Sungwoo Kim
for learning
main.cpp
- Committer:
- Lightvalve
- Date:
- 2020-06-10
- Revision:
- 79:e90681c26e5d
- Parent:
- 78:2a7d1399e579
- Child:
- 80:cfc7eabde63a
File content as of revision 79:e90681c26e5d:
//200610-2
#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"
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 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_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
MODE_TEST_CURRENT_CONTROL, //9
MODE_TEST_PWM_CONTROL, //10
MODE_CURRENT_CONTROL, //11
MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
//utility
MODE_TORQUE_SENSOR_NULLING = 20, //20
MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
MODE_FIND_HOME, //22
MODE_VALVE_GAIN_SETTING, //23
MODE_PRESSURE_SENSOR_NULLING, //24
MODE_PRESSURE_SENSOR_CALIB, //25
MODE_ROTARY_FRICTION_TUNING, //26
MODE_DDV_POS_VS_PWM_ID = 30, //30
MODE_DDV_DEADZONE_AND_CENTER, //31
MODE_DDV_POS_VS_FLOWRATE, //32
MODE_SYSTEM_ID, //33
};
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 x_past[num_array_x_past] = {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][32] = {
{-2.634869337081909f,0.751030445098877f,0.10589459538459778f,-0.2020231932401657f,-1.089504599571228f,-0.2258036583662033f,-0.5625589489936829f,1.4488131999969482f,-0.24528732895851135f,-0.7486415505409241f,-0.21812596917152405f,-0.025036778301000595f,-0.19318288564682007f,0.7274526953697205f,-0.21103838086128235f,-2.0903096199035645f,0.37747064232826233f,0.24935457110404968f,0.5069671273231506f,1.0805155038833618f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,0.8178192973136902f,0.18374285101890564f,-0.1767144799232483f,-0.5084065198898315f,-1.0908011198043823f,-0.18794111907482147f,-0.7350244522094727f,0.916589081287384f},
{-1.9046547412872314f,1.0745046138763428f,0.29864487051963806f,-1.1435227394104004f,-1.2838667631149292f,-0.3229738771915436f,-0.04630167409777641f,1.217482566833496f,-0.14384615421295166f,-0.5263525247573853f,-0.3089713156223297f,0.6410626769065857f,0.021212786436080933f,0.4932363033294678f,0.045876264572143555f,-0.2652783691883087f,0.21457934379577637f,0.06295260787010193f,1.3991278409957886f,0.989524245262146f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,0.7006829380989075f,0.2936786115169525f,0.12686115503311157f,-0.12128607928752899f,-0.8902506232261658f,0.09809011220932007f,-0.6601582169532776f,0.8257253170013428f},
{-0.2968434691429138f,1.0899699926376343f,-0.0042223334312438965f,-0.7814658880233765f,-1.2590378522872925f,-0.4761217534542084f,-0.03356360271573067f,0.7703216671943665f,0.01094740629196167f,-0.45185673236846924f,0.2619970738887787f,1.12019681930542f,-0.03282937407493591f,0.2834092974662781f,-0.31718650460243225f,1.3228896856307983f,0.5894139409065247f,-0.2658354640007019f,1.2302768230438232f,0.5624581575393677f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,0.6333167552947998f,0.14537742733955383f,-0.15514154732227325f,-0.05309852585196495f,-0.44663557410240173f,0.302763432264328f,-0.5564932227134705f,0.29253435134887695f},
{0.7521342635154724f,0.44233405590057373f,-0.20532599091529846f,-1.0376994609832764f,-1.096234917640686f,-0.20755162835121155f,0.06604460626840591f,-0.09731990098953247f,0.28440922498703003f,-0.1702035665512085f,0.09968884289264679f,1.1849077939987183f,-0.11809042096138f,0.0901486724615097f,-0.12817290425300598f,2.1276750564575195f,0.033835262060165405f,-0.23756909370422363f,0.35677099227905273f,-0.13938340544700623f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,0.36776700615882874f,0.14159366488456726f,0.13380053639411926f,-0.18489910662174225f,0.5188909769058228f,0.1323157548904419f,0.03735452517867088f,0.21642470359802246f},
{1.8330634832382202f,-0.3986043632030487f,0.08410122990608215f,0.035368412733078f,0.32460448145866394f,0.16303488612174988f,0.15103468298912048f,-1.103989839553833f,-0.23725779354572296f,0.6537193059921265f,-0.2682048976421356f,-0.03415066748857498f,0.211430162191391f,-0.5104733109474182f,-0.25075238943099976f,1.3625019788742065f,-0.4228708744049072f,-0.18436601758003235f,-0.48808491230010986f,-0.9096930623054504f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.3935796022415161f,-0.34256690740585327f,0.04057341814041138f,-0.3820010721683502f,0.7615024447441101f,-0.16320037841796875f,0.4851287007331848f,-0.6722683906555176f},
{2.336430549621582f,-3.031351327896118f,0.30513831973075867f,2.821021318435669f,3.1211936473846436f,0.9558436870574951f,0.2892119884490967f,-2.501601219177246f,-0.3672991394996643f,1.3406418561935425f,0.2616577446460724f,-3.1386301517486572f,-0.03144201636314392f,-1.3935394287109375f,0.21901831030845642f,-2.7090706825256348f,-1.2262934446334839f,-0.3195672333240509f,-3.227170944213867f,-1.5671145915985107f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.2910373210906982f,0.20814630389213562f,-0.2925715744495392f,0.3053485155105591f,0.7348219156265259f,-0.0013132691383361816f,0.5126806497573853f,-1.9032843112945557f},
{0.729540228843689f,-0.18531522154808044f,0.16288265585899353f,-0.07426173239946365f,0.31464818120002747f,0.24069036543369293f,-0.17514905333518982f,0.5301396250724792f,-0.1795230209827423f,-0.09609010815620422f,-0.11280638724565506f,-0.1635865420103073f,0.098605215549469f,0.028785046190023422f,-0.18274356424808502f,-0.17661021649837494f,-0.25536423921585083f,-0.08166468143463135f,0.026719950139522552f,-0.10555063188076019f,-0.16223669052124023f,-0.1771286129951477f,-0.2626192569732666f,-0.24521145224571228f,0.13696791231632233f,-0.15535086393356323f,-0.1126367449760437f,-0.07792660593986511f,-0.417112797498703f,-0.03486502170562744f,-0.04845522344112396f,-0.06961875408887863f},
{-0.078600212931633f,-0.008912960067391396f,0.16644713282585144f,-0.31025198101997375f,0.09944560378789902f,0.21528840065002441f,0.040454037487506866f,0.3965190052986145f,0.22599175572395325f,-0.13703566789627075f,-0.2525582015514374f,-0.019864298403263092f,0.10806858539581299f,0.11658065021038055f,0.054826945066452026f,-0.6066815257072449f,-0.07175256311893463f,-0.28619682788848877f,-0.13640251755714417f,0.01612364687025547f,-0.07430306077003479f,0.022674113512039185f,-0.12776102125644684f,-0.02844339609146118f,-0.6928542852401733f,0.0177537202835083f,-0.341458797454834f,-0.04679766669869423f,-0.5524585843086243f,0.004316955804824829f,-0.48246899247169495f,0.3004017174243927f},
{0.542698323726654f,-0.27538618445396423f,0.13710039854049683f,-0.07545565813779831f,0.2968038320541382f,0.3460206091403961f,-0.0407034195959568f,-0.07961232960224152f,-0.0776134803891182f,-0.20266298949718475f,-0.31338322162628174f,0.11548111587762833f,0.11499327421188354f,0.32903754711151123f,0.24149659276008606f,-1.2746891975402832f,-0.22341030836105347f,0.06021764874458313f,0.026850460097193718f,-0.14281852543354034f,-0.30298954248428345f,-0.022329479455947876f,-0.2963099479675293f,0.08446213603019714f,-0.826486349105835f,-0.08218517899513245f,-0.08906334638595581f,0.3019930124282837f,-0.14431528747081757f,-0.11924156546592712f,-0.5221418142318726f,-0.014932552352547646f},
{-0.5347260236740112f,-0.20335926115512848f,-0.24446426331996918f,0.5857820510864258f,0.7755584716796875f,-0.015761245042085648f,0.11916874349117279f,-1.0411840677261353f,-0.3573572337627411f,-0.4206158518791199f,-0.371781587600708f,0.6116453409194946f,0.08400186896324158f,0.15447348356246948f,-0.26784712076187134f,-1.4537529945373535f,0.10112625360488892f,0.3319900929927826f,0.2529131770133972f,-0.3832951486110687f,-0.20100386440753937f,0.1638341248035431f,-0.11680193245410919f,-0.321638286113739f,-0.33135560154914856f,0.05633258819580078f,0.13587942719459534f,0.3045806586742401f,0.6343975067138672f,0.30370619893074036f,0.23986291885375977f,0.07191745191812515f},
{0.12108223140239716f,-0.2394372969865799f,-0.06658771634101868f,0.5057616829872131f,0.034300968050956726f,-0.2939547598361969f,-0.0684715062379837f,-0.585048496723175f,-0.34266266226768494f,-0.5942700505256653f,-0.36041051149368286f,0.09782736003398895f,-0.1789563000202179f,0.3463535010814667f,0.017138004302978516f,-0.2642022967338562f,-0.33564430475234985f,-0.24391496181488037f,0.36446550488471985f,-0.6353310942649841f,0.16973629593849182f,-0.25340327620506287f,0.23975160717964172f,0.011333763599395752f,0.5942258238792419f,0.10268864035606384f,0.08055207133293152f,-0.40220314264297485f,0.5303152203559875f,0.029612571001052856f,0.28055599331855774f,0.0165366530418396f},
{0.4481956362724304f,0.7794514298439026f,-0.3080642819404602f,-1.1291828155517578f,-1.138649821281433f,-1.3459498882293701f,-0.483154296875f,0.31258952617645264f,-0.2740108072757721f,-0.1979057490825653f,0.2778487503528595f,-0.009007207117974758f,-0.03757423162460327f,0.2710893452167511f,-0.2992876172065735f,2.8107967376708984f,0.2959258556365967f,-0.1821068376302719f,-0.34274330735206604f,-0.47896918654441833f,0.29002442955970764f,0.2275833785533905f,-0.23374228179454803f,0.3280802071094513f,-0.9706701040267944f,0.2108195722103119f,0.33828380703926086f,-0.21732144057750702f,-0.07168035954236984f,0.1480078399181366f,0.10067618638277054f,0.16454559564590454f},
{-1.4079142808914185f,-0.9066938161849976f,0.19288143515586853f,0.4051336348056793f,0.44697511196136475f,-0.8765023350715637f,-0.33471018075942993f,-0.4993566870689392f,-0.15652187168598175f,0.2736584544181824f,-0.16247355937957764f,0.9046581983566284f,-0.2720222473144531f,-0.1138773187994957f,0.06489166617393494f,-0.12296295166015625f,-0.5175983309745789f,0.21822473406791687f,-0.007559880614280701f,-0.6493163108825684f,-0.25171342492103577f,0.027203470468521118f,0.012447118759155273f,-0.0029686689376831055f,-1.5100939273834229f,0.03022313117980957f,0.3424017131328583f,-0.19386014342308044f,0.8628014326095581f,-0.34525999426841736f,-0.546201765537262f,0.45217692852020264f},
{-1.574576497077942f,-0.5112791657447815f,0.06283923983573914f,0.13957583904266357f,0.2941540777683258f,-0.928591787815094f,0.23789849877357483f,-0.46747422218322754f,-0.11014005541801453f,0.31941843032836914f,0.27859070897102356f,0.20743237435817719f,0.03354460000991821f,0.11423012614250183f,0.1072375476360321f,0.6806306838989258f,-0.3269236981868744f,0.08871319890022278f,-0.31454500555992126f,-0.11574743688106537f,-0.2227887064218521f,-0.01532900333404541f,0.11891454458236694f,-0.33143535256385803f,-1.1179511547088623f,-0.1485452950000763f,0.25882163643836975f,-0.42048564553260803f,0.8429015874862671f,0.24182012677192688f,-0.6481857895851135f,0.4560675621032715f},
{-0.8692978620529175f,-0.4489973187446594f,0.25620588660240173f,-0.1535259634256363f,0.048791930079460144f,0.14212845265865326f,0.2610628008842468f,0.048272766172885895f,0.03810879960656166f,0.3857872486114502f,-0.05924612283706665f,-0.9226919412612915f,0.18931713700294495f,-0.4411070644855499f,0.03958520293235779f,0.38837170600891113f,-0.13889539241790771f,-0.07219305634498596f,-0.015484168194234371f,0.43780428171157837f,0.31619134545326233f,0.26330670714378357f,0.026431173086166382f,0.237522691488266f,-0.515334963798523f,0.19442179799079895f,0.1992029845714569f,-0.6986798048019409f,-0.8299692869186401f,-0.10433453321456909f,-0.8600587248802185f,-0.35261353850364685f},
{-1.157753348350525f,0.08526360988616943f,-0.13789941370487213f,-0.32560965418815613f,-0.45750272274017334f,0.47341790795326233f,-0.18474912643432617f,-0.14098051190376282f,-0.23919034004211426f,0.36149829626083374f,-0.3363494277000427f,-0.700103759765625f,0.06288954615592957f,-0.22477248311042786f,0.28114965558052063f,0.1054384633898735f,0.08549685776233673f,-0.14027439057826996f,-0.1448480486869812f,0.1491953730583191f,0.18525317311286926f,0.07025247812271118f,-0.12988737225532532f,0.04382038116455078f,-0.6504571437835693f,-0.12333536148071289f,-0.12442702054977417f,-0.3229532241821289f,-1.0832936763763428f,0.27953919768333435f,-0.3817519247531891f,-0.006484930869191885f},
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};
const float h2[32][32] = {
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};
const float h3[32][32] = {
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{-0.12546227872371674f,-0.11911462992429733f,-0.08090300858020782f,0.13393983244895935f,-0.181123748421669f,-0.13018035888671875f,-0.28310835361480713f,-0.020981580018997192f,0.008869020268321037f,-0.1461954414844513f,-0.0764366015791893f,0.046816736459732056f,-0.21390613913536072f,-0.08881260454654694f,-0.0649729073047638f,0.2468220293521881f,0.060016900300979614f,-0.16779978573322296f,-0.1080164685845375f,0.029092896729707718f,-0.16814753413200378f,0.21706654131412506f,-0.30588605999946594f,0.22389158606529236f,0.08392821997404099f,0.020356476306915283f,-0.27171868085861206f,0.11525403708219528f,0.19147653877735138f,-0.000007510185241699219f,0.094448983669281f,-0.08219978213310242f},
{0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
{0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.21162407100200653f,0.08670832216739655f,0.06556430459022522f,0.29767414927482605f,0.25391724705696106f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,0.0527927428483963f,0.1489226371049881f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.03852330520749092f,0.256778359413147f,0.2480720579624176f,0.12966060638427734f,-0.04174882173538208f,-0.11559568345546722f,-0.10506229847669601f,0.21069613099098206f,-0.19532959163188934f,-0.19653025269508362f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
{-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f},
{0.07638216018676758f,0.043503254652023315f,-0.30373215675354004f,-0.2751963138580322f,0.13716231286525726f,0.007172024808824062f,0.2795381247997284f,-0.25668495893478394f,-0.0734182819724083f,0.10998184233903885f,-0.026776641607284546f,0.02524423599243164f,0.11816291511058807f,0.24896478652954102f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.13160358369350433f,0.2402823269367218f,0.14289738237857819f,-0.0082874009385705f,-0.1957164853811264f,-0.17324526607990265f,0.2095288187265396f,0.1901901364326477f,-0.27883318066596985f,-0.05487250164151192f,-0.11535849422216415f,0.22636333107948303f,-0.2677184045314789f,0.18554387986660004f},
};
const float hout[32] = { 0.3285340666770935f,0.23419079184532166f,0.022653264924883842f,0.4650540053844452f,-0.07773355394601822f,0.2799583077430725f,-0.029328495264053345f,0.1081397533416748f,-0.07481793314218521f,-0.22624342143535614f,0.20940087735652924f,-0.06869687885046005f,0.24208824336528778f,-0.48727527260780334f,0.2356991171836853f,0.002891196170821786f,0.09851181507110596f,-0.21499931812286377f,-0.11775032430887222f,0.17530855536460876f,0.09628693014383316f,0.19215719401836395f,-0.2340644896030426f,-0.15774047374725342f,-0.43513068556785583f,0.2520971894264221f,-0.340319961309433f,-0.1874096840620041f,-0.012158745899796486f,-0.3257754445075989f,-0.27221155166625977f,-0.04417092353105545f };
const float b1[32] = { 2.0403177738189697f,1.2778289318084717f,-1.7145336866378784f,0.23743566870689392f,1.3944191932678223f,0.6304308772087097f,-0.14450021088123322f,0.8285562992095947f,0.4919050931930542f,-1.0229207277297974f,0.5592874884605408f,1.4959315061569214f,-0.3425353467464447f,-0.583766520023346f,-1.087764859199524f,0.444532185792923f,0.5324435234069824f,-0.26377663016319275f,0.44209927320480347f,0.4560243487358093f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,3.374342679977417f,-2.0880801677703857f,-1.0489267110824585f,0.6588845252990723f,0.34162721037864685f,-1.0887231826782227f,1.3664661645889282f,-0.3518538773059845f };
const float b2[32] = { -0.14920102059841156f,-0.7642630338668823f,-1.4564176797866821f,-0.5027639269828796f,-0.6939148902893066f,-0.024314604699611664f,-0.15146927535533905f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.030093448236584663f,0.8906927108764648f,-0.16960477828979492f,2.014951705932617f,0.5898429155349731f,1.6626747846603394f,-1.798204779624939f,-1.5844906568527222f,-0.10610046237707138f,-0.46548226475715637f,1.065256118774414f,0.829246461391449f,0.09864116460084915f,-1.0331344604492188f,0.03745493292808533f,-0.5483406186103821f,0.6801903247833252f,-0.30449584126472473f,-0.6323830485343933f,-0.5749766230583191f,-1.178520679473877f,-1.3593226671218872f };
const float b3[32] = { -1.963319182395935f,-0.5339477062225342f,-0.08452160656452179f,-3.0915160179138184f,-0.235996276140213f,1.2089061737060547f,-0.5416222214698792f,-0.6562485098838806f,1.5423742532730103f,-2.1058833599090576f,0.02474682778120041f,-0.5604976415634155f,-1.0260348320007324f,-0.6617354154586792f,-1.1428403854370117f,-0.5134152173995972f,-1.3594286441802979f,-1.0192245244979858f,-0.25306230783462524f,0.42837002873420715f,0.21771831810474396f,1.9625293016433716f,-1.0643731355667114f,-0.9605391621589661f,-0.28960591554641724f,-0.36519983410835266f,-0.16815036535263062f,0.22437766194343567f,-0.016266006976366043f,-2.3236680030822754f,-0.18919838964939117f,0.2557937204837799f };
const float bout[1] = { -0.1794629842042923f };
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;
}
/************************************
*** Program is operating!
*************************************/
while(1) {
// if(timer_while==1000 && OPERATING_MODE==5) {
//if(timer_while==1000) {
//i2c
read_field(i2c_slave_addr1);
if(DIR_VALVE_ENC < 0) value = 1023 - value;
// if(LED==1) {
// LED=0;
// } else
// LED = 1;
timer_while = 0;
//}
timer_while ++;
if(NN_Control_Flag == 0) {
LED = 0;
}
else if(NN_Control_Flag == 1) {
float output1[32] = { 0.0f };
float output2[32] = { 0.0f };
float output3[32] = { 0.0f };
float output = 0.0f;
for (int index2 = 0; index2 < 32; 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 < 32; index2++) {
for (int index1 = 0; index1 < 32; 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 < 32; index2++) {
for (int index1 = 0; index1 < 32; 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 < 32; index1++) {
output = output + hout[index1] * output3[index1];
}
output = output + bout[index2];
}
output = 1.0f/(1.0f+exp(-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;
}
}
}
float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
{
int i = 0;
float Ref_Valve_Pos_FF = 0.0f;
for(i=0; i<VALVE_POS_NUM; i++) {
if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
if(i==0) {
if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Ref_Valve_Pos_FF = (float) VALVE_CENTER;
} else {
Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
}
} else {
if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Ref_Valve_Pos_FF = (float) VALVE_CENTER;
} else {
Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
}
}
break;
}
}
if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
}
Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
return Ref_Valve_Pos_FF;
}
void VALVE_POS_CONTROL(float REF_VALVE_POS)
{
int i = 0;
if(REF_VALVE_POS > VALVE_MAX_POS) {
REF_VALVE_POS = VALVE_MAX_POS;
} else if(REF_VALVE_POS < VALVE_MIN_POS) {
REF_VALVE_POS = VALVE_MIN_POS;
}
valve_pos_err = REF_VALVE_POS - value;
valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
valve_pos_err_old = valve_pos_err;
valve_pos_err_sum += valve_pos_err;
if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
for(i=0; i<24; i++) {
if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
if(i==0) {
VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
} else {
VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
}
break;
}
}
Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}
#define LT_MAX_IDX 57
float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
}; // duty
float LT_Voltage_Output[LT_MAX_IDX] = {-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;
int can_rest =0;
extern "C" void TIM3_IRQHandler(void)
{
if (TIM3->SR & TIM_SR_UIF ) {
if (((OPERATING_MODE&0b110)>>1) == 0) {
K_v = 0.4f; // Moog (LPM >> mA) , 100bar
mV_PER_mA = 500.0f; // 5000mV/10mA
mV_PER_pulse = 0.5f; // 5000mV/10000pulse
mA_PER_pulse = 0.001f; // 10mA/10000pulse
} else if (((OPERATING_MODE&0b110)>>1) == 1) {
K_v = 0.5f; // KNR (LPM >> mA) , 100bar
mV_PER_mA = 166.6666f; // 5000mV/30mA
mV_PER_pulse = 0.5f; // 5000mV/10000pulse
mA_PER_pulse = 0.003f; // 30mA/10000pulse
}
if(MODE_POS_FT_TRANS == 1) {
alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
cnt_trans++;
torq.err_sum = 0;
if((float)cnt_trans * DT_TMR3 > 3.0f)
MODE_POS_FT_TRANS = 2;
} else if(MODE_POS_FT_TRANS == 3) {
alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
cnt_trans++;
torq.err_sum = 0;
if((float) cnt_trans * DT_TMR3 > 3.0f )
MODE_POS_FT_TRANS = 0;
} else if(MODE_POS_FT_TRANS == 2) {
alpha_trans = 1.0f;
cnt_trans = 0;
} else {
alpha_trans = 0.0f;
cnt_trans = 0;
}
int UTILITY_MODE = 0;
int CONTROL_MODE = 0;
if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
UTILITY_MODE = CONTROL_UTILITY_MODE;
CONTROL_MODE = MODE_NO_ACT;
} else {
CONTROL_MODE = CONTROL_UTILITY_MODE;
UTILITY_MODE = MODE_NO_ACT;
}
// UTILITY MODE ------------------------------------------------------------
switch (UTILITY_MODE) {
case MODE_NO_ACT: {
break;
}
case MODE_TORQUE_SENSOR_NULLING: {
// DAC Voltage reference set
if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
CUR_TORQUE_sum += torq.sen;
if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
CUR_TORQUE_sum = 0;
TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
dac_1 = TORQUE_VREF / 3.3f;
}
} else {
CONTROL_UTILITY_MODE = MODE_NO_ACT;
TMR3_COUNT_TORQUE_NULL = 0;
CUR_TORQUE_sum = 0;
CUR_TORQUE_mean = 0;
ROM_RESET_DATA();
dac_1 = TORQUE_VREF / 3.3f;
}
TMR3_COUNT_TORQUE_NULL++;
break;
}
// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
// if (TMR3_COUNT_DEADZONE == 0) {
// if (pos_plus_end == pos_minus_end) need_enc_init = true;
// else temp_time = 0;
// }
// if (need_enc_init) {
// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
// pos_plus_end = pos.sen;
// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
// pos_minus_end = pos.sen;
// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
// temp_time = TMR_FREQ_5k;
// }
//
// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
// V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
//
// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
// V_out = 0;
// CUR_VELOCITY_sum += CUR_VELOCITY;
// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
// else DZ_temp_cnt2 = DZ_end;
// CUR_VELOCITY_sum = 0;
// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
//
// // Position of Dead Zone
// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
// // | / | / |/
// // | ______/ ___|___/ ______/|
// // |/ / | / |
// // /| / | / |
// // 0V 0V 0V
//
// if (DZ_temp_cnt2 < DZ_end) {
// if (TMR3_COUNT_DEADZONE % 20 != 0) {
// CUR_VELOCITY_sum += CUR_VELOCITY;
// } else {
// V_out -= DZ_dir;
// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
// CUR_VELOCITY_sum = 0;
// }
// if (DZ_temp_cnt == 5) {
// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
// DZ_dir = -DZ_dir;
// DZ_temp_cnt = 0;
// DZ_temp_cnt2++;
// }
// } else {
// TMR3_COUNT_DEADZONE = -1;
// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
// VALVE_DEADZONE_PLUS = VALVE_CENTER;
// VALVE_DEADZONE_MINUS = VALVE_CENTER;
// }
// V_out = 0;
//
// ROM_RESET_DATA();
//
// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
//
// CONTROL_MODE = MODE_NO_ACT;
// DZ_temp_cnt2 = 0;
// }
// }
// TMR3_COUNT_DEADZONE++;
// break;
// }
case MODE_FIND_HOME: {
if (FINDHOME_STAGE == FINDHOME_INIT) {
cnt_findhome = 0;
cnt_vel_findhome = 0;
//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
pos.ref = pos.sen;
vel.ref = 0.0f;
FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
int cnt_check_enc = (TMR_FREQ_5k/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();
dac_1 = PRES_A_VREF / 3.3f;
dac_2 = PRES_B_VREF / 3.3f;
//pc.printf("nulling end");
}
TMR3_COUNT_PRES_NULL++;
break;
}
// case MODE_PRESSURE_SENSOR_CALIB: {
// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
// CUR_PRES_A_sum += CUR_PRES_A;
// }
// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
// CUR_PRES_B_sum += CUR_PRES_B;
// }
// } else {
// CONTROL_MODE = MODE_NO_ACT;
// TMR3_COUNT_PRES_CALIB = 0;
// V_out = 0;
// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
// CUR_PRES_A_sum = 0;
// CUR_PRES_B_sum = 0;
// CUR_PRES_A_mean = 0;
// CUR_PRES_B_mean = 0;
//
// ROM_RESET_DATA();
//
// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
// }
// TMR3_COUNT_PRES_CALIB++;
// break;
// }
// case MODE_ROTARY_FRICTION_TUNING: {
// if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
// TMR3_COUNT_ROTARY_FRIC_TUNE++;
// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
// V_out = 0.0f;
// CONTROL_MODE = MODE_NO_ACT;
// }
// break;
// }
case MODE_DDV_POS_VS_PWM_ID: {
CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
VALVE_ID_timer = VALVE_ID_timer + 1;
if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Vout.ref = 1000.0f*(ID_index_array[ID_index]);
} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
VALVE_POS_TMP = 0;
data_num = 0;
} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Vout.ref = 0.0f;
} else {
VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
VALVE_ID_timer = 0;
ID_index= ID_index +1;
}
if(ID_index>=25) {
int i;
VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
for(i=0; i<25; i++) {
VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
VALVE_MAX_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MAX_POS;
} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
VALVE_MIN_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MIN_POS;
}
}
ROM_RESET_DATA();
ID_index = 0;
CONTROL_UTILITY_MODE = MODE_NO_ACT;
}
break;
}
case MODE_DDV_DEADZONE_AND_CENTER: {
CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
VALVE_DZ_timer = VALVE_DZ_timer + 1;
if(first_check == 0) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_plus_end = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_minus_end = pos.sen;
} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
data_num = data_num + 1;
VALVE_POS_TMP = VALVE_POS_TMP + value;
} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
DDV_POS_AVG = VALVE_POS_TMP / data_num;
START_POS = pos.sen;
VALVE_POS_TMP = 0;
data_num = 0;
} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = DDV_POS_AVG;
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = DDV_POS_AVG;
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = DDV_POS_AVG;
VALVE_POS_CONTROL(valve_pos.ref);
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>200) {
DZ_case = 1;
} else if((FINAL_POS - START_POS)<-200) {
DZ_case = -1;
} else {
DZ_case = 0;
}
CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
first_check = 1;
DZ_DIRECTION = 1;
VALVE_DZ_timer = 0;
Ref_Valve_Pos_Old = DDV_POS_AVG;
DZ_NUM = 1;
DZ_index = 1;
}
} else {
if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
//CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
if(valve_pos.ref <= VALVE_MIN_POS) {
valve_pos.ref = VALVE_MIN_POS;
} else if(valve_pos.ref >= VALVE_MAX_POS) {
valve_pos.ref = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = 1 * DZ_case;
} else if((FINAL_POS - START_POS)<-100) {
DZ_DIRECTION = -1 * DZ_case;
} else {
DZ_DIRECTION = 1 * DZ_case;
}
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
FIRST_DZ = valve_pos.ref;
DZ_NUM = 2;
Ref_Valve_Pos_Old = FIRST_DZ;
DZ_index = 1;
DZ_DIRECTION = 1;
}
}
} else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
//CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
if(valve_pos.ref <= VALVE_MIN_POS) {
valve_pos.ref = VALVE_MIN_POS;
} else if(valve_pos.ref >= VALVE_MAX_POS) {
valve_pos.ref = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = 0.0f;
} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = 1 * DZ_case;
} else if((FINAL_POS - START_POS)<-100) {
DZ_DIRECTION = -1 * DZ_case;
} else {
DZ_DIRECTION = -1 * DZ_case;
}
VALVE_DZ_timer = 0;
DZ_index= DZ_index * 2;
if(DZ_index >= 128) {
SECOND_DZ = valve_pos.ref;
VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
ROM_RESET_DATA();
CONTROL_UTILITY_MODE = MODE_NO_ACT;
DZ_index = 1;
}
}
} else if(DZ_case == 0 && DZ_NUM ==1) {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
//CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
if(valve_pos.ref <= VALVE_MIN_POS) {
valve_pos.ref = VALVE_MIN_POS;
} else if(valve_pos.ref >= VALVE_MAX_POS) {
valve_pos.ref = VALVE_MAX_POS;
}
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = 1;
} else if((FINAL_POS - START_POS)<-100) {
DZ_DIRECTION = -1;
} else {
DZ_DIRECTION = 1;
}
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
FIRST_DZ = valve_pos.ref;
DZ_NUM = 2;
Ref_Valve_Pos_Old = FIRST_DZ;
DZ_index = 1;
DZ_DIRECTION = 1;
}
}
} else {
if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
//CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
START_POS = pos.sen;
} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
if(valve_pos.ref <= VALVE_MIN_POS) {
valve_pos.ref = VALVE_MIN_POS;
} else if(valve_pos.ref > VALVE_MAX_POS) {
valve_pos.ref = VALVE_MAX_POS - 1;
}
VALVE_POS_CONTROL(valve_pos.ref);
} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = 0.0f;
} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Ref_Valve_Pos_Old = valve_pos.ref;
FINAL_POS = pos.sen;
if((FINAL_POS - START_POS)>100) {
DZ_DIRECTION = 1;
} else if((FINAL_POS - START_POS)<-100) {
DZ_DIRECTION = -1;
} else {
DZ_DIRECTION = 1;
}
VALVE_DZ_timer = 0;
DZ_index= DZ_index *2;
if(DZ_index >= 128) {
SECOND_DZ = valve_pos.ref;
VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
first_check = 0;
VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
ROM_RESET_DATA();
CONTROL_UTILITY_MODE = MODE_NO_ACT;
DZ_index = 1;
}
}
}
}
break;
}
case MODE_DDV_POS_VS_FLOWRATE: {
CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
VALVE_FR_timer = VALVE_FR_timer + 1;
if(first_check == 0) {
if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_plus_end = pos.sen;
// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
pos_minus_end = pos.sen;
first_check = 1;
VALVE_FR_timer = 0;
valve_pos.ref = (float) VALVE_CENTER;
ID_index = 0;
max_check = 0;
min_check = 0;
}
} else {
if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
//V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
CONTROL_MODE = MODE_JOINT_CONTROL;
} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
data_num = 0;
valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
START_POS = pos.sen;
} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
data_num = data_num + 1;
if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
FINAL_POS = pos.sen;
one_period_end = 1;
}
} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
FINAL_POS = pos.sen;
one_period_end = 1;
V_out = 0.0f;
}
if(one_period_end == 1) {
if(valve_pos.ref > VALVE_MAX_POS) {
max_check = 1;
} else if(valve_pos.ref < VALVE_MIN_POS) {
min_check = 1;
}
JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
VALVE_FR_timer = 0;
one_period_end = 0;
ID_index= ID_index +1;
V_out = 0.0f;
}
if(max_check == 1 && min_check == 1) {
VALVE_POS_NUM = ID_index;
ROM_RESET_DATA();
ID_index = 0;
first_check = 0;
VALVE_FR_timer = 0;
CONTROL_UTILITY_MODE = MODE_NO_ACT;
// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
}
}
break;
}
case MODE_SYSTEM_ID: {
freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
cnt_sysid++;
if (freq_sysid_Iref >= 300) {
cnt_sysid = 0;
CONTROL_UTILITY_MODE = MODE_NO_ACT;
}
break;
}
default:
break;
}
// CONTROL MODE ------------------------------------------------------------
switch (CONTROL_MODE) {
case MODE_NO_ACT: {
V_out = 0.0f;
break;
}
case MODE_VALVE_POSITION_CONTROL: {
if (OPERATING_MODE == 5) { //SW Valve
VALVE_POS_CONTROL(valve_pos.ref);
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]
// 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) * 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 = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
if(valve_pos.ref>VALVE_MAX_POS) {
double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
valve_pos_rem = valve_pos_rem * Ka;
valve_pos.ref = VALVE_MAX_POS;
torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
} else if(valve_pos.ref < VALVE_MIN_POS) {
double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
valve_pos_rem = valve_pos_rem * Ka;
valve_pos.ref = VALVE_MIN_POS;
torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
}
}
VALVE_POS_CONTROL(valve_pos.ref);
// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
V_out = (float) Vout.ref;
}
torq_ref_past = torq_ref;
break;
}
case MODE_VALVE_OPEN_LOOP: {
V_out = (float) Vout.ref;
break;
}
default:
break;
}
if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
////////////////////////////////////////////////////////////////////////////
//////////////////////////// CURRENT CONTROL //////////////////////////////
////////////////////////////////////////////////////////////////////////////
if (CURRENT_CONTROL_MODE) {
double alpha_update_Iref = 1.0f / (1.0f + 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);
}
// 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) {
//valve position
double t_value = 0;
if(valve_pos.ref>=(float) VALVE_CENTER) {
t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
} else {
t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
}
// if(OPERATING_MODE==5) {
// t_value = (double) value;
// } else if(CURRENT_CONTROL_MODE==1) {
// t_value = cur.sen;
// } else {
// t_value = V_out;
// }
CAN_TX_TORQUE((int16_t) (t_value)); //1300
//CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
//CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
}
if (flag_data_request[2] == HIGH) {
//pressure A and B
CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
}
//If it doesn't rest, below can can not work.
for (can_rest = 0; can_rest < 10000; can_rest++) {
;
}
if (flag_data_request[3] == HIGH) {
//PWM
//CAN_TX_PWM((int16_t) value); //1500
CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
}
//for (i = 0; i < 10000; i++) {
// ;
// }
if (flag_data_request[4] == HIGH) {
//valve position
CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
}
// 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
}