Sungwoo Kim
for learning
main.cpp
- Committer:
- Lightvalve
- Date:
- 2021-01-08
- Revision:
- 250:ae6e0c80029d
- Parent:
- 249:21430e06f706
- Child:
- 251:4b0e0b1ff297
File content as of revision 250:ae6e0c80029d:
//210108_4 500Hz num_input 13 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] = {
{-0.39866355061531067f,0.2293444573879242f,-0.11100786924362183f,0.07216298580169678f,-0.0835648775100708f,0.033540062606334686f,-0.4061938524246216f,0.23955833911895752f,0.3490755259990692f,0.26933974027633667f,-0.06351640820503235f,0.207467183470726f,0.39442315697669983f,0.2276526540517807f,-0.5134740471839905f,0.5904678106307983f},
{-0.16657677292823792f,0.42962977290153503f,-0.4106399714946747f,-0.41183462738990784f,0.4012489318847656f,0.5503614544868469f,-0.35706084966659546f,-0.27447235584259033f,-0.037397466599941254f,-0.37457555532455444f,-0.13949739933013916f,0.2667900323867798f,0.32005617022514343f,0.2346925586462021f,-0.22676488757133484f,0.12322017550468445f},
{0.07280445098876953f,0.3963991403579712f,-0.013116300106048584f,0.34529614448547363f,-0.3361414670944214f,-0.3295988142490387f,-0.1572970598936081f,-0.008836150169372559f,0.33483704924583435f,-0.31310921907424927f,-0.42350924015045166f,0.25746506452560425f,0.0030023895669728518f,0.2610369622707367f,0.07461864501237869f,0.44209957122802734f},
{0.4448436498641968f,0.2888627052307129f,0.2872076630592346f,-0.00529751181602478f,0.006092756986618042f,-0.17711935937404633f,-0.48771849274635315f,-0.07517075538635254f,-0.044362086802721024f,-0.4242141544818878f,-0.06982836127281189f,-0.1011975035071373f,-0.21675372123718262f,0.3143465518951416f,-0.21173715591430664f,-0.04153302311897278f},
{-0.4287453889846802f,0.2607329785823822f,-0.3261844515800476f,0.3695780038833618f,-0.24358950555324554f,-0.2814001142978668f,0.1926794946193695f,-0.11401164531707764f,0.1168813481926918f,-0.43648090958595276f,0.13137876987457275f,0.3202381730079651f,0.2084430754184723f,-0.38201281428337097f,-0.13757383823394775f,-0.08391320705413818f},
{-0.3423535227775574f,0.21077923476696014f,0.24148815870285034f,-0.2097240686416626f,-0.21479320526123047f,0.5728655457496643f,-0.38777387142181396f,0.06907474994659424f,0.4383533298969269f,-0.4217628240585327f,0.3647552728652954f,0.49651139974594116f,-0.3853491246700287f,-0.5150770545005798f,-0.4468844532966614f,0.32233521342277527f},
{0.3002285361289978f,0.1552380919456482f,-0.012929677963256836f,0.3189413547515869f,-0.08836644887924194f,-0.6167881488800049f,0.2523282468318939f,-0.12714824080467224f,0.022313950583338737f,-0.07857620716094971f,-0.41729873418807983f,-0.58347487449646f,0.2730298936367035f,-0.0274465661495924f,0.21824681758880615f,-0.29084867238998413f},
{0.1259613037109375f,-0.23441508412361145f,0.10734033584594727f,-0.3635467290878296f,-0.30464106798171997f,0.14283743500709534f,-0.029375730082392693f,0.27719372510910034f,-0.28064730763435364f,-0.39917129278182983f,-0.18277329206466675f,-0.09296763688325882f,0.004846292082220316f,-0.13405974209308624f,0.4389444887638092f,0.15789148211479187f},
{0.005006223917007446f,-0.3462418019771576f,-0.2450791299343109f,0.01850840449333191f,0.22874420881271362f,0.33832022547721863f,0.06886614114046097f,-0.21465449035167694f,-0.42899468541145325f,-0.10903891921043396f,0.3395878076553345f,-0.020150626078248024f,0.004507763776928186f,0.2425307184457779f,0.12365985661745071f,-0.09771042317152023f},
{0.10014444589614868f,0.16329790651798248f,0.23555999994277954f,-0.2365708351135254f,-0.3996735215187073f,0.07463482767343521f,0.5267361402511597f,-0.2916446924209595f,-0.09514585882425308f,-0.3473442494869232f,0.20145761966705322f,-0.6259415745735168f,0.24417786300182343f,-0.12993167340755463f,0.43866974115371704f,-0.06814748048782349f},
{0.2946211099624634f,-0.10359311103820801f,-0.2272855043411255f,0.317649245262146f,-0.27416783571243286f,0.24826355278491974f,-0.2956998944282532f,-0.2620849013328552f,0.3064926564693451f,-0.3507779836654663f,-0.2937386631965637f,-0.12392923980951309f,0.17384549975395203f,-0.14459940791130066f,0.27102044224739075f,0.4496242105960846f},
{-0.31753039360046387f,-0.2258649617433548f,0.00826159119606018f,-0.30263715982437134f,-0.27714890241622925f,-0.045562125742435455f,0.008304374292492867f,-0.3697577118873596f,0.2889609634876251f,0.03957808017730713f,-0.028581589460372925f,-0.47968512773513794f,-0.44307368993759155f,-0.31487640738487244f,-0.02384779043495655f,-0.010555583983659744f},
{0.11654168367385864f,0.15081898868083954f,-0.16779407858848572f,-0.20793133974075317f,0.30659210681915283f,0.5108351707458496f,0.05543474107980728f,-0.13101696968078613f,-0.1362874060869217f,-0.1948603391647339f,0.2586551308631897f,-0.021886078640818596f,-0.37605568766593933f,-0.4146116077899933f,0.33054018020629883f,-0.028513634577393532f},
};
const float h2[16][16] = {
{-0.23376603424549103f,-0.15770223736763f,0.0812692940235138f,-0.0919342041015625f,0.37955692410469055f,0.12404409050941467f,-0.32260462641716003f,0.06841030716896057f,0.33671995997428894f,-0.049556344747543335f,0.39862093329429626f,-0.3080969750881195f,-0.2706364393234253f,-0.061267584562301636f,0.27030089497566223f,0.19885870814323425f},
{0.30406907200813293f,0.1955106258392334f,-0.10975602269172668f,0.019508838653564453f,-0.0172116756439209f,-0.1340707391500473f,-0.25667518377304077f,0.06952804327011108f,0.36089035868644714f,-0.2501731514930725f,0.23976728320121765f,-0.32248950004577637f,-0.2235783189535141f,0.40910056233406067f,0.3605644404888153f,0.1596284806728363f},
{0.18558058142662048f,-0.3657093942165375f,-0.22966013848781586f,0.02441677451133728f,-0.20563195645809174f,-0.31904423236846924f,0.4094211161136627f,0.18657228350639343f,0.20084109902381897f,0.4312146008014679f,0.28730836510658264f,0.34755679965019226f,0.10600164532661438f,-0.33709007501602173f,0.2793157994747162f,0.09531155228614807f},
{-0.30573147535324097f,-0.34310466051101685f,-0.11595287919044495f,0.21400901675224304f,-0.09916210174560547f,0.061972588300704956f,0.3272477686405182f,0.07537910342216492f,0.2499862015247345f,-0.3867667019367218f,0.27292129397392273f,0.009001433849334717f,-0.12129661440849304f,0.27340129017829895f,-0.25732892751693726f,0.14833572506904602f},
{0.2688860595226288f,0.1387259066104889f,-0.22401486337184906f,0.37024661898612976f,0.3559475839138031f,0.245359867811203f,0.18571648001670837f,-0.33309197425842285f,0.29022881388664246f,-0.2551383078098297f,-0.14880135655403137f,0.3837638199329376f,0.4195556938648224f,-0.1958986520767212f,0.3869282901287079f,-0.017493516206741333f},
{0.36335912346839905f,-0.2562502324581146f,0.05241137742996216f,-0.3000796437263489f,-0.28382545709609985f,-0.5995994806289673f,0.20999248325824738f,-0.5174291133880615f,-0.06474489718675613f,0.39146795868873596f,0.36458149552345276f,-0.3268655836582184f,0.3023233711719513f,0.3909897208213806f,-0.30403196811676025f,0.10804423689842224f},
{0.11585522443056107f,0.5320093631744385f,0.07476368546485901f,0.17359605431556702f,-0.39561495184898376f,0.07975900173187256f,-0.2620644271373749f,-0.7032102346420288f,-0.715872049331665f,-0.029736846685409546f,0.06422865390777588f,0.281080037355423f,0.5050480365753174f,0.8251626491546631f,0.15520253777503967f,-0.05949559807777405f},
{0.034960925579071045f,-0.2237633764743805f,-0.2269844114780426f,0.008543998003005981f,-0.061728447675704956f,-0.2939370274543762f,0.2008121907711029f,-0.37062984704971313f,-0.29654285311698914f,-0.37533998489379883f,-0.2023780792951584f,-0.1471911370754242f,-0.3665081560611725f,0.2499629557132721f,0.36115071177482605f,0.2247580587863922f},
{3.034886598587036f,3.6116249561309814f,-0.16491663455963135f,0.2729091942310333f,-0.3878302574157715f,3.6257083415985107f,3.130079746246338f,-3.3179666996002197f,-3.0644047260284424f,-0.04020014405250549f,0.20718321204185486f,-0.3705790340900421f,2.9802372455596924f,3.463700532913208f,-0.22306673228740692f,0.3614841401576996f},
{-0.1256197988986969f,-0.11623844504356384f,0.03716579079627991f,-0.2110193371772766f,0.2386193573474884f,-0.21178102493286133f,-0.055604636669158936f,-0.11143404245376587f,0.21222051978111267f,-0.1837407946586609f,-0.27417534589767456f,0.4112907350063324f,-0.042728573083877563f,0.27871987223625183f,0.33974525332450867f,-0.1904361993074417f},
{-0.3609481453895569f,0.28748753666877747f,-0.15902554988861084f,0.09960779547691345f,0.14226266741752625f,0.03499653935432434f,-0.4210061728954315f,0.24336853623390198f,0.018461793661117554f,-0.24048498272895813f,-0.23212403059005737f,-0.19738496840000153f,-0.41367626190185547f,0.09065529704093933f,-0.3556676208972931f,-0.4087646007537842f},
{0.9242446422576904f,0.5765639543533325f,-0.37434661388397217f,0.010054288432002068f,0.40390732884407043f,0.9511083364486694f,0.570014238357544f,-0.9372129440307617f,-0.12589314579963684f,0.31711557507514954f,0.26869919896125793f,-0.3734472095966339f,0.8514693379402161f,0.9183444380760193f,-0.12226778268814087f,0.34041836857795715f},
{0.06253428012132645f,0.12849199771881104f,0.38365909457206726f,-0.0877617821097374f,0.131079763174057f,-0.15324941277503967f,0.35149407386779785f,0.40300899744033813f,0.3114223778247833f,-0.33819082379341125f,-0.2883298397064209f,0.20092079043388367f,0.4256168603897095f,-0.17543724179267883f,0.03027483820915222f,0.01573166251182556f},
{0.02634732984006405f,0.2968405783176422f,-0.2858319878578186f,0.07843189686536789f,0.3366161286830902f,0.04619460552930832f,-0.571478545665741f,0.41214045882225037f,0.4775676429271698f,-0.1314159333705902f,0.03576740622520447f,0.41370633244514465f,0.3167593777179718f,-0.3977631628513336f,0.3853224217891693f,0.21920552849769592f},
{0.09393870830535889f,-0.12669703364372253f,0.045322418212890625f,-0.3029470443725586f,-0.3055824041366577f,-0.6351923942565918f,0.29235658049583435f,0.40737760066986084f,0.5835976004600525f,0.11176732182502747f,0.39100804924964905f,-0.4183829128742218f,-0.5000371336936951f,-0.28401777148246765f,-0.29524165391921997f,-0.08791729807853699f},
{0.0997864305973053f,0.24672812223434448f,-0.383160799741745f,0.4243675172328949f,-0.22785264253616333f,-0.2239101082086563f,-0.16713882982730865f,-0.32511961460113525f,-0.2142861783504486f,-0.3174850344657898f,-0.2712668180465698f,-0.3208528757095337f,0.242601677775383f,0.44449692964553833f,0.30430158972740173f,0.15395590662956238f},
};
const float h3[16][16] = {
{0.15164123475551605f,-0.34702032804489136f,0.3197037875652313f,-0.1300775408744812f,0.08257906883955002f,0.2418520748615265f,-0.3398571014404297f,-0.14531740546226501f,-0.40269115567207336f,0.1579747200012207f,-0.053041040897369385f,0.3765902817249298f,-0.3667798340320587f,0.17757460474967957f,0.19393619894981384f,-0.017566293478012085f},
{0.1792328953742981f,-0.0758133977651596f,0.21520020067691803f,-0.03325572609901428f,-0.5383684039115906f,-0.41009432077407837f,0.0028817951679229736f,-0.712875247001648f,-0.4370298981666565f,0.15553420782089233f,0.2140149176120758f,0.674606442451477f,-0.10252498090267181f,-0.15762627124786377f,0.34604611992836f,-0.08901709318161011f},
{-0.24219739437103271f,-0.4311303496360779f,-0.2648053467273712f,0.08816590905189514f,-0.1379374861717224f,-0.2567608058452606f,-0.05834171175956726f,-0.3720588684082031f,-0.28903061151504517f,0.14862564206123352f,0.11144766211509705f,-0.25408342480659485f,-0.287926584482193f,-0.06943506002426147f,-0.08349922299385071f,-0.1573108732700348f},
{0.2677978575229645f,0.34482407569885254f,0.3125510811805725f,-0.36193448305130005f,-0.24861842393875122f,-0.34746718406677246f,0.052640169858932495f,-0.39180219173431396f,0.05749944970011711f,0.38259220123291016f,0.1380349099636078f,0.07503975927829742f,0.4016537070274353f,0.27623435854911804f,-0.026072926819324493f,0.4126637279987335f},
{-0.05686333775520325f,-0.18994778394699097f,0.1951034963130951f,0.11854001879692078f,0.1709664762020111f,-0.39697086811065674f,-0.21479764580726624f,0.03973031044006348f,-0.04371479153633118f,-0.24217137694358826f,0.12636259198188782f,0.31702491641044617f,0.2821219265460968f,-0.013679057359695435f,-0.12247011065483093f,-0.2415638267993927f},
{0.3307996690273285f,-0.3611350655555725f,0.2719781696796417f,-0.3759070634841919f,0.333566278219223f,0.3030073940753937f,-0.2782615125179291f,-0.31132155656814575f,0.24615615606307983f,-0.2878952622413635f,0.2658475339412689f,0.29066726565361023f,0.31655073165893555f,-0.10093647241592407f,0.242709219455719f,-0.3461729884147644f},
{-0.7786619067192078f,0.7705880999565125f,0.13406123220920563f,0.09394630789756775f,0.46393612027168274f,-0.38328519463539124f,0.042503416538238525f,0.4432537853717804f,0.7562127709388733f,0.8194725513458252f,0.20758137106895447f,-0.9332126379013062f,0.964387834072113f,0.3497793972492218f,-0.9948191046714783f,0.07921698689460754f},
{-1.4498059749603271f,1.5077168941497803f,1.417440414428711f,0.42228469252586365f,1.5661025047302246f,0.25414010882377625f,0.1536337435245514f,0.7822868227958679f,0.6945287585258484f,1.5286016464233398f,0.41397419571876526f,-1.1734354496002197f,0.9537366628646851f,0.3520391881465912f,-0.8947061896324158f,-0.051639050245285034f},
{-1.355609655380249f,0.8838972449302673f,1.2582066059112549f,0.23666033148765564f,0.9591349363327026f,-0.31681132316589355f,-0.32871994376182556f,1.033066749572754f,0.9406602382659912f,1.3822530508041382f,0.41064736247062683f,-0.877638041973114f,1.1908857822418213f,0.01570388674736023f,-1.0715487003326416f,-0.3190888464450836f},
{0.35686901211738586f,0.228458434343338f,0.2712568938732147f,0.2529853880405426f,0.3662918508052826f,0.39349010586738586f,0.25153252482414246f,0.2783726155757904f,0.28922316431999207f,0.3839733898639679f,0.31362196803092957f,0.3805024325847626f,-0.4027314782142639f,-0.06604450941085815f,-0.15562167763710022f,-0.01853218674659729f},
{0.02971559762954712f,0.10008290410041809f,-0.09202349185943604f,-0.34877365827560425f,-0.37960970401763916f,0.20557507872581482f,0.01085612177848816f,0.10947790741920471f,-0.05034041404724121f,-0.2958219349384308f,-0.027930915355682373f,-0.03014206886291504f,0.27277418971061707f,-0.03805673122406006f,0.14320698380470276f,0.1095406711101532f},
{-0.3087005019187927f,0.05017688870429993f,0.12297007441520691f,0.3505266606807709f,-0.12687858939170837f,0.3846513330936432f,-0.0860929787158966f,0.32990750670433044f,-0.04760110378265381f,-0.4174031615257263f,-0.2160652130842209f,-0.1775263547897339f,-0.13651898503303528f,-0.11875951290130615f,-0.0734165608882904f,0.2554740607738495f},
{0.45573824644088745f,0.27617835998535156f,-0.029862266033887863f,-0.3516032099723816f,-0.328117698431015f,0.13696381449699402f,0.11205586791038513f,-0.071514792740345f,-0.04669053480029106f,0.14819775521755219f,-0.4269672632217407f,0.03593582287430763f,-0.3540164530277252f,-0.23198269307613373f,0.3632473051548004f,0.07743498682975769f},
{0.13902565836906433f,-0.4513693153858185f,-0.44616809487342834f,-0.12923097610473633f,-0.6093754172325134f,0.17323002219200134f,-0.2711373567581177f,-0.8406438231468201f,-0.40111854672431946f,-0.4078027606010437f,0.23837611079216003f,0.5075986385345459f,-0.45610159635543823f,0.0412866473197937f,0.6462149024009705f,0.17309555411338806f},
{0.16032066941261292f,0.07465770840644836f,0.05247756838798523f,-0.005473285913467407f,-0.227305069565773f,0.031090915203094482f,-0.018196970224380493f,0.21227428317070007f,0.2511860430240631f,-0.32314372062683105f,-0.058653801679611206f,-0.41826459765434265f,0.3595975935459137f,0.09194120764732361f,-0.3692541718482971f,0.12807056307792664f},
{0.18930241465568542f,0.40462300181388855f,-0.09339573979377747f,-0.24683929979801178f,-0.3936846852302551f,-0.17146101593971252f,0.07161977887153625f,-0.29721081256866455f,-0.3824835419654846f,-0.22785739600658417f,0.19350889325141907f,0.19995954632759094f,-0.20125877857208252f,0.04203954339027405f,0.2179628312587738f,0.273261696100235f},
};
const float hout[16] = { 0.9186931848526001f,-0.6426643133163452f,-2.100996732711792f,-0.4234980642795563f,-3.1442019939422607f,0.16659802198410034f,0.1412227749824524f,-0.5113492608070374f,-0.7385799884796143f,-1.2743288278579712f,0.36728596687316895f,0.7760918140411377f,-1.9738671779632568f,-0.15486499667167664f,0.7656890749931335f,-0.1121329665184021f };
const float b1[16] = { -1.7676769495010376f,-1.6090540885925293f,-1.354941964149475f,-0.5883668065071106f,-0.4820181131362915f,-0.19116580486297607f,1.243129849433899f,-1.0006957054138184f,-1.0012738704681396f,-0.17751635611057281f,-0.3144873380661011f,-0.5827701687812805f,-0.45533254742622375f,1.6646242141723633f,0.5947674512863159f,-0.17799901962280273f };
const float b2[16] = { 0.43402352929115295f,-0.009170545265078545f,-0.6261173486709595f,-0.49606257677078247f,-0.9477383494377136f,1.7394949197769165f,0.8847604990005493f,0.12849092483520508f,-0.3611977696418762f,-1.757647156715393f,-0.8346138596534729f,-0.6447385549545288f,0.6817746162414551f,0.6759572625160217f,-1.0967609882354736f,-1.3775783777236938f };
const float b3[16] = { -0.16810473799705505f,0.650750458240509f,-0.3732922375202179f,-0.9392088651657104f,0.7941774129867554f,-1.1039313077926636f,0.28099650144577026f,2.7149839401245117f,1.6020218133926392f,0.20373418927192688f,-1.4772030115127563f,-0.5197852849960327f,0.8460597395896912f,-0.11213985830545425f,-0.8830437660217285f,-0.5863158702850342f };
const float bout[1] = { 0.7833016514778137f };
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 K_valve = 0.0002f;
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
}