Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Learning

for learning

Dependencies:   mbed FastPWM

setting.h@53:4d66fb1c5dd9, 2020-02-25 (annotated)

Committer:
Lightvalve
Date:
Tue Feb 25 07:39:17 2020 +0000
Revision:
53:4d66fb1c5dd9
Parent:
52:8ea76864368a 
200225

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3
GiJeongKim 0:51c43836c1d7 4 // pwm
jobuuu 2:a1c0a37df760 5 #define PIN_V PB_7
jobuuu 2:a1c0a37df760 6 #define PIN_W PB_6
jobuuu 2:a1c0a37df760 7 //#define PWM_ARR 0x465 // loop 80k, pwm 40k
jobuuu 2:a1c0a37df760 8 //#define PWM_ARR 0x8CA // loop 40k, pwm 20k
Lightvalve 51:b46bed7fec80 9 #define PWM_ARR 0x1194 // loop 20k, pwm 10k
Lightvalve 51:b46bed7fec80 10 //#define PWM_ARR 0x2328 // loop 10k, pwm 5k
Lightvalve 11:82d8768d7351 11 #define TMR3_COUNT 0x4650 // loop 5k
Lightvalve 23:59218d4a256d 12 #define TMR2_COUNT 0x2710 // loop 500hz with prescale 18
jobuuu 2:a1c0a37df760 13
Lightvalve 30:8d561f16383b 14 #define FREQ_500 500.0f
Lightvalve 30:8d561f16383b 15 #define FREQ_1k 1000.0f
Lightvalve 30:8d561f16383b 16 #define FREQ_5k 5000.0f
Lightvalve 30:8d561f16383b 17 #define FREQ_10k 10000.0f
Lightvalve 30:8d561f16383b 18 #define FREQ_20k 20000.0f
Lightvalve 30:8d561f16383b 19 #define FREQ_40k 40000.0f
Lightvalve 30:8d561f16383b 20 #define DT_500 0.002f
Lightvalve 30:8d561f16383b 21 #define DT_1k 0.0005f
Lightvalve 30:8d561f16383b 22 #define DT_5k 0.0002f
Lightvalve 30:8d561f16383b 23 #define DT_10k 0.0001f
Lightvalve 30:8d561f16383b 24 #define DT_20k 0.00005f
Lightvalve 30:8d561f16383b 25 #define DT_40k 0.000025f
jobuuu 5:a4319f79457b 26
jobuuu 7:e9086c72bb22 27 extern DigitalOut check;
jobuuu 7:e9086c72bb22 28 extern DigitalOut check_2;
jobuuu 7:e9086c72bb22 29 extern AnalogOut dac_1;
jobuuu 7:e9086c72bb22 30 extern AnalogOut dac_2;
jobuuu 7:e9086c72bb22 31
Lightvalve 30:8d561f16383b 32 extern float dtc_v;
Lightvalve 30:8d561f16383b 33 extern float dtc_w;
GiJeongKim 0:51c43836c1d7 34
GiJeongKim 0:51c43836c1d7 35 // I2C
GiJeongKim 0:51c43836c1d7 36 extern I2C i2c; // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 37 extern const int i2c_slave_addr1;
GiJeongKim 0:51c43836c1d7 38 extern unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 39
GiJeongKim 0:51c43836c1d7 40 // SPI
Lightvalve 16:903b5a4433b4 41 //extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 42 //extern DigitalOut eeprom_cs;
GiJeongKim 0:51c43836c1d7 43 extern SPI enc;
GiJeongKim 0:51c43836c1d7 44 extern DigitalOut enc_cs;
GiJeongKim 0:51c43836c1d7 45
GiJeongKim 0:51c43836c1d7 46 // UART
jobuuu 7:e9086c72bb22 47 extern Serial pc; //Serial pc(PA_9,PA_10); _ UART
jobuuu 7:e9086c72bb22 48
jobuuu 7:e9086c72bb22 49 // CAN
jobuuu 7:e9086c72bb22 50 extern CAN can;
jobuuu 7:e9086c72bb22 51 extern CANMessage msg;
jobuuu 7:e9086c72bb22 52
jobuuu 7:e9086c72bb22 53 // Board Information
jobuuu 7:e9086c72bb22 54
jobuuu 7:e9086c72bb22 55
jobuuu 7:e9086c72bb22 56 // User Function
jobuuu 7:e9086c72bb22 57
jobuuu 7:e9086c72bb22 58 void CurrentControl();
jobuuu 7:e9086c72bb22 59 void ValveControl(unsigned int ControlMode);
Lightvalve 11:82d8768d7351 60
Lightvalve 11:82d8768d7351 61
Lightvalve 11:82d8768d7351 62 /*******************************************************************************
Lightvalve 11:82d8768d7351 63 * COMMON Settings
Lightvalve 11:82d8768d7351 64 ******************************************************************************/
Lightvalve 11:82d8768d7351 65 #define LATEST_VERSION 19032
Lightvalve 11:82d8768d7351 66
Lightvalve 11:82d8768d7351 67
Lightvalve 11:82d8768d7351 68
Lightvalve 11:82d8768d7351 69 /*******************************************************************************
Lightvalve 11:82d8768d7351 70 * COMMON CONSTANTS
Lightvalve 11:82d8768d7351 71 ******************************************************************************/
Lightvalve 30:8d561f16383b 72 #define RAD_30 0.523598775598299f
Lightvalve 30:8d561f16383b 73 #define RAD_60 1.047197551196598f
Lightvalve 30:8d561f16383b 74 #define RAD_120 2.094395102393195f
Lightvalve 30:8d561f16383b 75 #define RAD_180 3.141592653589793f
Lightvalve 30:8d561f16383b 76 #define RAD_240 4.188790204786391f
Lightvalve 30:8d561f16383b 77 #define RAD_300 5.235987755982989f
Lightvalve 30:8d561f16383b 78 #define RAD_360 6.283185307179586f
Lightvalve 11:82d8768d7351 79
Lightvalve 11:82d8768d7351 80 #define SYSFREQ 200000000
Lightvalve 11:82d8768d7351 81 #define PBCLK 100000000
Lightvalve 11:82d8768d7351 82
Lightvalve 11:82d8768d7351 83 //#define TMR_FREQ_10k 10000
Lightvalve 11:82d8768d7351 84 #define TMR_FREQ_5k 5000
Lightvalve 11:82d8768d7351 85
Lightvalve 11:82d8768d7351 86 #define FALSE 0
Lightvalve 11:82d8768d7351 87 #define TRUE 1
Lightvalve 11:82d8768d7351 88 #define OUTPUT 0
Lightvalve 11:82d8768d7351 89 #define INPUT 1
Lightvalve 11:82d8768d7351 90 #define LOW 0
Lightvalve 11:82d8768d7351 91 #define HIGH 1
Lightvalve 11:82d8768d7351 92 #define DIGITAL 0
Lightvalve 11:82d8768d7351 93 #define ANALOG 1
Lightvalve 11:82d8768d7351 94
Lightvalve 30:8d561f16383b 95 #define PI 3.141592653589793f
Lightvalve 30:8d561f16383b 96 #define D2R 0.017453292519943f
Lightvalve 30:8d561f16383b 97 #define R2D 57.295779513082323f
Lightvalve 11:82d8768d7351 98
Lightvalve 11:82d8768d7351 99
Lightvalve 11:82d8768d7351 100 /*******************************************************************************
Lightvalve 11:82d8768d7351 101 * HEADER INCLUDE
Lightvalve 11:82d8768d7351 102 ******************************************************************************/
Lightvalve 11:82d8768d7351 103
Lightvalve 11:82d8768d7351 104 /*******************************************************************************
Lightvalve 11:82d8768d7351 105 * VARIABLE
Lightvalve 11:82d8768d7351 106 ******************************************************************************/
Lightvalve 11:82d8768d7351 107
Lightvalve 11:82d8768d7351 108 // Board Information
Lightvalve 11:82d8768d7351 109 extern uint8_t BNO;
Lightvalve 11:82d8768d7351 110 extern uint8_t CONTROL_MODE;
Lightvalve 11:82d8768d7351 111 extern uint8_t OPERATING_MODE;
Lightvalve 52:8ea76864368a 112 extern uint8_t SENSING_MODE;
Lightvalve 52:8ea76864368a 113 extern uint8_t CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 114 extern uint8_t FLAG_VALVE_DEADZONE;
Lightvalve 11:82d8768d7351 115 extern uint8_t SETTING_SWITCH;
Lightvalve 11:82d8768d7351 116 extern uint8_t SETTING_SWITCH_OLD;
Lightvalve 11:82d8768d7351 117 extern uint8_t REFERENCE_MODE;
Lightvalve 53:4d66fb1c5dd9 118 extern int16_t CAN_FREQ;
Lightvalve 53:4d66fb1c5dd9 119 extern int CAN_FREQUENCY;
Lightvalve 17:1865016ca2e7 120 extern int16_t DIR_JOINT_ENC;
Lightvalve 17:1865016ca2e7 121 extern int16_t DIR_VALVE;
Lightvalve 17:1865016ca2e7 122 extern int16_t DIR_VALVE_ENC;
Lightvalve 11:82d8768d7351 123
Lightvalve 30:8d561f16383b 124 extern float SUPPLY_VOLTAGE;
Lightvalve 30:8d561f16383b 125 extern float VALVE_VOLTAGE_LIMIT;
Lightvalve 11:82d8768d7351 126
Lightvalve 30:8d561f16383b 127 extern float P_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 128 extern float I_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 129 extern float D_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 130 extern float P_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 131 extern float I_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 132 extern float D_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 133 extern float P_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 134 extern float I_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 135 extern float D_GAIN_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 136
Lightvalve 46:2694daea349b 137 extern int16_t K_SPRING;
Lightvalve 46:2694daea349b 138 extern int16_t D_DAMPER;
Lightvalve 46:2694daea349b 139
Lightvalve 53:4d66fb1c5dd9 140 extern int16_t flag_delay_test;
Lightvalve 53:4d66fb1c5dd9 141
Lightvalve 36:a46e63505ed8 142 //extern float P_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 143 //extern float I_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 144 //extern float D_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 145 //extern float P_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 146 //extern float I_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 147 //extern float D_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 148 //extern float P_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 149 //extern float I_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 150 //extern float D_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 151
Lightvalve 33:91b17819ec30 152 extern float VALVE_DEADZONE_PLUS;
Lightvalve 33:91b17819ec30 153 extern float VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 154
Lightvalve 11:82d8768d7351 155 extern int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 156 extern int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 157
Lightvalve 11:82d8768d7351 158 extern int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 159
Lightvalve 11:82d8768d7351 160 extern int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 161
Lightvalve 11:82d8768d7351 162 extern int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 163
Lightvalve 11:82d8768d7351 164 extern int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 165 extern int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 166
Lightvalve 11:82d8768d7351 167 extern int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 168 extern int16_t PISTON_AREA_B;
Lightvalve 30:8d561f16383b 169 extern float PISTON_AREA_alpha;
Lightvalve 11:82d8768d7351 170
Lightvalve 11:82d8768d7351 171
Lightvalve 11:82d8768d7351 172 extern int16_t PRES_SUPPLY;
Lightvalve 11:82d8768d7351 173 extern int16_t PRES_RETURN;
Lightvalve 11:82d8768d7351 174
Lightvalve 11:82d8768d7351 175 extern int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 176 extern int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 177
Lightvalve 11:82d8768d7351 178 extern int16_t STROKE;
Lightvalve 11:82d8768d7351 179
Lightvalve 11:82d8768d7351 180
Lightvalve 11:82d8768d7351 181 extern int16_t VALVE_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 182 extern int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 183
Lightvalve 48:889798ff9329 184 extern float ENC_PULSE_PER_POSITION;
Lightvalve 48:889798ff9329 185 extern float TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 48:889798ff9329 186
Lightvalve 30:8d561f16383b 187 extern float PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 188 extern float PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 189
Lightvalve 11:82d8768d7351 190 extern int HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 191 extern int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 192
Lightvalve 30:8d561f16383b 193 extern float FRICTION;
Lightvalve 30:8d561f16383b 194 extern float REF_PERIOD;
Lightvalve 30:8d561f16383b 195 extern float REF_MAG;
Lightvalve 11:82d8768d7351 196 extern int REF_NUM;
Lightvalve 11:82d8768d7351 197
Lightvalve 11:82d8768d7351 198
Lightvalve 30:8d561f16383b 199 extern float DAC_REF;
Lightvalve 30:8d561f16383b 200 extern float DAC_RESOL;
Lightvalve 11:82d8768d7351 201
Lightvalve 11:82d8768d7351 202 extern int REF_POSITION;
Lightvalve 11:82d8768d7351 203 extern int REF_VELOCITY;
Lightvalve 11:82d8768d7351 204 extern int16_t REF_TORQUE;
Lightvalve 11:82d8768d7351 205 extern int16_t REF_PRES_DIFF;
Lightvalve 11:82d8768d7351 206 extern int16_t REF_PWM;
Lightvalve 11:82d8768d7351 207 extern int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 208 extern int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 209
Lightvalve 11:82d8768d7351 210 extern int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 211 extern int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 212 extern int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 213 extern int INIT_REF_POS;
Lightvalve 11:82d8768d7351 214 extern int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 215 extern int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 216 extern int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 217 extern int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 218
Lightvalve 11:82d8768d7351 219 extern int CUR_POSITION;
Lightvalve 11:82d8768d7351 220 extern int CUR_VELOCITY;
Lightvalve 30:8d561f16383b 221 extern float CUR_TORQUE;
Lightvalve 30:8d561f16383b 222 extern float CUR_PRES_A;
Lightvalve 30:8d561f16383b 223 extern float CUR_PRES_B;
Lightvalve 11:82d8768d7351 224 extern int CUR_PWM;
Lightvalve 11:82d8768d7351 225 extern int CUR_VALVE_POSITION;
Lightvalve 11:82d8768d7351 226
Lightvalve 11:82d8768d7351 227 extern unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 228 extern unsigned int TMR2_COUNT_LED2;
Lightvalve 11:82d8768d7351 229 extern unsigned int TMR2_COUNT_CAN_TX;
Lightvalve 53:4d66fb1c5dd9 230 extern unsigned int TMR3_COUNT_TEST;
Lightvalve 11:82d8768d7351 231
Lightvalve 11:82d8768d7351 232 extern int num_err;
Lightvalve 11:82d8768d7351 233 extern int flag_err[8];
Lightvalve 11:82d8768d7351 234 extern int flag_err_old[8];
Lightvalve 11:82d8768d7351 235 extern int flag_err_rt;
Lightvalve 11:82d8768d7351 236
Lightvalve 11:82d8768d7351 237 extern int flag_ref_enable;
Lightvalve 11:82d8768d7351 238
Lightvalve 11:82d8768d7351 239 extern int flag_data_request[5];
Lightvalve 11:82d8768d7351 240
Lightvalve 45:35fa6884d0c6 241 extern int MODE_POS_FT_TRANS;
Lightvalve 45:35fa6884d0c6 242
Lightvalve 11:82d8768d7351 243 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 244 ////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
Lightvalve 11:82d8768d7351 245 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 246
Lightvalve 30:8d561f16383b 247 extern float CUR_PRES_A_BAR;
Lightvalve 30:8d561f16383b 248 extern float CUR_PRES_B_BAR;
Lightvalve 30:8d561f16383b 249 extern float CUR_TORQUE_NM;
Lightvalve 30:8d561f16383b 250 extern float CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 251
Lightvalve 30:8d561f16383b 252 extern float PRES_A_VREF;
Lightvalve 30:8d561f16383b 253 extern float PRES_A_VREF_TEST;
Lightvalve 30:8d561f16383b 254 extern float PRES_B_VREF;
Lightvalve 30:8d561f16383b 255 extern float PRES_B_VREF_TEST;
Lightvalve 30:8d561f16383b 256 extern float TORQUE_VREF;
Lightvalve 11:82d8768d7351 257
Lightvalve 30:8d561f16383b 258 extern float VALVE_PWM_RAW_FB;
Lightvalve 30:8d561f16383b 259 extern float VALVE_PWM_RAW_FF;
Lightvalve 11:82d8768d7351 260 extern int VALVE_PWM_VALVE_DZ;
Lightvalve 11:82d8768d7351 261 extern int VALVE_INPUT_PWM;
Lightvalve 11:82d8768d7351 262
Lightvalve 30:8d561f16383b 263 extern float VALVE_GAIN_LPM_PER_V[10];
Lightvalve 30:8d561f16383b 264 extern float VALVE_POS_VS_PWM[25];
Lightvalve 11:82d8768d7351 265 extern long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 266
Lightvalve 11:82d8768d7351 267 extern int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 268 extern int VALVE_MIN_POS;
Lightvalve 33:91b17819ec30 269 extern float DDV_CENTER;
Lightvalve 11:82d8768d7351 270 extern int VALVE_POS_NUM;
Lightvalve 32:4b8c0fedaf2c 271 extern int VALVE_CENTER_OFFSET_times10;
Lightvalve 32:4b8c0fedaf2c 272 extern float VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 273 extern float VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 274 extern float VALVE_DZ_PLUS_OFFSET;
Lightvalve 33:91b17819ec30 275 extern float VALVE_DEADZONE_MINUS;
Lightvalve 33:91b17819ec30 276 extern float VALVE_DEADZONE_PLUS;
Lightvalve 11:82d8768d7351 277
Lightvalve 14:8e7590227d22 278 extern int TMR3_COUNT_FINDHOME;
Lightvalve 14:8e7590227d22 279 extern int TMR3_COUNT_FLOWRATE;
Lightvalve 14:8e7590227d22 280 extern int TMR3_COUNT_DEADZONE;
Lightvalve 14:8e7590227d22 281 extern int TMR3_COUNT_PRES_NULL;
Lightvalve 14:8e7590227d22 282 extern int TMR3_COUNT_TORQUE_NULL;
Lightvalve 14:8e7590227d22 283 extern int TMR3_COUNT_PRES_CALIB;
Lightvalve 14:8e7590227d22 284 extern int TMR3_COUNT_REFERENCE;
Lightvalve 14:8e7590227d22 285 extern int TMR3_COUNT_JOINT;
Lightvalve 14:8e7590227d22 286 extern int TMR3_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 287
Lightvalve 11:82d8768d7351 288 extern bool FLAG_REFERENCE_VALVE_PWM;
Lightvalve 11:82d8768d7351 289 extern bool FLAG_REFERENCE_VALVE_POSITION;
Lightvalve 11:82d8768d7351 290 extern bool FLAG_REFERENCE_JOINT_POSITION;
Lightvalve 11:82d8768d7351 291 extern bool FLAG_REFERENCE_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 292 extern bool FLAG_REFERENCE_PRES_DIFF;
Lightvalve 14:8e7590227d22 293 extern bool FLAG_REFERENCE_CURRENT;
Lightvalve 11:82d8768d7351 294
Lightvalve 30:8d561f16383b 295 extern float TUNING_TIME;
Lightvalve 11:82d8768d7351 296
Lightvalve 30:8d561f16383b 297 extern float REFERENCE_FREQ;
Lightvalve 30:8d561f16383b 298 extern float REFERENCE_MAG;
Lightvalve 11:82d8768d7351 299
Lightvalve 11:82d8768d7351 300 extern bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 301
Lightvalve 11:82d8768d7351 302 extern int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 303
Lightvalve 30:8d561f16383b 304 extern float CUR_PRES_DIFF_BAR;
Lightvalve 30:8d561f16383b 305 extern float CUR_PRES_A_sum;
Lightvalve 30:8d561f16383b 306 extern float CUR_PRES_B_sum;
Lightvalve 30:8d561f16383b 307 extern float CUR_PRES_A_mean;
Lightvalve 30:8d561f16383b 308 extern float CUR_PRES_B_mean;
Lightvalve 30:8d561f16383b 309 extern float CUR_TORQUE_sum;
Lightvalve 30:8d561f16383b 310 extern float CUR_TORQUE_mean;
Lightvalve 30:8d561f16383b 311 extern float PRES_A_NULL;
Lightvalve 30:8d561f16383b 312 extern float PRES_B_NULL;
Lightvalve 30:8d561f16383b 313 extern float TORQUE_NULL;
Lightvalve 13:747daba9cf59 314
Lightvalve 30:8d561f16383b 315 extern float Ref_Valve_Pos_Old;
Lightvalve 13:747daba9cf59 316
Lightvalve 13:747daba9cf59 317 extern int VALVE_ID_timer;
Lightvalve 13:747daba9cf59 318 extern int VALVE_DZ_timer;
Lightvalve 13:747daba9cf59 319 extern int VALVE_FR_timer;
Lightvalve 35:34ce7b0347b8 320 extern int VALVE_HPL_timer;
Lightvalve 13:747daba9cf59 321 extern int VALVE_POS_TMP;
Lightvalve 13:747daba9cf59 322 extern int JOINT_VEL_TMP;
Lightvalve 13:747daba9cf59 323 extern int DDV_POS_AVG ;
Lightvalve 19:23b7c1ad8683 324 extern int VALVE_POS_AVG[50];
Lightvalve 13:747daba9cf59 325 extern int VALVE_POS_AVG_OLD;
Lightvalve 13:747daba9cf59 326 extern int data_num;
Lightvalve 13:747daba9cf59 327 extern int ID_index;
Lightvalve 13:747daba9cf59 328 extern int DZ_index;
Lightvalve 19:23b7c1ad8683 329 extern int ID_index_array[50];
Lightvalve 13:747daba9cf59 330 extern int first_check;
Lightvalve 30:8d561f16383b 331 extern float init_time;
Lightvalve 13:747daba9cf59 332 extern int VEL_POINT;
Lightvalve 13:747daba9cf59 333 extern int DZ_case;
Lightvalve 13:747daba9cf59 334 extern int START_POS;
Lightvalve 13:747daba9cf59 335 extern int FINAL_POS;
Lightvalve 13:747daba9cf59 336 extern int DZ_DIRECTION;
Lightvalve 13:747daba9cf59 337 extern int FIRST_DZ;
Lightvalve 13:747daba9cf59 338 extern int SECOND_DZ;
Lightvalve 13:747daba9cf59 339 extern int DZ_NUM;
Lightvalve 13:747daba9cf59 340 extern int one_period_end;
Lightvalve 30:8d561f16383b 341 extern float Ref_Vel_Test;
Lightvalve 13:747daba9cf59 342 extern long TMR2_FOR_SLOW_LOGGING;
Lightvalve 19:23b7c1ad8683 343 //extern int velcount;
Lightvalve 13:747daba9cf59 344 extern char max_check;
Lightvalve 13:747daba9cf59 345 extern char min_check;
Lightvalve 13:747daba9cf59 346
Lightvalve 30:8d561f16383b 347 extern float valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
Lightvalve 30:8d561f16383b 348 extern float joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
Lightvalve 30:8d561f16383b 349 extern float joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
Lightvalve 30:8d561f16383b 350 extern float VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
Lightvalve 13:747daba9cf59 351
Lightvalve 30:8d561f16383b 352 extern float CUR_FLOWRATE;
Lightvalve 30:8d561f16383b 353 extern float VALVE_FF_VOLTAGE;
Lightvalve 13:747daba9cf59 354
Lightvalve 13:747daba9cf59 355 extern int pos_plus_end;
Lightvalve 13:747daba9cf59 356 extern int pos_minus_end;
Lightvalve 13:747daba9cf59 357
Lightvalve 13:747daba9cf59 358 extern bool need_enc_init;
Lightvalve 13:747daba9cf59 359
Lightvalve 13:747daba9cf59 360 extern int temp_time;
Lightvalve 13:747daba9cf59 361
Lightvalve 30:8d561f16383b 362 extern float CUR_VELOCITY_sum;
Lightvalve 30:8d561f16383b 363 extern float temp_vel_sum;
Lightvalve 13:747daba9cf59 364
Lightvalve 13:747daba9cf59 365 extern int DZ_dir;
Lightvalve 13:747daba9cf59 366 extern int DZ_temp_cnt;
Lightvalve 13:747daba9cf59 367 extern int DZ_temp_cnt2;
Lightvalve 13:747daba9cf59 368 extern int DZ_end;
Lightvalve 13:747daba9cf59 369 extern int flag_flowrate;
Lightvalve 13:747daba9cf59 370 extern int fl_temp_cnt;
Lightvalve 13:747daba9cf59 371 extern int fl_temp_cnt2;
Lightvalve 13:747daba9cf59 372 extern int cur_vel_sum;
Lightvalve 13:747daba9cf59 373
Lightvalve 13:747daba9cf59 374 // find home
Lightvalve 13:747daba9cf59 375 extern int CUR_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 376 extern int cnt_findhome;
Lightvalve 13:747daba9cf59 377 extern int cnt_vel_findhome;
Lightvalve 13:747daba9cf59 378 extern int FINDHOME_VELOCITY;
Lightvalve 13:747daba9cf59 379 extern int FINDHOME_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 380 extern int FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 381 extern int FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 382
Lightvalve 13:747daba9cf59 383 // valve gain
Lightvalve 13:747daba9cf59 384 extern int check_vel_pos_init;
Lightvalve 13:747daba9cf59 385 extern int check_vel_pos_fin;
Lightvalve 13:747daba9cf59 386 extern int check_vel_pos_interv;
Lightvalve 13:747daba9cf59 387 extern int valve_gain_repeat_cnt;
Lightvalve 30:8d561f16383b 388 extern float VALVE_VOLTAGE;
Lightvalve 13:747daba9cf59 389
Lightvalve 30:8d561f16383b 390 extern float freq_fric_tune;
Lightvalve 13:747daba9cf59 391
Lightvalve 14:8e7590227d22 392 extern bool FLAG_VALVE_OUTPUT_CALIB;
Lightvalve 14:8e7590227d22 393
Lightvalve 14:8e7590227d22 394 extern uint32_t TMR3_COUNT_CAN_TX;
Lightvalve 14:8e7590227d22 395
Lightvalve 30:8d561f16383b 396 extern float I_REF;
Lightvalve 14:8e7590227d22 397 extern int TMR3_COUNT_IREF;
Lightvalve 30:8d561f16383b 398 extern float CUR_CURRENT;
Lightvalve 30:8d561f16383b 399 extern float u_CUR[3];
Lightvalve 19:23b7c1ad8683 400
Lightvalve 29:69f3f5445d6d 401 extern int FINDHOME_STAGE;
Lightvalve 29:69f3f5445d6d 402 extern int FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 403 extern int FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 404 extern int FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 405
Lightvalve 45:35fa6884d0c6 406 extern float alpha_trans;
Lightvalve 45:35fa6884d0c6 407
Lightvalve 23:59218d4a256d 408 //extern int h1, h2, h3, h4, h5, h6;
Lightvalve 23:59218d4a256d 409
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