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main.cpp
- Committer:
- Lightvalve
- Date:
- 2021-01-06
- Revision:
- 243:6d81340c0e7b
- Parent:
- 242:3a69403240a1
- Child:
- 244:b8e9935406dd
File content as of revision 243:6d81340c0e7b:
//210106_1 500Hz num_input 15 210105 data #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 <string> #include <iostream> #include <cmath> using namespace std; 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 torq_dot; 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; // ============================================================================= // ============================================================================= // ============================================================================= /******************************************************************************* * 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_ADAPTIVE_BACKSTEPPING, //4 MODE_RL, //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 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 //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 MODE_FREQ_TEST, //34 MODE_SEND_BUFFER, //35 MODE_SEND_OVER, //36 MODE_STEP_TEST, //37 }; void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the CPU, AHB and APB busses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = 8;//8 RCC_OscInitStruct.PLL.PLLN = 180; //180 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 2; RCC_OscInitStruct.PLL.PLLR = 2; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { //Error_Handler(); } /** Activate the Over-Drive mode */ if (HAL_PWREx_EnableOverDrive() != HAL_OK) { //Error_Handler(); } /** Initializes the CPU, AHB and APB busses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { //Error_Handler(); } } float u_past[num_array_u_past] = {0.0f}; float x_past[num_array_x_past] = {0.0f}; float x_future[num_array_x_future] = {0.0f}; float f_past[num_array_f_past] = {0.0f}; float f_future[num_array_f_future] = {0.0f}; float input_NN[num_input] = { 0.0f }; const float h1[num_input][16] = { {0.2426416575908661f,0.22019553184509277f,0.038638919591903687f,-0.28833115100860596f,-0.4155330955982208f,-0.960847795009613f,-0.3490819036960602f,0.2376738041639328f,-1.2533519268035889f,-0.7306710481643677f,0.1127660945057869f,-0.3129321336746216f,-0.2836083769798279f,0.19339388608932495f,-0.8082801699638367f,0.34967198967933655f}, {-0.07984253764152527f,0.09767907857894897f,0.3645952343940735f,0.1650388091802597f,0.07446616888046265f,-0.7925461530685425f,0.0668189525604248f,-0.01147061213850975f,-1.579444408416748f,-0.9638774394989014f,-0.3736152648925781f,-0.3686029016971588f,0.0033982396125793457f,0.1531161069869995f,-0.18784570693969727f,0.48837071657180786f}, {-0.3338775038719177f,-0.29248523712158203f,-0.2509925961494446f,-0.3766935467720032f,-0.3347198963165283f,0.036577265709638596f,0.24376332759857178f,-0.2340160608291626f,-1.0122079849243164f,-1.0218331813812256f,-0.3462825417518616f,-0.22461646795272827f,0.1697424054145813f,0.22269046306610107f,-0.192513108253479f,-0.009906439110636711f}, {-0.3513132333755493f,-0.18979313969612122f,-0.2564713954925537f,-0.21181565523147583f,-0.2106361836194992f,-0.08378063142299652f,-0.07833871245384216f,-0.02431868016719818f,-1.188582420349121f,-0.6215116381645203f,0.021388443186879158f,-0.39923545718193054f,0.19414609670639038f,-0.12889650464057922f,-0.41929519176483154f,0.27035394310951233f}, {0.06266215443611145f,0.2985467314720154f,0.046925246715545654f,0.18890655040740967f,0.29851990938186646f,0.701492965221405f,-0.07447770237922668f,-0.33272838592529297f,-0.5406572222709656f,-1.1020270586013794f,0.22954575717449188f,0.05665591359138489f,-0.40332701802253723f,0.0021306276321411133f,0.080314502120018f,0.4345391094684601f}, {-0.2102268636226654f,0.02471265196800232f,0.22019988298416138f,-0.06193647161126137f,-0.052234798669815063f,2.348221778869629f,0.10219252109527588f,-0.22582420706748962f,1.3845769166946411f,-1.4575117826461792f,0.0620768666267395f,0.4100075960159302f,-0.06651851534843445f,0.29486584663391113f,0.9575929045677185f,0.1818041205406189f}, {-0.4468589127063751f,0.3260995149612427f,-0.33198100328445435f,0.009572708979249f,0.0969235897064209f,-3.793297529220581f,-0.07328951358795166f,-0.23523281514644623f,-2.1146247386932373f,2.514740467071533f,-0.4058745801448822f,0.00765615701675415f,0.108481764793396f,0.28416818380355835f,-1.9866564273834229f,-0.019559336826205254f}, {-0.23531727492809296f,0.2122827172279358f,0.4228256940841675f,-0.19730143249034882f,-0.20334431529045105f,-1.6415754556655884f,-0.0006155073642730713f,-0.34953469038009644f,-0.325231671333313f,1.1337085962295532f,0.27176281809806824f,-0.1596420407295227f,0.3124876022338867f,-0.28742849826812744f,-0.8363202214241028f,-0.6913115978240967f}, {0.14252673089504242f,0.0664520263671875f,-0.19457413256168365f,0.08777939528226852f,-0.09620559215545654f,0.4614688456058502f,-0.22167514264583588f,-0.04054870828986168f,1.0724784135818481f,0.4265463054180145f,0.37987539172172546f,0.0689961314201355f,-0.22933652997016907f,-0.0423736572265625f,0.510279655456543f,-0.45125341415405273f}, {-0.11359938979148865f,0.4010307788848877f,-0.01456400752067566f,0.3892665505409241f,-0.3213164210319519f,1.355391025543213f,-0.24218180775642395f,0.21883025765419006f,1.2824559211730957f,-0.2841576337814331f,0.18143600225448608f,-0.19942331314086914f,0.4178558588027954f,-0.20797522366046906f,0.7563133239746094f,-0.12107682973146439f}, {-0.331044465303421f,-0.006712973117828369f,0.03854483366012573f,0.13394321501255035f,0.06208515167236328f,0.9263473749160767f,-0.3259813189506531f,0.2382330745458603f,0.5789619088172913f,-0.4901904761791229f,-0.3500886857509613f,-0.31929516792297363f,-0.3779717981815338f,0.16420477628707886f,0.2852707803249359f,-0.6164341568946838f}, {-0.16066770255565643f,-0.3333130180835724f,0.2740911841392517f,0.37836918234825134f,0.3958861231803894f,0.5620597004890442f,0.18537968397140503f,-0.4073611795902252f,0.5831527709960938f,-0.37470921874046326f,0.17797312140464783f,-0.15844795107841492f,-0.32350653409957886f,-0.1762060821056366f,0.009823855012655258f,-0.07518953830003738f}, {0.3657006323337555f,0.3073391914367676f,0.0892636775970459f,0.279962420463562f,0.008891016244888306f,-0.38006922602653503f,0.0382058322429657f,0.191907599568367f,-0.05170278623700142f,0.1677311658859253f,-0.26207825541496277f,0.37108880281448364f,0.23616182804107666f,0.08562582731246948f,-0.38843291997909546f,-0.12969523668289185f}, {0.06360382586717606f,-0.09081444144248962f,-0.03350529074668884f,-0.12857523560523987f,0.0944976806640625f,-0.07858990877866745f,0.2443365454673767f,-0.2210107147693634f,-0.12345795333385468f,0.047801438719034195f,-0.08474106341600418f,0.161712646484375f,0.0126628577709198f,0.2548195719718933f,-0.6583581566810608f,0.11489982157945633f}, {-0.36465221643447876f,-0.13231772184371948f,-0.09768560528755188f,-0.08476009964942932f,-0.03454515337944031f,1.2674325704574585f,-0.39151039719581604f,0.2588794231414795f,0.9131219983100891f,-0.7167741060256958f,0.07405008375644684f,-0.19501163065433502f,0.3044053912162781f,0.0006307065486907959f,0.3604453206062317f,-0.3740781545639038f}, }; const float h2[16][16] = { {-0.3209214508533478f,0.19527314603328705f,0.3692755401134491f,-0.3171718120574951f,0.2862485945224762f,-0.18180909752845764f,-0.3276335597038269f,0.3442974388599396f,0.4148279130458832f,0.13026955723762512f,-0.27791929244995117f,0.13183942437171936f,0.31752148270606995f,-0.01397278904914856f,-0.0944136455655098f,-0.21188922226428986f}, {0.11377331614494324f,-0.37852466106414795f,0.2370569407939911f,0.16720417141914368f,-0.3181529939174652f,-0.3957885801792145f,0.32069316506385803f,0.04377034306526184f,-0.22974573075771332f,0.39766010642051697f,-0.1368245780467987f,-0.002077043056488037f,0.17663273215293884f,0.3637915551662445f,-0.36169126629829407f,-0.006708413362503052f}, {0.24961581826210022f,-0.3979327380657196f,0.33400359749794006f,-0.11577510833740234f,0.33888837695121765f,0.0025358498096466064f,0.37566879391670227f,0.11383256316184998f,0.35913869738578796f,-0.13233742117881775f,0.28255733847618103f,-0.014687597751617432f,0.16028288006782532f,0.42115524411201477f,-0.03804278373718262f,0.11670640110969543f}, {-0.2843952178955078f,-0.10674364864826202f,-0.05828779935836792f,-0.02550429105758667f,-0.3856094479560852f,0.27161744236946106f,0.045299604535102844f,0.046430811285972595f,-0.10409536957740784f,-0.30188295245170593f,0.3404492437839508f,-0.2792280316352844f,0.09299281239509583f,-0.10469070076942444f,0.20082040131092072f,-0.02582683600485325f}, {0.2572067677974701f,0.2781001627445221f,-0.405854731798172f,0.08892467617988586f,-0.2709423303604126f,0.42682674527168274f,0.3209557831287384f,-0.2756153345108032f,0.02407899498939514f,0.1756146252155304f,-0.389127254486084f,-0.25448572635650635f,-0.055950284004211426f,-0.31929004192352295f,-0.3446109890937805f,-0.09691348671913147f}, {-0.5382754802703857f,0.5980117321014404f,-0.19337564706802368f,-0.3505755066871643f,1.5076755285263062f,-0.04760316014289856f,-0.5956137180328369f,0.19445766508579254f,-0.17806154489517212f,-0.34891924262046814f,-0.6709976196289062f,-0.22476613521575928f,0.06374580413103104f,-1.9985495805740356f,-0.06912603974342346f,-0.4410947263240814f}, {0.1925239861011505f,0.40739431977272034f,0.1585346758365631f,0.012531578540802002f,0.14677610993385315f,0.42920753359794617f,-0.19571323692798615f,0.032037198543548584f,0.033829838037490845f,0.24610736966133118f,-0.02325493097305298f,0.08909699320793152f,0.3699655830860138f,-0.41911548376083374f,-0.3083699345588684f,0.21693852543830872f}, {0.38889628648757935f,0.38968878984451294f,0.32160642743110657f,0.35630056262016296f,0.19406259059906006f,0.1516251266002655f,0.24212874472141266f,-0.13637618720531464f,0.3431205451488495f,-0.30215632915496826f,0.017935140058398247f,-0.03461197018623352f,0.0800233781337738f,-0.34450042247772217f,-0.3156430423259735f,-0.04929089546203613f}, {-1.2690575122833252f,-0.41922739148139954f,0.24376170337200165f,0.10074576735496521f,0.8972052335739136f,-0.2767525911331177f,-1.8646751642227173f,-0.13671892881393433f,-0.0860334038734436f,0.1431577503681183f,0.4211086332798004f,-0.055606722831726074f,-0.14299863576889038f,-3.725269317626953f,0.13963326811790466f,-0.44991829991340637f}, {-4.11514949798584f,2.633051872253418f,-0.4318431615829468f,-0.2701643407344818f,-0.7951452732086182f,0.09257593750953674f,1.1297763586044312f,0.17555080354213715f,-0.3864961266517639f,-0.03208726644515991f,1.5047467947006226f,-0.19104014337062836f,-0.23518845438957214f,-7.868664264678955f,-0.2569129765033722f,-0.44006308913230896f}, {-0.0851685181260109f,-0.34350937604904175f,-0.32197198271751404f,0.2524145543575287f,0.11789050698280334f,-0.26150304079055786f,-0.15249848365783691f,-0.3123277723789215f,0.24206027388572693f,-0.25659048557281494f,0.4623681902885437f,0.11264470219612122f,-0.40188872814178467f,0.38653984665870667f,-0.0858321413397789f,0.3462865352630615f}, {-0.24864348769187927f,-0.4162408113479614f,-0.3195984363555908f,-0.2512216567993164f,-0.3248611092567444f,-0.17238903045654297f,0.3525576889514923f,-0.23431308567523956f,0.3898591101169586f,-0.1842145472764969f,0.11759284138679504f,-0.018693149089813232f,0.2922026216983795f,-0.17276078462600708f,0.20373579859733582f,0.3641580045223236f}, {-0.03393596410751343f,0.14770111441612244f,0.1157466471195221f,-0.014048665761947632f,0.30773255228996277f,0.23077449202537537f,-0.1857042759656906f,0.257400244474411f,0.062189072370529175f,-0.19969730079174042f,0.08790925145149231f,0.09972622990608215f,-0.2305293083190918f,-0.35955360531806946f,-0.2718116044998169f,0.08828327059745789f}, {0.2866610586643219f,0.324022501707077f,0.36930540204048157f,0.021187901496887207f,0.18721124529838562f,-0.07024207711219788f,0.07090321183204651f,0.40661314129829407f,-0.18637192249298096f,0.08040741086006165f,0.05410262942314148f,0.18253520131111145f,-0.2780979871749878f,0.3454895317554474f,0.27210715413093567f,-0.04567694664001465f}, {0.03838261216878891f,-0.5079368948936462f,0.10112041980028152f,0.18659386038780212f,0.6963626146316528f,0.12154439091682434f,-0.17538641393184662f,0.35791733860969543f,0.34097281098365784f,0.03882822394371033f,-1.3008806705474854f,-0.34781014919281006f,-0.14935171604156494f,-0.5407885909080505f,-0.5507271885871887f,-0.20391324162483215f}, {0.37272968888282776f,-0.08322299271821976f,-0.2641978859901428f,-0.21258875727653503f,-0.5285504460334778f,0.2307353913784027f,-0.6646787524223328f,-0.06878728419542313f,0.4003201425075531f,0.37593039870262146f,-0.32459190487861633f,0.08050385117530823f,-0.12626805901527405f,0.696220338344574f,0.1509009301662445f,0.2698350250720978f}, }; const float h3[16][16] = { {-0.906178891658783f,0.7276226878166199f,0.16640469431877136f,-1.074025273323059f,0.35986682772636414f,0.07510380446910858f,-0.13449186086654663f,-1.567118763923645f,1.4718551635742188f,-1.3957968950271606f,-0.5369729995727539f,-0.35629796981811523f,-1.025177001953125f,-0.3967982232570648f,-1.2568471431732178f,0.42272046208381653f}, {-1.7840583324432373f,-0.7951673865318298f,0.08712630718946457f,-0.49513906240463257f,0.22527280449867249f,-0.933793842792511f,-0.2128937840461731f,-1.6850707530975342f,-2.405503511428833f,2.103959083557129f,-0.6362944841384888f,-0.10680044442415237f,1.0738216638565063f,-0.5063754916191101f,-2.1546857357025146f,0.07512295991182327f}, {0.004108738619834185f,-0.274260014295578f,-0.35367295145988464f,-0.23111958801746368f,-0.013286978006362915f,-0.35976120829582214f,0.20723947882652283f,-0.22688564658164978f,-0.3933952748775482f,-0.2469865083694458f,-0.10184195637702942f,-0.036791570484638214f,-0.20333541929721832f,-0.1474355161190033f,0.30211755633354187f,0.029817909002304077f}, {-0.24431058764457703f,-0.17455258965492249f,0.09072163701057434f,0.36838439106941223f,0.1518034040927887f,-0.2244877964258194f,-0.3773283362388611f,-0.4137502908706665f,-0.43285298347473145f,0.21767470240592957f,0.3199503719806671f,0.18974873423576355f,-0.2736336588859558f,-0.26345178484916687f,0.2594381868839264f,-0.3755319118499756f}, {-1.0546468496322632f,-1.879543662071228f,-0.3896068036556244f,-2.326030731201172f,-0.29278600215911865f,-1.6855119466781616f,-0.7656766176223755f,-1.3112117052078247f,-0.3009236454963684f,-0.1608448326587677f,-0.48595014214515686f,-2.58016037940979f,0.7338660955429077f,-0.02715977653861046f,-1.0012117624282837f,-0.29054537415504456f}, {-0.35896390676498413f,0.1519547402858734f,-0.1918996125459671f,0.3441784083843231f,-0.251690149307251f,0.07633808255195618f,-0.20442241430282593f,0.15600016713142395f,-0.34061896800994873f,-0.42899268865585327f,0.24141374230384827f,-0.0907757580280304f,-0.2614765167236328f,-0.26180750131607056f,-0.16899681091308594f,0.3768171966075897f}, {-0.880810558795929f,-3.1539807319641113f,-0.0410144068300724f,-1.0675164461135864f,-0.42980632185935974f,-2.771942377090454f,-1.2194820642471313f,-1.6178263425827026f,-0.4983506500720978f,1.2420903444290161f,-0.737767219543457f,-0.6286841034889221f,1.0471004247665405f,-0.04755221679806709f,0.06619733572006226f,-0.07779356092214584f}, {-0.31270870566368103f,-0.3115420639514923f,-0.4113859236240387f,0.36236318945884705f,0.18753167986869812f,0.2137911319732666f,0.13785728812217712f,-0.4067135453224182f,-0.3037393391132355f,0.015455139800906181f,-0.12907131016254425f,-0.039838116616010666f,0.2778095304965973f,0.13849052786827087f,-0.38960275053977966f,0.10178551077842712f}, {-0.38132068514823914f,0.350312739610672f,0.236850768327713f,-0.33636629581451416f,-0.0563720166683197f,-0.34556347131729126f,-0.16514313220977783f,-0.4196615219116211f,-0.06099119782447815f,0.363854318857193f,-0.09745600819587708f,-0.16400223970413208f,0.027912020683288574f,0.313402384519577f,0.2799864113330841f,0.07999011874198914f}, {-0.13869988918304443f,0.38950952887535095f,-0.11942046880722046f,-0.013615667819976807f,0.10183486342430115f,-0.14478465914726257f,-0.055372774600982666f,0.40451738238334656f,-0.0004988610744476318f,-0.15372157096862793f,0.39738205075263977f,-0.34888216853141785f,-0.22685009241104126f,0.05806469917297363f,-0.3431790769100189f,-0.055206865072250366f}, {-0.5467628240585327f,-0.3657051622867584f,-0.0928201973438263f,0.7215098738670349f,-0.3938039243221283f,0.05579270049929619f,-0.297423392534256f,0.8841676712036133f,-0.9665785431861877f,0.27645450830459595f,-0.6296942830085754f,0.10412584990262985f,2.061190128326416f,-0.019191347062587738f,-1.101051688194275f,-0.24198441207408905f}, {-0.3683733642101288f,-0.21325372159481049f,0.32993969321250916f,0.12162211537361145f,-0.1353546679019928f,-0.04242327809333801f,-0.429615318775177f,0.3358100354671478f,-0.1642657220363617f,-0.16881853342056274f,-0.3577517867088318f,0.2842075526714325f,0.1058095395565033f,0.03193211555480957f,-0.333587110042572f,-0.41875848174095154f}, {-0.11944586038589478f,-0.016977638006210327f,-0.14040663838386536f,-0.18402284383773804f,-0.2888585329055786f,0.40755733847618103f,-0.2704409062862396f,0.2084963023662567f,0.2528785169124603f,0.3035930395126343f,0.011118561029434204f,-0.08494043350219727f,0.22720195353031158f,0.1980362832546234f,-0.09844750165939331f,-0.24369663000106812f}, {0.19465525448322296f,0.5287004709243774f,-0.026385754346847534f,-0.572474479675293f,-0.06544613838195801f,0.8353392481803894f,0.584827184677124f,1.4129278659820557f,1.652499794960022f,-0.1460738629102707f,0.5699149966239929f,1.4096914529800415f,-0.9528071880340576f,0.28018197417259216f,-0.35613492131233215f,-0.08374109864234924f}, {0.15651622414588928f,-0.05297498032450676f,-0.395809531211853f,-0.22493095695972443f,0.2059049904346466f,-0.3899354040622711f,-0.15729941427707672f,0.07761989533901215f,0.2827228307723999f,-0.48621320724487305f,-0.3187112510204315f,-0.16275028884410858f,-0.10706552118062973f,-0.3818236291408539f,-0.19069123268127441f,-0.16918760538101196f}, {-0.13212862610816956f,0.2126924842596054f,0.20607492327690125f,0.31541842222213745f,0.30361661314964294f,-0.3614303171634674f,-0.036482229828834534f,-0.49492666125297546f,-0.3344106078147888f,0.3821418583393097f,0.09035366028547287f,0.0399528406560421f,0.27372878789901733f,-0.29966023564338684f,0.10072603076696396f,-0.17085057497024536f}, }; const float hout[16] = { 0.028529714792966843f,0.249660462141037f,0.05429621413350105f,0.13649047911167145f,0.21182763576507568f,1.8589720726013184f,1.9251549243927002f,0.9950587153434753f,1.9887455701828003f,-1.162423014640808f,-0.023119617253541946f,0.13996505737304688f,1.009389877319336f,-0.1522718071937561f,2.308634042739868f,0.1380276083946228f }; const float b1[16] = { 0.44875094294548035f,-1.0360865592956543f,-1.1075365543365479f,-0.3995904326438904f,-0.3227563202381134f,1.0322879552841187f,-0.39429977536201477f,0.11284410208463669f,3.0705134868621826f,4.676753044128418f,-0.18211516737937927f,-0.31427258253097534f,-2.6619958877563477f,-1.9939937591552734f,0.8003115057945251f,-0.6729674935340881f }; const float b2[16] = { -0.11054568737745285f,-0.11000818014144897f,-0.8041005730628967f,-0.7400949597358704f,0.4239952564239502f,-1.4137567281723022f,0.9374799132347107f,-1.5409705638885498f,-0.9115832448005676f,-1.1571590900421143f,0.5601513385772705f,-0.20241180062294006f,-0.4464137554168701f,0.4011272192001343f,-0.314651757478714f,-0.115329310297966f }; const float b3[16] = { 0.4329838752746582f,0.5600898861885071f,-0.8156418800354004f,-0.868074357509613f,-2.275556802749634f,0.5312483906745911f,-0.6398064494132996f,0.4554269015789032f,1.816382884979248f,-0.6808826923370361f,-0.05475400388240814f,-1.62785005569458f,-1.4683955907821655f,-1.0120080709457397f,1.087712287902832f,-0.919655442237854f }; const float bout[1] = { 0.7085913419723511f }; float valve_ref_pos_buffer[10] = {0.0f}; /////////////////////////////////////////////////////////////////////////////////////////////RL float input_RL[num_input_RL] = { 0.0f }; //Critic Networks float hc1[num_input_RL][num_hidden_unit1] = {0.0f}; float bc1[num_hidden_unit1] = {0.0f}; float hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; float bc2[num_hidden_unit2] = {0.0f}; float hc3[num_hidden_unit2] = {0.0f}; float bc3 = 0.0f; //Critic Networks Temporary float hc1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; float bc1_temp[num_hidden_unit1] = {0.0f}; float hc2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; float bc2_temp[num_hidden_unit2] = {0.0f}; float hc3_temp[num_hidden_unit2] = {0.0f}; float bc3_temp = 0.0f; //Actor Networks float ha1[num_input_RL][num_hidden_unit1] = {0.0f}; float ba1[num_hidden_unit1] = {0.0f}; float ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; float ba2[num_hidden_unit2] = {0.0f}; float ha3[num_hidden_unit2][2] = {0.0f}; float ba3[2] = {0.0f}; //Actor Networks Temporary float ha1_temp[num_input_RL][num_hidden_unit1] = {0.0f}; float ba1_temp[num_hidden_unit1] = {0.0f}; float ha2_temp[num_hidden_unit1][num_hidden_unit2] = {0.0f}; float ba2_temp[num_hidden_unit2] = {0.0f}; float ha3_temp[num_hidden_unit2][2] = {0.0f}; float ba3_temp[2] = {0.0f}; float VALVE_POS_RAW_NN = 0.0f; float DDV_JOINT_POS_FF(float REF_JOINT_VEL); /////////////////////////////////////////////RL tuning float Gradient_Limit = 0.5f; float gradient_rate_actor = 0.001f; float gradient_rate_critic = 0.001f; ////////////////////////////////////////////////////////////////////////////// float Critic_Network_Temp(float *arr) { float output1[num_hidden_unit1] = { 0.0f }; float output2[num_hidden_unit2] = { 0.0f }; float output = 0.0f; for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { output1[index2] = output1[index2] + hc1_temp[index1][index2] * arr[index1]; } //ReLU output1[index2] = output1[index2] + bc1_temp[index2]; hx_c_sum[index2] = output1[index2]; if (output1[index2] < 0) { output1[index2] = 0; } //tanh //output1[index2] = tanh(output1[index2] + bc1_temp[index2]); } for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { output2[index2] = output2[index2] + hc2_temp[index1][index2] * output1[index1]; } //ReLU output2[index2] = output2[index2] + bc2_temp[index2]; hxh_c_sum[index2] = output2[index2]; if (output2[index2] < 0) { output2[index2] = 0; } //tanh //output2[index2] = tanh(output2[index2] + bc2_temp[index2]); } for (int index2 = 0; index2 < 1; index2++) { for (int index1 = 0; index1 < num_hidden_unit2; index1++) { output = output + hc3_temp[index1] * output2[index1]; } output = output + bc3_temp; hxhh_c_sum = output; } return output; } void Actor_Network(float *arr) { float output1[num_hidden_unit1] = {0.0f}; float output2[num_hidden_unit2] = {0.0f}; float output[2] = {0.0f}; for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { output1[index2] = output1[index2] + ha1_temp[index1][index2] * arr[index1]; } output1[index2] = output1[index2] + ba1_temp[index2]; hx_a_sum[index2] = output1[index2]; if (output1[index2] < 0) { output1[index2] = 0; } } for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { output2[index2] = output2[index2] + ha2_temp[index1][index2] * output1[index1]; } output2[index2] = output2[index2] + ba2_temp[index2]; hxh_a_sum[index2] = output2[index2]; if (output2[index2] < 0) { output2[index2] = 0; } } for (int index2 = 0; index2 < 2; index2++) { for (int index1 = 0; index1 < num_hidden_unit2; index1++) { output[index2] = output[index2] + ha3_temp[index1][index2] * output2[index1]; } hxhh_a_sum[index2] = output[index2] + ba3_temp[index2]; } mean_before_SP = output[0] + ba3_temp[0]; //SP = softplus deviation_before_SP = output[1] + ba3_temp[1]; //Softplus mean = log(1.0f+exp(mean_before_SP)); deviation = log(1.0f+exp(deviation_before_SP)); logging2 = mean; logging4 = deviation; } void Actor_Network_Old(float *arr) { float output1[num_hidden_unit1] = {0.0f}; float output2[num_hidden_unit2] = {0.0f}; float output[2] = {0.0f}; for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { output1[index2] = output1[index2] + ha1[index1][index2] * arr[index1]; } output1[index2] = output1[index2] + ba1[index2]; if (output1[index2] < 0) { output1[index2] = 0; } } for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { output2[index2] = output2[index2] + ha2[index1][index2] * output1[index1]; } output2[index2] = output2[index2] + ba2[index2]; if (output2[index2] < 0) { output2[index2] = 0; } } for (int index2 = 0; index2 < 2; index2++) { for (int index1 = 0; index1 < num_hidden_unit2; index1++) { output[index2] = output[index2] + ha3[index1][index2] * output2[index1]; } } mean_old = output[0] + ba3[0]; deviation_old = output[1] + ba3[1]; //Softplus mean_old = log(1.0f+exp(mean_old)); deviation_old = log(1.0f+exp(deviation_old)); } float Grad_Normal_Dist_Mean(float mean, float deviation, float action) { float grad_mean = 0.0f; grad_mean = (action-mean)*exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))/(sqrt(2.0f*PI)*deviation*deviation*deviation); return grad_mean; } float Grad_Normal_Dist_Deviation(float mean, float deviation, float action) { float grad_dev = 0.0f; grad_dev = exp(-(action-mean)*(action-mean)/(2.0f*deviation*deviation))*(-1.0f/(sqrt(2.0f*PI)*deviation*deviation) + (action-mean)*(action-mean)/(sqrt(2.0f*PI)*deviation*deviation*deviation*deviation)); return grad_dev; } float ReLU(float x) { if (x >= 0) { return x; } else { return 0.0f; } } void update_Critic_Networks(float (*arr)[num_input_RL]) { float G_hc1[num_input_RL][num_hidden_unit1] = {0.0f}; float G_bc1[num_hidden_unit1] = {0.0f}; for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { for (int n=0; n<batch_size; n++) { float d_V_d_hc1 = 0.0f; for(int k=0; k<num_hidden_unit2; k++) { if (hxh_c_sum_array[n][k] >= 0) { if (hx_c_sum_array[n][index2] > 0) { d_V_d_hc1 = d_V_d_hc1 + arr[n][index1]*hc2_temp[index2][k]*hc3_temp[k]; } } } G_hc1[index1][index2] = G_hc1[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc1); } G_hc1[index1][index2] = G_hc1[index1][index2] / batch_size; if(G_hc1[index1][index2] > Gradient_Limit) G_hc1[index1][index2] = Gradient_Limit; else if (G_hc1[index1][index2] < -Gradient_Limit) G_hc1[index1][index2] = -Gradient_Limit; //hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; } for (int n=0; n<batch_size; n++) { float d_V_d_bc1 = 0.0f; for(int k=0; k<num_hidden_unit2; k++) { if (hxh_c_sum_array[n][k] >= 0) { if (hx_c_sum_array[n][index2] > 0) { d_V_d_bc1 = d_V_d_bc1 + hc2_temp[index2][k]*hc3_temp[k]; } } } G_bc1[index2] = G_bc1[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc1); } G_bc1[index2] = G_bc1[index2] / batch_size; if(G_bc1[index2] > Gradient_Limit) G_bc1[index2] = Gradient_Limit; else if (G_bc1[index2] < -Gradient_Limit) G_bc1[index2] = -Gradient_Limit; //bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; } float G_hc2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; float G_bc2[num_hidden_unit2] = {0.0f}; for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { for (int n=0; n<batch_size; n++) { float d_V_d_hc2 = 0.0f; if (hxh_c_sum_array[n][index2] >= 0) { if (hx_c_sum_array[n][index1] > 0) { d_V_d_hc2 = hx_c_sum_array[n][index1]*hc3_temp[index2]; } } G_hc2[index1][index2] = G_hc2[index1][index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc2); } G_hc2[index1][index2] = G_hc2[index1][index2] / batch_size; if(G_hc2[index1][index2] > Gradient_Limit) G_hc2[index1][index2] = Gradient_Limit; else if (G_hc2[index1][index2] < -Gradient_Limit) G_hc2[index1][index2] = -Gradient_Limit; //hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; } for (int n=0; n<batch_size; n++) { float d_V_d_bc2 = 0.0f; if (hxh_c_sum_array[n][index2] >= 0) { d_V_d_bc2 = hc3_temp[index2]; } G_bc2[index2] = G_bc2[index2] + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc2); } G_bc2[index2] = G_bc2[index2] / batch_size; if(G_bc2[index2] > Gradient_Limit) G_bc2[index2] = Gradient_Limit; else if (G_bc2[index2] < -Gradient_Limit) G_bc2[index2] = -Gradient_Limit; //bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; } float G_hc3[num_hidden_unit2]= {0.0f}; float G_bc3 = 0.0f; for (int index2 = 0; index2 < 1; index2++) { for (int index1 = 0; index1 < num_hidden_unit2; index1++) { for (int n=0; n<batch_size; n++) { float d_V_d_hc3 = 0.0f; if (hxh_c_sum_array[n][index1] >= 0) { d_V_d_hc3 = d_V_d_hc3 + hxh_c_sum_array[n][index1]; } G_hc3[index1] = G_hc3[index1] + 2.0f*(return_G[n]-V[n])*(-d_V_d_hc3); } G_hc3[index1] = G_hc3[index1] / batch_size; if(G_hc3[index1] > Gradient_Limit) G_hc3[index1] = Gradient_Limit; else if (G_hc3[index1] < -Gradient_Limit) G_hc3[index1] = -Gradient_Limit; //hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; } for (int n=0; n<batch_size; n++) { float d_V_d_bc3 = 0.0f; d_V_d_bc3 = 1.0f; G_bc3 = G_bc3 + 2.0f*(return_G[n]-V[n])*(-d_V_d_bc3); } G_bc3 = G_bc3 / batch_size; if(G_bc3 > Gradient_Limit) G_bc3 = Gradient_Limit; else if (G_bc3 < -Gradient_Limit) G_bc3 = -Gradient_Limit; //bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; } // Simultaneous Update for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { hc1_temp[index1][index2] = hc1_temp[index1][index2] - gradient_rate_critic * G_hc1[index1][index2]; } bc1_temp[index2] = bc1_temp[index2] - gradient_rate_critic * G_bc1[index2]; } for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { hc2_temp[index1][index2] = hc2_temp[index1][index2] - gradient_rate_critic * G_hc2[index1][index2]; } bc2_temp[index2] = bc2_temp[index2] - gradient_rate_critic * G_bc2[index2]; } for (int index2 = 0; index2 < 1; index2++) { for (int index1 = 0; index1 < num_hidden_unit2; index1++) { hc3_temp[index1] = hc3_temp[index1] - gradient_rate_critic * G_hc3[index1]; } bc3_temp = bc3_temp - gradient_rate_critic * G_bc3; } } ///////////////////////////Softplus////////////////////////////////// void update_Actor_Networks(float (*arr)[num_input_RL]) { float G_ha1[num_input_RL][num_hidden_unit1] = {0.0f}; float G_ba1[num_hidden_unit1] = {0.0f}; for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { for (int n=0; n<batch_size; n++) { float d_x_d_ha1 = 0.0f; float d_y_d_ha1 = 0.0f; if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { G_ha1[index1][index2] = G_ha1[index1][index2]; } else { for(int k=0; k<num_hidden_unit2; k++) { if (hxh_a_sum_array[n][k] >= 0) { if (hx_a_sum_array[n][index2] > 0) { d_x_d_ha1 = d_x_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][0]; d_y_d_ha1 = d_y_d_ha1 + arr[n][index1]*ha2_temp[index2][k]*ha3_temp[k][1]; } } } float d_mean_d_ha1 = 0.0f; float d_dev_d_ha1 = 0.0f; d_mean_d_ha1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha1; d_dev_d_ha1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha1; G_ha1[index1][index2] = G_ha1[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); } } G_ha1[index1][index2] = -G_ha1[index1][index2] / batch_size; if(G_ha1[index1][index2] > Gradient_Limit) G_ha1[index1][index2] = Gradient_Limit; else if (G_ha1[index1][index2] < -Gradient_Limit) G_ha1[index1][index2] = -Gradient_Limit; //ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; } for (int n=0; n<batch_size; n++) { float d_x_d_ba1 = 0.0f; float d_y_d_ba1 = 0.0f; if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { G_ba1[index2] = G_ba1[index2]; } else { for(int k=0; k<num_hidden_unit2; k++) { if (hxh_a_sum_array[n][k] >= 0) { if (hx_a_sum_array[n][index2] > 0) { d_x_d_ba1 = d_x_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][0]; d_y_d_ba1 = d_y_d_ba1 + ha2_temp[index2][k]*ha3_temp[k][1]; } } } float d_mean_d_ba1 = 0.0f; float d_dev_d_ba1 = 0.0f; d_mean_d_ba1 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba1; d_dev_d_ba1 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba1; G_ba1[index2] = G_ba1[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba1*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba1*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); } } G_ba1[index2] = -G_ba1[index2] / batch_size; if(G_ba1[index2] > Gradient_Limit) G_ba1[index2] = Gradient_Limit; else if (G_ba1[index2] < -Gradient_Limit) G_ba1[index2] = -Gradient_Limit; //ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; } float G_ha2[num_hidden_unit1][num_hidden_unit2] = {0.0f}; float G_ba2[num_hidden_unit2] = {0.0f}; for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { for (int n=0; n<batch_size; n++) { float d_x_d_ha2 = 0.0f; float d_y_d_ha2 = 0.0f; if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { G_ha2[index1][index2] = G_ha2[index1][index2]; } else { if (hxh_a_sum_array[n][index2] >= 0) { if (hx_a_sum_array[n][index1] > 0) { d_x_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][0]; d_y_d_ha2 = hx_a_sum_array[n][index1]*ha3_temp[index2][1]; } } float d_mean_d_ha2 = 0.0f; float d_dev_d_ha2 = 0.0f; d_mean_d_ha2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha2; d_dev_d_ha2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha2; G_ha2[index1][index2] = G_ha2[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); } } G_ha2[index1][index2] = -G_ha2[index1][index2] / batch_size; if(G_ha2[index1][index2] > Gradient_Limit) G_ha2[index1][index2] = Gradient_Limit; else if (G_ha2[index1][index2] < -Gradient_Limit) G_ha2[index1][index2] = -Gradient_Limit; //ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; } for (int n=0; n<batch_size; n++) { float d_x_d_ba2 = 0.0f; float d_y_d_ba2 = 0.0f; if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { G_ba2[index2] = G_ba2[index2]; } else { if (hxh_a_sum_array[n][index2] >= 0) { d_x_d_ba2 = ha3_temp[index2][0]; d_y_d_ba2 = ha3_temp[index2][1]; } float d_mean_d_ba2= 0.0f; float d_dev_d_ba2= 0.0f; d_mean_d_ba2 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba2; d_dev_d_ba2 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba2; G_ba2[index2] = G_ba2[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba2*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba2*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); } } G_ba2[index2] = -G_ba2[index2] / batch_size; if(G_ba2[index2] > Gradient_Limit) G_ba2[index2] = Gradient_Limit; else if (G_ba2[index2] < -Gradient_Limit) G_ba2[index2] = -Gradient_Limit; //ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; } float G_ha3[num_hidden_unit2][2] = {0.0f}; float G_ba3[2] = {0.0f}; for (int index2 = 0; index2 < 2; index2++) { for (int index1 = 0; index1 < num_hidden_unit2; index1++) { for (int n=0; n<batch_size; n++) { float d_x_d_ha3 = 0.0f; float d_y_d_ha3 = 0.0f; if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { G_ha3[index1][index2] = G_ha3[index1][index2]; } else { if (hxh_a_sum_array[n][index1] >= 0) { if (hx_a_sum_array[n][index1] > 0) { d_x_d_ha3 = hxh_a_sum_array[n][index1]; d_y_d_ha3 = hxh_a_sum_array[n][index1]; } } float d_mean_d_ha3 = 0.0f; float d_dev_d_ha3 = 0.0f; d_mean_d_ha3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ha3; d_dev_d_ha3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ha3; G_ha3[index1][index2] = G_ha3[index1][index2] + advantage[n]/pi_old[n]*(d_mean_d_ha3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ha3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); } } G_ha3[index1][index2] = -G_ha3[index1][index2] / batch_size; if(G_ha3[index1][index2] > Gradient_Limit) G_ha3[index1][index2] = Gradient_Limit; else if (G_ha3[index1][index2] < -Gradient_Limit) G_ha3[index1][index2] = -Gradient_Limit; //ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; } for (int n=0; n<batch_size; n++) { float d_x_d_ba3 = 0.0f; float d_y_d_ba3 = 0.0f; if((advantage[n] >= 0.0f && ratio[n] >= 1.0f + epsilon) || (advantage[n] < 0.0f && ratio[n] < 1.0f - epsilon)) { G_ba3[index2] = G_ba3[index2]; } else { d_x_d_ba3 = 1.0f; d_y_d_ba3 = 1.0f; float d_mean_d_ba3= 0.0f; float d_dev_d_ba3= 0.0f; d_mean_d_ba3 = exp(hxhh_a_sum_array[n][0])/(1.0f+exp(hxhh_a_sum_array[n][0]))*d_x_d_ba3; d_dev_d_ba3 = exp(hxhh_a_sum_array[n][1])/(1.0f+exp(hxhh_a_sum_array[n][1]))*d_y_d_ba3; G_ba3[index2] = G_ba3[index2] + advantage[n]/pi_old[n]*(d_mean_d_ba3*Grad_Normal_Dist_Mean(mean_array[n],deviation_array[n],action_array[n])+d_dev_d_ba3*Grad_Normal_Dist_Deviation(mean_array[n],deviation_array[n],action_array[n])); } } G_ba3[index2] = -G_ba3[index2] / batch_size; if(G_ba3[index2] > Gradient_Limit) G_ba3[index2] = Gradient_Limit; else if (G_ba3[index2] < -Gradient_Limit) G_ba3[index2] = -Gradient_Limit; //ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; } // Simultaneous Update for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { ha1_temp[index1][index2] = ha1_temp[index1][index2] - gradient_rate_actor * G_ha1[index1][index2]; } ba1_temp[index2] = ba1_temp[index2] - gradient_rate_actor * G_ba1[index2]; } for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { ha2_temp[index1][index2] = ha2_temp[index1][index2] - gradient_rate_actor * G_ha2[index1][index2]; } ba2_temp[index2] = ba2_temp[index2] - gradient_rate_actor * G_ba2[index2]; } for (int index2 = 0; index2 < 2; index2++) { for (int index1 = 0; index1 < num_hidden_unit2; index1++) { ha3_temp[index1][index2] = ha3_temp[index1][index2] - gradient_rate_actor * G_ha3[index1][index2]; } ba3_temp[index2] = ba3_temp[index2] - gradient_rate_actor * G_ba3[index2]; } } float rand_normal(double mean, double stddev) { //Box muller method static double n2 = 0.0f; static int n2_cached = 0; if (!n2_cached) { double x, y, r; do { x = 2.0f*rand()/RAND_MAX - 1; y = 2.0f*rand()/RAND_MAX - 1; r = x*x + y*y; } while (r == 0.0f || r > 1.0f); { double d = sqrt(-2.0f*log(r)/r); double n1 = x*d; n2 = y*d; double result = n1*stddev + mean; n2_cached = 1; return result; } } else { n2_cached = 0; return n2*stddev + mean; } } float mean_adv(float x[], int size) { float add = 0.0f; float result; for (int i=0; i<size; i++) { add += x[i]; } result = (float) add/size; return result; } float deviation_adv(float x[], int size) { float sigma = 0.0f; float resultDeb = 0.0f; for (int k=0; k<size; k++) { sigma = pow((float)x[k]-mean_adv(x,size), (float)2.0f)/(size-1); resultDeb += sqrt(sigma); } return resultDeb; } void Overwirte_Critic_Networks() { for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { hc1[index1][index2] = hc1_temp[index1][index2]; } bc1[index2] = bc1_temp[index2]; } for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { hc2[index1][index2] = hc2_temp[index1][index2]; } bc2[index2] = bc2_temp[index2]; hc3[index2] = hc3_temp[index2]; } bc3 = bc3_temp; } void Overwirte_Actor_Networks() { for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { ha1[index1][index2] = ha1_temp[index1][index2]; } ba1[index2] = ba1_temp[index2]; } for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { ha2[index1][index2] = ha2_temp[index1][index2]; } ba2[index2] = ba2_temp[index2]; } for (int index2 = 0; index2 < 2; index2++) { for (int index1 = 0; index1 < num_hidden_unit2; index1++) { ha3[index1][index2] = ha3_temp[index1][index2]; } ba3[index2] = ba3_temp[index2]; } } int main() { HAL_Init(); SystemClock_Config(); /********************************* *** Initialization *********************************/ LED = 0; 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; } for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { hc1_temp[index1][index2] = (float) (rand()%100) * 0.007f ; } bc1_temp[index2] = (float) (rand()%100) * 0.007f; } for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { hc2_temp[index1][index2] = (float) (rand()%100) * 0.007f; } bc2_temp[index2] = (float) (rand()%100) * 0.007f; hc3_temp[index2] = (float) (rand()%100) * 0.007f; } bc3_temp = (float) (rand()%100) * 0.007f; for (int index2 = 0; index2 < num_hidden_unit1; index2++) { for (int index1 = 0; index1 < num_input_RL; index1++) { ha1_temp[index1][index2] = (float) (rand()%100) * 0.007f; } ba1_temp[index2] = (float) (rand()%100) * 0.007f; } for (int index2 = 0; index2 < num_hidden_unit2; index2++) { for (int index1 = 0; index1 < num_hidden_unit1; index1++) { ha2_temp[index1][index2] = (float) (rand()%100) * 0.007f; } ba2_temp[index2] = (float) (rand()%100) * 0.007f; } for (int index2 = 0; index2 < 2; index2++) { for (int index1 = 0; index1 < num_hidden_unit2; index1++) { ha3_temp[index1][index2] = (float) (rand()%100) * 0.007f; } ba3_temp[index2] = (float) (rand()%100) * 0.007f; } Overwirte_Critic_Networks(); Overwirte_Actor_Networks(); /************************************ *** Program is operating! *************************************/ while(1) { // if(timer_while==27491) { // timer_while = 0; // pc.printf("ref : %f virt_pos : %f mean : %f deviation : %f Last_pos_of_batch : %f reward_sum : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), logging3, logging2, logging4, logging1, logging5); // //pc.printf("%f\n", virt_pos); // //pc.printf("%f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION)); // //pc.printf("ref : %f virt_pos : %f\n", pos.sen/(float)(ENC_PULSE_PER_POSITION), virt_pos); // } //i2c read_field(i2c_slave_addr1); if(DIR_VALVE_ENC < 0) value = 1023 - value; //timer_while ++; ///////////////////////////////////////////////////////Neural Network if(NN_Control_Flag == 0) { LED = 0; } else if(NN_Control_Flag == 1) { int ind = 0; for(int i=0; i<numpast_u; i++) { input_NN[ind] = u_past[time_interval*i]; ind = ind + 1; } for(int i=0; i<numpast_x; i++) { input_NN[ind] = x_past[time_interval*i] / 60.0f; ind = ind + 1; } input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; ind = ind + 1; // for(int i=0; i<numfuture_x; i++) { // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; // ind = ind + 1; // } for(int i=0; i<numpast_f; i++) { // input_NN[ind] = f_past[time_interval*i] / 10000.0f * 8.0f + 0.5f; input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; ind = ind + 1; } // input_NN[ind] = torq.sen / 10000.0f * 8.0f + 0.5f; input_NN[ind] = torq.sen / 10000.0f + 0.5f; ind = ind + 1; for(int i=0; i<numfuture_f; i++) { // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f * 8.0f + 0.5f; // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f + 0.5f; // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f*8.0f+0.5f; input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f + 0.5f; ind = ind + 1; } float output1[16] = { 0.0f }; float output2[16] = { 0.0f }; float output3[16] = { 0.0f }; float output = 0.0f; for (int index2 = 0; index2 < 16; index2++) { for (int index1 = 0; index1 < num_input; index1++) { output1[index2] = output1[index2] + h1[index1][index2] * input_NN[index1]; } output1[index2] = output1[index2] + b1[index2]; if (output1[index2] < 0) { output1[index2] = 0; } } for (int index2 = 0; index2 < 16; index2++) { for (int index1 = 0; index1 < 16; index1++) { output2[index2] = output2[index2] + h2[index1][index2] * output1[index1]; } output2[index2] = output2[index2] + b2[index2]; if (output2[index2] < 0) { output2[index2] = 0; } } for (int index2 = 0; index2 < 16; index2++) { for (int index1 = 0; index1 < 16; index1++) { output3[index2] = output3[index2] + h3[index1][index2] * output2[index1]; } output3[index2] = output3[index2] + b3[index2]; if (output3[index2] < 0) { output3[index2] = 0; } } for (int index2 = 0; index2 < 1; index2++) { for (int index1 = 0; index1 < 16; index1++) { output = output + hout[index1] * output3[index1]; } output = output + bout[index2]; } output = 1.0f/(1.0f+exp(-output)); output_normalized = output; output = output * 20000.0f - 10000.0f; if(output>=0) { valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } else { valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } if(LED==1) { LED=0; } else LED = 1; } /////////////////////////////////////////////////////////////////////RL switch (Update_Case) { case 0: { break; } case 1: { //Network Update(just update and hold network) for (int epoch = 0; epoch < num_epoch; epoch++) { float loss_sum = 0.0f; for (int n=batch_size-1; n>=0; n--) { //Calculate Estimated V //float temp_array[3] = {state_array[n][0], state_array[n][1], state_array[n][2]}; float temp_array[2] = {state_array[n][0], state_array[n][1]}; V[n] = Critic_Network_Temp(temp_array); for (int i=0; i<num_hidden_unit1; i++) { hx_c_sum_array[n][i] = hx_c_sum[i]; } for (int i=0; i<num_hidden_unit2; i++) { hxh_c_sum_array[n][i] = hxh_c_sum[i]; } hxhh_c_sum_array[n] = hxhh_c_sum; pi[n] = exp(-(action_array[n]-mean_array[n])*(action_array[n]-mean_array[n])/(2.0f*deviation_array[n]*deviation_array[n]))/(sqrt(2.0f*PI)*deviation_array[n]); Actor_Network_Old(temp_array); pi_old[n] = exp(-(action_array[n]-mean_old)*(action_array[n]-mean_old)/(2.0f*deviation_old*deviation_old))/(sqrt(2.0f*PI)*deviation_old); r[n] = exp(-0.25f * 5.0f * state_array[n][1] * state_array[n][1]); if(n == batch_size-1) return_G[n] = 0.0f; else return_G[n] = gamma * return_G[n+1] + r[n]; if(n == batch_size-1) td_target[n] = r[n]; else td_target[n] = r[n] + gamma * V[n+1]; delta[n] = td_target[n] - V[n]; if(n == batch_size-1) advantage[n] = 0.0f; else advantage[n] = gamma * lmbda * advantage[n+1] + delta[n]; // return_G[n] = advantage[n] + V[n]; ratio[n] = pi[n]/pi_old[n]; } float mean_advantage = 0.0f; float dev_advantage = 0.0f; mean_advantage = mean_adv(advantage, batch_size); dev_advantage = deviation_adv(advantage, batch_size); for (int n=batch_size-1; n>=0; n--) { //advantage[n] = (advantage[n]-mean_advantage)/dev_advantage; surr1[n] = ratio[n] * advantage[n]; if (ratio[n] > 1.0f + epsilon) { surr2[n] = (1.0f + epsilon)*advantage[n]; } else if( ratio[n] < 1.0f - epsilon) { surr2[n] = (1.0f - epsilon)*advantage[n]; } else { surr2[n] = ratio[n]*advantage[n]; } loss[n] = -min(surr1[n], surr2[n]); loss_sum = loss_sum + loss[n]; } reward_sum = 0.0f; for (int i=0; i<batch_size; i++) { reward_sum = reward_sum + r[i]; } logging5 = reward_sum; //loss_batch = loss_sum / (float) batch_size; loss_batch = loss_sum; //Update Networks update_Critic_Networks(state_array); update_Actor_Networks(state_array); } Update_Done_Flag = 1; Update_Case = 0; //logging1 = V[0]; break; } case 2: { //Network apply to next Network Overwirte_Critic_Networks(); Overwirte_Actor_Networks(); virt_pos = 10.0f; Update_Done_Flag = 1; Update_Case = 0; break; } } } } 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 = (float) (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 > 1000.0f) valve_pos_err_sum = 1000.0f; if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; 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]) && (float) 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] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f }; // 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(); } 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; // 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_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; // 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 } 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; 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 += 0.000003f * (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(); spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0f)); 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/20); 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 + 12.0f; else pos.ref = pos.ref - 12.0f; // 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); // ENC_SET_ZERO(); 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; 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; } } 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; //pos.ref = 0.0f; vel.ref = 0.0f; // input for position control // CONTROL_MODE = MODE_JOINT_CONTROL; alpha_trans = 0.0f; double torq_ref = 0.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] 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) * 3.14159f / 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)))); I_REF = I_REF_POS; } else { float VALVE_POS_RAW_FORCE_FB = 0.0f; VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); 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; } VALVE_POS_CONTROL(valve_pos.ref); V_out = (float) Vout.ref; } // 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(); spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0f)); spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0f)); 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(); spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); for(int i=0; i<25; i++) { spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]); } 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(); spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); 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(); spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER); spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS); spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS); 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(); for(int i=0; i<100; i++) { spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int16_t) (JOINT_VEL[i] & 0xFFFF)); spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int16_t) ((JOINT_VEL[i] >> 16) & 0xFFFF)); } 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 * 3.0f; 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; } case MODE_FREQ_TEST: { float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3); if(valve_pos_ref >= 0) { valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; } else { valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; } ref_array[cnt_freq_test] = valve_pos_ref; if(value>=(float) VALVE_CENTER) { pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; cnt_freq_test++; if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) { buffer_data_size = cnt_freq_test; cnt_freq_test = 0; cnt_send_buffer = 0; freq_test_valve_ref = freq_test_valve_ref * 1.05f; if (freq_test_valve_ref >= 400) { CONTROL_UTILITY_MODE = MODE_NO_ACT; CONTROL_MODE = MODE_NO_ACT; CAN_TX_PWM((int16_t) (1)); //1300 } CONTROL_MODE = MODE_NO_ACT; CONTROL_UTILITY_MODE = MODE_SEND_OVER; } break; } case MODE_SEND_BUFFER: { // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { // CAN_TX_PRES((int16_t) (pos_array[cnt_send_buffer]), (int16_t) (ref_array[cnt_send_buffer])); // 1400 // if(cnt_send_buffer>=buffer_data_size) { // CONTROL_UTILITY_MODE = MODE_FREQ_TEST; // } // cnt_send_buffer++; // } break; } case MODE_SEND_OVER: { CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300 CONTROL_UTILITY_MODE = MODE_NO_ACT; CONTROL_MODE = MODE_NO_ACT; break; } case MODE_STEP_TEST: { float valve_pos_ref = 0.0f; if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) { valve_pos_ref = 0.0f; } else { valve_pos_ref = 10000.0f; } if(valve_pos_ref >= 0) { valve_pos.ref = (double)VALVE_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_CENTER)/10000.0f; } else { valve_pos.ref = (double)VALVE_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_CENTER)/10000.0f; } ref_array[cnt_step_test] = valve_pos_ref; if(value>=(float) VALVE_CENTER) { pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } CONTROL_MODE = MODE_VALVE_POSITION_CONTROL; cnt_step_test++; if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) { buffer_data_size = cnt_step_test; cnt_step_test = 0; cnt_send_buffer = 0; CONTROL_UTILITY_MODE = MODE_SEND_OVER; CONTROL_MODE = MODE_NO_ACT; } // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) // { // CONTROL_UTILITY_MODE = MODE_NO_ACT; // CONTROL_MODE = MODE_NO_ACT; // CAN_TX_PWM((int16_t) (1)); //1300 // } 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 == 5) { //SW Valve ////For Test LIMC////////////////////////////////////////// VALVE_POS_CONTROL(valve_pos.ref); // for(int i=0; i<9; i++){ // valve_ref_pos_buffer[i] = valve_ref_pos_buffer[i+1]; // } // valve_ref_pos_buffer[9] = valve_pos.ref; // VALVE_POS_CONTROL(valve_ref_pos_buffer[0]); //////////////////////////////////////////////////////////// V_out = Vout.ref; } else if (CURRENT_CONTROL_MODE == 0) { //PWM V_out = valve_pos.ref; } else { I_REF = valve_pos.ref * 0.001f; } break; } case MODE_JOINT_CONTROL: { double torq_ref = 0.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] //K & D Low Pass Filter float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] torq_ref = torq.ref; // torque feedback torq.err = torq_ref - 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); // Anti-windup for FT if (I_GAIN_JOINT_TORQUE != 0) { double I_MAX = 10.0f; // Maximum Current : 10mV double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); if (I_REF > I_MAX) { double I_rem = I_REF - I_MAX; I_rem = Ka*I_rem; I_REF = I_MAX; torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; } else if (I_REF < -I_MAX) { double I_rem = I_REF - (-I_MAX); I_rem = Ka*I_rem; I_REF = -I_MAX; torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; } } } else { float VALVE_POS_RAW_FORCE_FB = 0.0f; float VALVE_POS_RAW_FORCE_FF = 0.0f; float VALVE_POS_RAW = 0.0f; VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * (torq.ref_diff - torq_dot.sen)) * 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)); VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; if (VALVE_POS_RAW >= 0) { valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; } else { valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; } if(I_GAIN_JOINT_TORQUE != 0) { double Ka = 2.0f / (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; } torq_ref_past = torq_ref; break; } case MODE_VALVE_OPEN_LOOP: { V_out = (float) Vout.ref; break; } case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 float g3_prime = 0.0f; if (torq.sen > Amm*(Ps-Pt)*0.000001f) { g3_prime = 1.0f; } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { g3_prime = -1.0f; } else { if ((value-VALVE_CENTER) > 0) { g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); // g3_prime = sqrt(Ps-Pt); } else { g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); // g3_prime = sqrt(Ps-Pt); } } float tau = 0.01f; float K_valve = 0.0004f; float x_v = 0.0f; //x_v : -1~1 if(value>=VALVE_CENTER) { x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } float f4 = -x_v/tau; float g4 = K_valve/tau; float torq_ref_dot = torq.ref_diff * 500.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] torq.err = torq.ref - torq.sen; //[N] torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] float k3 = 2000.0f; //2000 //20000 float k4 = 10.0f; float rho3 = 3.2f; float rho4 = 10000000.0f; //25000000.0f; float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); if (x_4_des > 1) x_4_des = 1; else if (x_4_des < -1) x_4_des = -1; if (x_4_des > 0) { valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; } else { valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; } float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; x_4_des_old = x_4_des; float V_input = 0.0f; V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; // //V_out LPF // float alpha_V_out = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*50.0f)); // f_cutoff : 50Hz // V_out = V_out*(1.0f-alpha_V_out)+V_input*(alpha_V_out); // float rho_gamma = 5000.0f;//5000 for change //50000 for not change // float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); // gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; // // if(gamma_hat > 10000.0f) gamma_hat = 10000.0f; // else if(gamma_hat < 100.0f) gamma_hat = 100.0f; float rho_a = 0.00001f; float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err); a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k; if(a_hat > -3000000.0f) a_hat = -3000000.0f; else if(a_hat < -30000000.0f) a_hat = -30000000.0f; break; } case MODE_RL: { //t.reset(); //t.start(); // if(LED == 0) LED = 1; // else LED = 0; if (Update_Done_Flag == 1) { //Gather Data on each loop // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] // train_set_x[RL_timer] = pos.sen/(float)(ENC_PULSE_PER_POSITION)/35.0f - 1.0f; //-1.0~1.0 // train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] train_set_x[RL_timer] = virt_pos/70.0f; //-1.0~1.0 train_set_error[RL_timer] = pos.err/70.0f; //-1.0~1.0 //train_set_count[RL_timer] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 //float temp_array[3] = {train_set_x[RL_timer], train_set_error[RL_timer], train_set_count[RL_timer]}; float temp_array[2] = {train_set_x[RL_timer], train_set_error[RL_timer]}; Actor_Network(temp_array); for (int i=0; i<num_hidden_unit1; i++) { hx_a_sum_array[RL_timer][i] = hx_a_sum[i]; } for (int i=0; i<num_hidden_unit2; i++) { hxh_a_sum_array[RL_timer][i] = hxh_a_sum[i]; } hxhh_a_sum_array[RL_timer][0] = hxhh_a_sum[0]; hxhh_a_sum_array[RL_timer][1] = hxhh_a_sum[1]; mean_array[RL_timer] = mean; deviation_array[RL_timer] = deviation; action_array[RL_timer] = rand_normal(mean_array[RL_timer], deviation_array[RL_timer]); virt_pos = virt_pos + (action_array[RL_timer] - 5.0f) * 1000.0f * 0.0002f; if (virt_pos > 70 ) { virt_pos = 70.0f; } else if(virt_pos < -70) { virt_pos = -70.0f; } RL_timer++; if (RL_timer >= batch_size) { RL_timer = 0; batch++; for(int i=0; i<batch_size; i++) { state_array[i][0] = train_set_x[i]; state_array[i][1] = train_set_error[i]; //state_array[i][2] = train_set_count[i]; } Update_Case = 1; Update_Done_Flag = 0; logging1 = virt_pos; if(batch >= num_batch) { batch = 0; RL_timer = 0; Update_Case = 2; Update_Done_Flag = 0; virt_pos = 10.0f; } } } else { pos.err = pos.sen/(float)(ENC_PULSE_PER_POSITION) - virt_pos; //[mm] float temp_array[3] = {0.0f}; temp_array[0] = virt_pos/70.0f; //-1.0~1.0 temp_array[1] = pos.err/70.0f; //-1.0~1.0 //temp_array[2] = (float) RL_timer / (batch_size *num_batch); //-1.0~1.0 Actor_Network(temp_array); action = rand_normal(mean, deviation); //logging1 = action; //logging2 = mean; //logging4 = deviation; virt_pos = virt_pos + (action-5.0f) * 1000.0f * 0.0002f; if (virt_pos > 70) { virt_pos = 70.0f; } else if(virt_pos < -70) { virt_pos = -70.0f; } logging3 = virt_pos; } //t.stop(); //logging1 = t.read()*1000.0f; //msec 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 + 5000.0f / (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) * 0.0002f; // Moog Valve Current Control Gain double R_model = 500.0f; // 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 * 2.0f * I_ERR + KI_I * 2.0f* 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 * 5000.0f); // Unit : mV VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV double V_MAX = 12000.0f; // 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 * 0.0002f; } 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 * 0.0002f; } 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); // -8000~8000 // Dead Zone Cancellation (Electrical dead-zone) if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); else V_out = (float) (CUR_PWM_lin); } else { //////////////////////////sw valve // Output Voltage Linearization // double CUR_PWM_nonlin = V_out; // Unit : mV // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 // Dead Zone Cancellation (Electrical dead-zone) // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); // else V_out = (float) (CUR_PWM_lin); if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; else V_out = 0.0f; } // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); // else V_out = V_out; /******************************************************* *** PWM ********************************************************/ if(DIR_VALVE<0) { V_out = -V_out; } 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) (torq.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/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); } else if (SENSING_MODE == 1) { CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); } } } if (flag_data_request[1] == HIGH) { CAN_TX_TORQUE((int16_t) (return_G[0]*100.0f)); //1300 } if (flag_data_request[2] == HIGH) { double t_value = 0.0f; 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); } double t_value_ref = 0.0f; if(valve_pos.ref>=(float) VALVE_CENTER) { t_value_ref = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { t_value_ref = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } CAN_TX_PRES((int16_t) (t_value), (int16_t) (t_value_ref)); // 1400 } //If it doesn't rest, below can can not work. for (int can_rest = 0; can_rest < 10000; can_rest++) { ; } if (flag_data_request[3] == HIGH) { //PWM CAN_TX_PWM((int16_t) (torq.ref)); //1500 // CAN_TX_PWM((int16_t) (f_future[1])); //1500 } if (flag_data_request[4] == HIGH) { //valve position //CAN_TX_VALVE_POSITION((int16_t) pos.sen/(float)(ENC_PULSE_PER_POSITION), (int16_t) virt_pos, (int16_t) (logging2*1000.0f), (int16_t) (logging4*1000.0f)); //1600 CAN_TX_VALVE_POSITION((int16_t) (a_hat*0.0001f), (int16_t) 0, (int16_t) 0, (int16_t) 0); //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 }