Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
    } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
        Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
    }

    Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
    return Ref_Valve_Pos_FF;

}


void VALVE_POS_CONTROL(float REF_VALVE_POS)
{
    int i = 0;

    if(REF_VALVE_POS > VALVE_MAX_POS) {
        REF_VALVE_POS = VALVE_MAX_POS;
    } else if(REF_VALVE_POS < VALVE_MIN_POS) {
        REF_VALVE_POS = VALVE_MIN_POS;
    }

    valve_pos_err = REF_VALVE_POS - value;
    valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
    valve_pos_err_old = valve_pos_err;
    valve_pos_err_sum += valve_pos_err;
    if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
    if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;

    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;

    for(i=0; i<24; i++) {
        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])) {
            if(i==0) {
                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]);
            } else {
                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];
            }
            break;
        }
    }
    Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}

#define LT_MAX_IDX  57
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,
                                 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
                                 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
                                 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
                                 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
                                 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
                                };  // duty
float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
                                       -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
                                       -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
                                       12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
                                       173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
                                       214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
                                      }; // mV

float PWM_duty_byLT(float Ref_V)
{
    float PWM_duty = 0.0f;
    if(Ref_V<LT_Voltage_Output[0]) {
        PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
    } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
        PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
    } else {
        int idx = 0;
        for(idx=0; idx<LT_MAX_IDX-1; idx++) {
            float ini_x = LT_Voltage_Output[idx];
            float fin_x = LT_Voltage_Output[idx+1];
            float ini_y = LT_PWM_duty[idx];
            float fin_y = LT_PWM_duty[idx+1];
            if(Ref_V>=ini_x && Ref_V<fin_x) {
                PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
                break;
            }
        }
    }

    return PWM_duty;
}





/*******************************************************************************
                            TIMER INTERRUPT
*******************************************************************************/

float FREQ_TMR4 = (float)FREQ_20k;
float DT_TMR4 = (float)DT_20k;
long  CNT_TMR4 = 0;
int   TMR4_FREQ_10k = (int)FREQ_10k;
extern "C" void TIM4_IRQHandler(void)
{
    if (TIM4->SR & TIM_SR_UIF ) {

        /*******************************************************
        ***     Sensor Read & Data Handling
        ********************************************************/

        //Encoder
        if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
            ENC_UPDATE();
        }
        
//        for(int i=0; i<10; i++){
//            position_array[i] = position_array[i+1];
//        }
//        position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
//        
//        for(int i=0; i<5; i++){
//            input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
//        } 

        ADC1->CR2  |= 0x40000000;
        if (SENSING_MODE == 0) {
            // Torque Sensing (0~210)bar =============================================
            float pres_A_new = (((float) ADC1->DR) - 2047.5f);
            double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
            pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
            torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;

        } else if (SENSING_MODE == 1) {
            // Pressure Sensing (0~210)bar =============================================
            float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
            float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
            double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
            pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
            pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
            CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
            CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;

            if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
                torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
            } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
                torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
            }
        }

//        //Pressure sensor A
//        ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
//        //while((ADC1->SR & 0b10));
//        float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
//        float pres_A_new = ((float)ADC1->DR);
//        pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
//        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.
//
//
//        //Pressure sensor B
//        float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
//        float pres_B_new = ((float)ADC2->DR);
//        pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
//        //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;


        //Current
        //ADC3->CR2  |= 0x40000000;                        // adc _ 12bit
        //int raw_cur = ADC3->DR;
        //while((ADC3->SR & 0b10));
        float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
        float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
        cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
        //cur.sen = raw_cur;

        CNT_TMR4++;
    }
    TIM4->SR = 0x0;  // reset the status register
}


int j =0;
float FREQ_TMR3 = (float)FREQ_5k;
float DT_TMR3 = (float)DT_5k;
int cnt_trans = 0;
double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
int can_rest =0;

extern "C" void TIM3_IRQHandler(void)
{
    if (TIM3->SR & TIM_SR_UIF ) {

        if (((OPERATING_MODE&0b110)>>1) == 0) {
            K_v = 0.4f; // Moog (LPM >> mA) , 100bar
            mV_PER_mA = 500.0f; // 5000mV/10mA
            mV_PER_pulse = 0.5f; // 5000mV/10000pulse
            mA_PER_pulse = 0.001f; // 10mA/10000pulse
        } else if (((OPERATING_MODE&0b110)>>1) == 1) {
            K_v = 0.5f; // KNR (LPM >> mA) , 100bar
            mV_PER_mA = 166.6666f; // 5000mV/30mA
            mV_PER_pulse = 0.5f; // 5000mV/10000pulse
            mA_PER_pulse = 0.003f; // 30mA/10000pulse
        }

        if(MODE_POS_FT_TRANS == 1) {
            alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
            cnt_trans++;
            torq.err_sum = 0;
            if((float)cnt_trans * DT_TMR3 > 3.0f)
                MODE_POS_FT_TRANS = 2;
        } else if(MODE_POS_FT_TRANS == 3) {
            alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
            cnt_trans++;
            torq.err_sum = 0;
            if((float) cnt_trans * DT_TMR3 > 3.0f )
                MODE_POS_FT_TRANS = 0;
        } else if(MODE_POS_FT_TRANS == 2) {
            alpha_trans = 1.0f;
            cnt_trans = 0;
        } else {
            alpha_trans = 0.0f;
            cnt_trans = 0;
        }


        int UTILITY_MODE = 0;
        int CONTROL_MODE = 0;

        if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
            UTILITY_MODE = CONTROL_UTILITY_MODE;
            CONTROL_MODE = MODE_NO_ACT;
        } else {
            CONTROL_MODE = CONTROL_UTILITY_MODE;
            UTILITY_MODE = MODE_NO_ACT;
        }



        // UTILITY MODE ------------------------------------------------------------

        switch (UTILITY_MODE) {
            case MODE_NO_ACT: {
                break;
            }

            case MODE_TORQUE_SENSOR_NULLING: {
                // 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 / 10.0f;
                        CUR_TORQUE_sum = 0;

                        TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);

                        if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
                        if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;

                        //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
                        dac_1 = TORQUE_VREF / 3.3f;
                    }
                } else {
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                    TMR3_COUNT_TORQUE_NULL = 0;
                    CUR_TORQUE_sum = 0;
                    CUR_TORQUE_mean = 0;

                    ROM_RESET_DATA();

                    dac_1 = TORQUE_VREF / 3.3f;

                }
                TMR3_COUNT_TORQUE_NULL++;
                break;
            }

//            case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
//                if (TMR3_COUNT_DEADZONE == 0) {
//                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
//                    else temp_time = 0;
//                }
//                if (need_enc_init) {
//                    if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
//                        V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_plus_end = pos.sen;
//                    } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_minus_end = pos.sen;
//                    } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
//                    temp_time = TMR_FREQ_5k;
//                }
//
//                if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
//                    V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
//                    VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
//
//                } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
//                    V_out = 0;
//                    CUR_VELOCITY_sum += CUR_VELOCITY;
//                } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
//                    if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
//                    else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
//                    else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
//                    else DZ_temp_cnt2 = DZ_end;
//                    CUR_VELOCITY_sum = 0;
//                } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
//                    if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
//
//                    // Position of Dead Zone
//                    //  (CUR_VELOCITY < 0)  (CUR_VELOCITY == 0)  (CUR_VELOCITY > 0)
//                    //     |        /                 |    /                      |/
//                    //     | ______/               ___|___/                ______/|
//                    //     |/                     /   |                   /       |
//                    //    /|                     /    |                  /        |
//                    //     0V                         0V                          0V
//
//                    if (DZ_temp_cnt2 < DZ_end) {
//                        if (TMR3_COUNT_DEADZONE % 20 != 0) {
//                            CUR_VELOCITY_sum += CUR_VELOCITY;
//                        } else {
//                            V_out -= DZ_dir;
//                            if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
//                            CUR_VELOCITY_sum = 0;
//                        }
//                        if (DZ_temp_cnt == 5) {
//                            if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
//                            else VALVE_DEADZONE_PLUS = (int16_t) V_out;
//                            DZ_dir = -DZ_dir;
//                            DZ_temp_cnt = 0;
//                            DZ_temp_cnt2++;
//                        }
//                    } else {
//                        TMR3_COUNT_DEADZONE = -1;
//                        VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
//                        if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
//                            VALVE_DEADZONE_PLUS = VALVE_CENTER;
//                            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);
//
//                        CONTROL_MODE = MODE_NO_ACT;
//                        DZ_temp_cnt2 = 0;
//                    }
//                }
//                TMR3_COUNT_DEADZONE++;
//                break;
//            }

            case MODE_FIND_HOME: {
                if (FINDHOME_STAGE == FINDHOME_INIT) {
                    cnt_findhome = 0;
                    cnt_vel_findhome = 0;
                    //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
                    pos.ref = pos.sen;
                    vel.ref = 0.0f;
                    FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
                } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
                    int cnt_check_enc = (TMR_FREQ_5k/500);
                    if(cnt_findhome%cnt_check_enc == 0) {
                        FINDHOME_POSITION = pos.sen;
                        FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
                        FINDHOME_POSITION_OLD = FINDHOME_POSITION;
                    }
                    cnt_findhome++;

                    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) &&  cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
                        //REFERENCE_MODE = MODE_REF_NO_ACT;
                        if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
                        else pos.ref = pos.ref - 2.0f;

//                        pos.err = pos.ref_home_pos - pos.sen;
//                        float VALVE_POS_RAW_POS_FB = 0.0f;
//                        VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
//                        valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
//                        VALVE_POS_CONTROL(valve_pos.ref);

                        CONTROL_MODE = MODE_JOINT_CONTROL;
                        alpha_trans = 0.0f;


                    } else {
                        ENC_SET(HOMEPOS_OFFSET);
                        INIT_REF_POS = HOMEPOS_OFFSET;
                        REF_POSITION = 0;
                        REF_VELOCITY = 0;
                        FINDHOME_POSITION = 0;
                        FINDHOME_POSITION_OLD = 0;
                        FINDHOME_VELOCITY = 0;
                        cnt_findhome = 0;
                        cnt_vel_findhome = 0;
                        FINDHOME_STAGE = FINDHOME_ZEROPOSE;
                    }
                } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
                    int T_move = 2*TMR_FREQ_5k;
                    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;
                    vel.ref = 0.0f;

                    // input for position control

                    CONTROL_MODE = MODE_JOINT_CONTROL;
                    alpha_trans = 0.0f;
//                    pos.err = pos.ref - (float)pos.sen;
//                    float VALVE_POS_RAW_POS_FB = 0.0f;
//                    VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
//                    valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
//                    VALVE_POS_CONTROL(valve_pos.ref);

                    cnt_findhome++;
                    if (cnt_findhome >= T_move) {
                        //REFERENCE_MODE = MODE_REF_DIRECT;
                        cnt_findhome = 0;
                        pos.ref = 0.0f;
                        vel.ref = 0.0f;
                        pos.ref_home_pos = 0.0f;
                        vel.ref_home_pos = 0.0f;
                        FINDHOME_STAGE = FINDHOME_INIT;
                        CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
                    }
                }

                break;
            }

//            case MODE_VALVE_GAIN_SETTING: {
//                if (TMR3_COUNT_FLOWRATE == 0) {
//                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
//                    else {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
//                    }
//                }
//                if (need_enc_init) {
//                    if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
//                        V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_plus_end = pos.sen;
//                    } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_minus_end = pos.sen;
//                    } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
//                        need_enc_init = false;
//                        check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
//                        check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
//                        check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
//                    }
//                    temp_time = TMR_FREQ_5k;
//                }
//                TMR3_COUNT_FLOWRATE++;
//                if (TMR3_COUNT_FLOWRATE > temp_time) {
//                    if (flag_flowrate % 2 == 0) { // (+)
//                        VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
//                        V_out = VALVE_VOLTAGE;
//                        if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
//                            fl_temp_cnt++;
//                        } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
//                            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
//                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
//                            fl_temp_cnt2++;
//                        }
//                    } else if (flag_flowrate % 2 == 1) { // (-)
//                        VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
//                        V_out = VALVE_VOLTAGE;
//                        if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
//                            fl_temp_cnt++;
//                        } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
//                            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);
//                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
//                            fl_temp_cnt2++;
//                        }
//                    }
//                    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] * 100.0f));
//                        cur_vel_sum = 0;
//                        fl_temp_cnt = 0;
//                        fl_temp_cnt2 = 0;
//                        flag_flowrate++;
//                    }
//                    if (flag_flowrate == 10) {
//                        V_out = 0;
//                        flag_flowrate = 0;
//                        TMR3_COUNT_FLOWRATE = 0;
//                        valve_gain_repeat_cnt++;
//                        if (valve_gain_repeat_cnt >= 1) {
//                            CONTROL_MODE = MODE_NO_ACT;
//                            valve_gain_repeat_cnt = 0;
//                        }
//
//                    }
//                    break;
//                }
//
//            }
            case MODE_PRESSURE_SENSOR_NULLING: {
                // DAC Voltage reference set
                if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
                    CUR_PRES_A_sum += pres_A.sen;
                    CUR_PRES_B_sum += pres_B.sen;

                    if (TMR3_COUNT_PRES_NULL % 10 == 0) {
                        CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
                        CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
                        CUR_PRES_A_sum = 0;
                        CUR_PRES_B_sum = 0;

                        float VREF_NullingGain = 0.0003f;
                        PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
                        PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;

                        if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
                        if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
                        if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
                        if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;

                        dac_1 = PRES_A_VREF / 3.3f;
                        dac_2 = PRES_B_VREF / 3.3f;
                    }
                } else {
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                    TMR3_COUNT_PRES_NULL = 0;
                    CUR_PRES_A_sum = 0;
                    CUR_PRES_B_sum = 0;
                    CUR_PRES_A_mean = 0;
                    CUR_PRES_B_mean = 0;

                    ROM_RESET_DATA();

                    dac_1 = PRES_A_VREF / 3.3f;
                    dac_2 = PRES_B_VREF / 3.3f;
                    //pc.printf("nulling end");
                }
                TMR3_COUNT_PRES_NULL++;
                break;
            }

//            case MODE_PRESSURE_SENSOR_CALIB: {
//                if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
//                    V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                    if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
//                        CUR_PRES_A_sum += CUR_PRES_A;
//                    }
//                } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
//                    V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                    if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
//                        CUR_PRES_B_sum += CUR_PRES_B;
//                    }
//                } else {
//                    CONTROL_MODE = MODE_NO_ACT;
//                    TMR3_COUNT_PRES_CALIB = 0;
//                    V_out = 0;
//                    PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
//                    PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
//                    PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
//                    PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
//                    CUR_PRES_A_sum = 0;
//                    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 * 100.0f));
//                    //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
//                }
//                TMR3_COUNT_PRES_CALIB++;
//                break;
//            }

//            case MODE_ROTARY_FRICTION_TUNING: {
//                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);
//                V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
//                if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                TMR3_COUNT_ROTARY_FRIC_TUNE++;
//                if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
//                    TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
//                    V_out = 0.0f;
//                    CONTROL_MODE = MODE_NO_ACT;
//                }
//                break;
//            }

            case MODE_DDV_POS_VS_PWM_ID: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_ID_timer = VALVE_ID_timer + 1;

                if(VALVE_ID_timer < TMR_FREQ_5k*1) {
                    Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
                } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
                    Vout.ref = 1000.0f*(ID_index_array[ID_index]);
                } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
                    VALVE_POS_TMP = 0;
                    data_num = 0;
                } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
                    data_num = data_num + 1;
                    VALVE_POS_TMP = VALVE_POS_TMP + value;
                } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
                    Vout.ref = 0.0f;
                } else {
                    VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
                    VALVE_ID_timer = 0;
                    ID_index= ID_index +1;
                }

                if(ID_index>=25) {
                    int i;
                    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]);
                        if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
                            VALVE_MAX_POS = VALVE_POS_AVG[i];
                            VALVE_POS_AVG_OLD = VALVE_MAX_POS;
                        } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
                            VALVE_MIN_POS = VALVE_POS_AVG[i];
                            VALVE_POS_AVG_OLD = VALVE_MIN_POS;
                        }
                    }
                    ROM_RESET_DATA();
                    ID_index = 0;
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                }


                break;
            }

            case MODE_DDV_DEADZONE_AND_CENTER: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_DZ_timer = VALVE_DZ_timer + 1;
                if(first_check == 0) {
                    if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_plus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_minus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
                        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;
                    } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
                        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;
                        data_num = data_num + 1;
                        VALVE_POS_TMP = VALVE_POS_TMP + value;
                    } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
                        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;
                        DDV_POS_AVG = VALVE_POS_TMP / data_num;
                        START_POS = pos.sen;
                        VALVE_POS_TMP = 0;
                        data_num = 0;

                    } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);

                    } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);

                    } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        FINAL_POS = pos.sen;

                        if((FINAL_POS - START_POS)>200) {
                            DZ_case = 1;
                        } else if((FINAL_POS - START_POS)<-200) {
                            DZ_case = -1;
                        } else {
                            DZ_case = 0;
                        }

                        CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));

                        first_check = 1;
                        DZ_DIRECTION = 1;
                        VALVE_DZ_timer = 0;
                        Ref_Valve_Pos_Old = DDV_POS_AVG;
                        DZ_NUM = 1;
                        DZ_index = 1;

                    }
                } else {
                    if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
                        if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
                            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;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1 * DZ_case;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1 * DZ_case;
                            } else {
                                DZ_DIRECTION = 1 * DZ_case;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }
                        }
                    } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            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;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = 0.0f;
                        } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1 * DZ_case;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1 * DZ_case;
                            } else {
                                DZ_DIRECTION = -1 * DZ_case;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index * 2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
                                first_check = 0;
                                VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                VALVE_DEADZONE_PLUS = (float) SECOND_DZ;

                                ROM_RESET_DATA();

                                CONTROL_UTILITY_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }
                        }
                    } else if(DZ_case == 0 && DZ_NUM ==1) {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            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;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1;
                            } else {
                                DZ_DIRECTION = 1;
                            }
                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }
                        }
                    } else {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            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;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  + DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref > VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS - 1;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = 0.0f;
                        } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1;
                            } else {
                                DZ_DIRECTION = 1;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
                                first_check = 0;
                                VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                VALVE_DEADZONE_PLUS = (float) SECOND_DZ;

                                ROM_RESET_DATA();

                                CONTROL_UTILITY_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }
                        }
                    }
                }
                break;
            }

            case MODE_DDV_POS_VS_FLOWRATE: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_FR_timer = VALVE_FR_timer + 1;
                if(first_check == 0) {
                    if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                    } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_plus_end = pos.sen;
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
                    } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_minus_end = pos.sen;
                        first_check = 1;
                        VALVE_FR_timer = 0;
                        valve_pos.ref = (float) VALVE_CENTER;
                        ID_index = 0;
                        max_check = 0;
                        min_check = 0;
                    }
                } else {
                    if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        //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;
                        pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                        CONTROL_MODE = MODE_JOINT_CONTROL;
                    } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        data_num = 0;
                        valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;

                        VALVE_POS_CONTROL(valve_pos.ref);
                        START_POS = pos.sen;
                    } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        data_num = data_num + 1;
                        if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
                            FINAL_POS = pos.sen;
                            one_period_end = 1;
                        }
                    } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
                        FINAL_POS = pos.sen;
                        one_period_end = 1;
                        V_out = 0.0f;
                    }

                    if(one_period_end == 1) {
                        if(valve_pos.ref > VALVE_MAX_POS) {
                            max_check = 1;
                        } else if(valve_pos.ref < VALVE_MIN_POS) {
                            min_check = 1;
                        }
                        JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k;   //  pulse/sec

                        VALVE_FR_timer = 0;
                        one_period_end = 0;
                        ID_index= ID_index +1;
                        V_out = 0.0f;
                    }

                    if(max_check == 1 && min_check == 1) {

                        VALVE_POS_NUM = ID_index;
                        ROM_RESET_DATA();
                        ID_index = 0;
                        first_check = 0;
                        VALVE_FR_timer = 0;
                        CONTROL_UTILITY_MODE = MODE_NO_ACT;
//                        CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                    }
                }
                break;
            }

            case MODE_SYSTEM_ID: {
                freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
                valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                cnt_sysid++;
                if (freq_sysid_Iref >= 300) {
                    cnt_sysid = 0;
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                }
                break;
            }



            default:
                break;
        }

        // CONTROL MODE ------------------------------------------------------------

        switch (CONTROL_MODE) {
            case MODE_NO_ACT: {
                V_out = 0.0f;
                break;
            }

            case MODE_VALVE_POSITION_CONTROL: {
                if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
                    I_REF = valve_pos.ref;
                } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
                    V_out = valve_pos.ref;
                } else { //SW Valve
                    VALVE_POS_CONTROL(valve_pos.ref);
                    V_out = Vout.ref;
                }

                break;
            }

            case MODE_JOINT_CONTROL: {
                double torq_ref = 0.0f;
                pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
                vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
                pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
                torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]

                // torque feedback
                torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE)  - torq.sen; //[N]
                torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]

                if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {

                    double I_REF_POS = 0.0f;
                    double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
                    double I_REF_VC = 0.0f; // I_REF for velocity compensation

                    double temp_vel_pos = 0.0f;
                    double temp_vel_torq = 0.0f;
                    double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control

                    if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
                        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
                        //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                    } else if ((OPERATING_MODE && 0x01) == 1) {
                        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
                        //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                    }
                    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))));
                    else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));

                    // velocity compensation for torque control
                    if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
                        I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
                        //                temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
                        temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
                        //                                                          L feedforward velocity
                    } else if ((OPERATING_MODE && 0x01) == 1) {
                        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.
                        //                temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
                        temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
                        //                                                          L feedforward velocity
                    }
                    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))));
                    else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
                    //                                                  L   velocity(rad/s or mm/s) >> I_ref(mA)
                    //            Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
                    //            Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;

                    I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);

                } else {
                    float VALVE_POS_RAW_FORCE_FB = 0.0f;

                    VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
                                                          + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));

                    if (VALVE_POS_RAW_FORCE_FB >= 0) {
                        valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
                    } else {
                        valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
                    }

                    if(I_GAIN_JOINT_TORQUE != 0) {
                        double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
                        if(valve_pos.ref>VALVE_MAX_POS) {
                            double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
                            valve_pos_rem = valve_pos_rem * Ka;
                            valve_pos.ref = VALVE_MAX_POS;
                            torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
                        } else if(valve_pos.ref < VALVE_MIN_POS) {
                            double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
                            valve_pos_rem = valve_pos_rem * Ka;
                            valve_pos.ref = VALVE_MIN_POS;
                            torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
                        }
                    }

                    VALVE_POS_CONTROL(valve_pos.ref);

                    Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
                    V_out = (float) Vout.ref;

                }

                break;
            }

            case MODE_VALVE_OPEN_LOOP: {
                V_out = (float) Vout.ref;
                break;
            }

            default:
                break;
        }


        if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve

            ////////////////////////////////////////////////////////////////////////////
            ////////////////////////////  CURRENT CONTROL //////////////////////////////
            ////////////////////////////////////////////////////////////////////////////
            if (CURRENT_CONTROL_MODE) {
                double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
                I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;

                I_ERR = I_REF_fil - cur.sen;
                I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;


                // Moog Valve Current Control Gain
                double R_model = 539.0f; // ohm
                double L_model = 1.2f;
                double w0 = 2.0f * 3.14f * 150.0f;
                double KP_I = 0.1f * L_model*w0;
                double KI_I = 0.1f * R_model*w0;

                // KNR Valve Current Control Gain
                if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
                    R_model = 163.0f; // ohm
                    L_model = 1.0f;
                    w0 = 2.0f * 3.14f * 80.0f;
                    KP_I = 1.0f * L_model*w0;
                    KI_I = 0.08f * R_model*w0;
                }

                double FF_gain = 1.0f;

                VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
                //        VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
                I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
                I_REF_fil_old = I_REF_fil;
                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
                double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV

                double Ka = 3.0f / KP_I;
                if (VALVE_PWM_RAW > V_MAX) {
                    V_rem = VALVE_PWM_RAW - V_MAX;
                    V_rem = Ka*V_rem;
                    VALVE_PWM_RAW = V_MAX;
                    I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
                } else if (VALVE_PWM_RAW < -V_MAX) {
                    V_rem = VALVE_PWM_RAW - (-V_MAX);
                    V_rem = Ka*V_rem;
                    VALVE_PWM_RAW = -V_MAX;
                    I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
                }
                Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
            } else {
                VALVE_PWM_RAW = I_REF * mV_PER_mA;
                Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
            }

            ////////////////////////////////////////////////////////////////////////////
            /////////////////  Dead Zone Cancellation & Linearization //////////////////
            ////////////////////////////////////////////////////////////////////////////
            // Dead Zone Cancellation (Mechanical Valve dead-zone)
            if (FLAG_VALVE_DEADZONE) {
                if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
                else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV

                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV

            } else {
                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
            }

            // Output Voltage Linearization
            double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);

            // Dead Zone Cancellation (Electrical dead-zone)
            if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
            else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
            else V_out = CUR_PWM_lin;
        }



        /*******************************************************
        ***     PWM
        ********************************************************/
        if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
            V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
        } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
            V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
        }
        PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV

        // Saturation of output voltage to 12.0V
        if(PWM_out > 1.0f) PWM_out=1.0f;
        else if (PWM_out < -1.0f) PWM_out=-1.0f;

        if (PWM_out>0.0f) {
            dtc_v=0.0f;
            dtc_w=PWM_out;
        } else {
            dtc_v=-PWM_out;
            dtc_w=0.0f;
        }

        //pwm
        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
        

        if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {

            // Position, Velocity, and Torque (ID:1200)
            if (flag_data_request[0] == HIGH) {
                if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
                    if (SENSING_MODE == 0) {
                        CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
                    } else if (SENSING_MODE == 1) {
                        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));
                    }
                } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
                    if (SENSING_MODE == 0) {
                        CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
                    } else if (SENSING_MODE == 1) {
                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
                    }
                }
            }
            if (flag_data_request[1] == HIGH) {
                //valve position
                double t_value = 0;
//                if(value>=(float) VALVE_CENTER) {
//                    t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
//                } else {
//                    t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
//                }
                if(OPERATING_MODE==5) {
                    t_value = (double) value;
                } else if(CURRENT_CONTROL_MODE==1) {
                    t_value = cur.sen;
                } else {
                    t_value = V_out;
                }
                CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
            }


            if (flag_data_request[2] == HIGH) {
                //pressure A and B
                CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
            }

            //If it doesn't rest, below can can not work.
            for (can_rest = 0; can_rest < 10000; can_rest++) {
                ;
            }

            if (flag_data_request[3] == HIGH) {
                //PWM
                CAN_TX_PWM((int16_t) cur.sen); //1500
            }
            //for (i = 0; i < 10000; i++) {
//                ;
//            }
            if (flag_data_request[4] == HIGH) {
                //valve position
                CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
            }

            // Others : Reference position, Reference FT, PWM, Current  (ID:1300)
//        if (flag_data_request[1] == HIGH) {
//            CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
//        }
            //if (flag_delay_test == 1){
            //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
            //}

            TMR2_COUNT_CAN_TX = 0;
        }
        TMR2_COUNT_CAN_TX++;

    }
    TIM3->SR = 0x0;  // reset the status register

}