Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

LIGHT2

Dependencies:   FastPWM mbed

function_utilities/function_utilities.cpp@56:6f50d9d3bfee, 2020-03-03 (annotated)

Committer:
Lightvalve
Date:
Tue Mar 03 12:27:53 2020 +0000
Revision:
56:6f50d9d3bfee
Parent:
55:b25725257569
Child:
57:f4819de54e7a
200303

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 11:82d8768d7351 1 #include "setting.h"
Lightvalve 11:82d8768d7351 2 #include "SPI_EEP_ENC.h"
Lightvalve 11:82d8768d7351 3 #include "function_utilities.h"
Lightvalve 14:8e7590227d22 4 #include "function_CAN.h"
Lightvalve 16:903b5a4433b4 5 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 6 #include "FlashWriter.h"
Lightvalve 16:903b5a4433b4 7
Lightvalve 16:903b5a4433b4 8 int Rom_Sector = 6;
Lightvalve 16:903b5a4433b4 9 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
Lightvalve 16:903b5a4433b4 10
Lightvalve 11:82d8768d7351 11 /*******************************************************************************
Lightvalve 11:82d8768d7351 12 * VARIABLE
Lightvalve 11:82d8768d7351 13 ******************************************************************************/
Lightvalve 11:82d8768d7351 14
Lightvalve 34:bb2ca2fc2a8e 15 // Board Information
Lightvalve 11:82d8768d7351 16 uint8_t BNO = 0;
Lightvalve 11:82d8768d7351 17 uint8_t CONTROL_MODE = 0;
Lightvalve 56:6f50d9d3bfee 18 uint8_t OPERATING_MODE = 0; // (00 : Moog & Rot, 01 : Moog & Lin, 10 : KNR & Rot, 11 : KNR & Lin)
Lightvalve 52:8ea76864368a 19 uint8_t SENSING_MODE = 0; // (0 : torque, 1: pressure)
Lightvalve 52:8ea76864368a 20 uint8_t CURRENT_CONTROL_MODE = 0; // (0 : pwm, 1 : current control)
Lightvalve 52:8ea76864368a 21 uint8_t FLAG_VALVE_DEADZONE = 0;
Lightvalve 56:6f50d9d3bfee 22 uint8_t SETTING_SWITCH = 0;
Lightvalve 56:6f50d9d3bfee 23 uint8_t SETTING_SWITCH_OLD = 0;
Lightvalve 11:82d8768d7351 24 uint8_t REFERENCE_MODE = 0;
Lightvalve 54:647072f5307a 25 int16_t CAN_FREQ = 500;
Lightvalve 56:6f50d9d3bfee 26 int CAN_FREQUENCY = 500;
Lightvalve 17:1865016ca2e7 27 int16_t DIR_JOINT_ENC = 0;
Lightvalve 17:1865016ca2e7 28 int16_t DIR_VALVE = 0;
Lightvalve 17:1865016ca2e7 29 int16_t DIR_VALVE_ENC = 0;
Lightvalve 11:82d8768d7351 30
Lightvalve 49:e7bcfc244d40 31 float SUPPLY_VOLTAGE = 12.0f;
Lightvalve 49:e7bcfc244d40 32 float VALVE_VOLTAGE_LIMIT = 12.0f; //v
Lightvalve 11:82d8768d7351 33
Lightvalve 30:8d561f16383b 34 float P_GAIN_VALVE_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 35 float I_GAIN_VALVE_POSITION= 0.0f;
Lightvalve 30:8d561f16383b 36 float D_GAIN_VALVE_POSITION= 0.0f;
Lightvalve 30:8d561f16383b 37 float P_GAIN_JOINT_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 38 float I_GAIN_JOINT_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 39 float D_GAIN_JOINT_POSITION = 0.0f;
Lightvalve 30:8d561f16383b 40 float P_GAIN_JOINT_TORQUE = 0.0f;
Lightvalve 30:8d561f16383b 41 float I_GAIN_JOINT_TORQUE = 0.0;
Lightvalve 30:8d561f16383b 42 float D_GAIN_JOINT_TORQUE = 0.0;
Lightvalve 11:82d8768d7351 43
Lightvalve 46:2694daea349b 44 int16_t K_SPRING = 0.0;
Lightvalve 46:2694daea349b 45 int16_t D_DAMPER = 0.0;
Lightvalve 54:647072f5307a 46 int16_t flag_delay_test = 0;
Lightvalve 46:2694daea349b 47
Lightvalve 36:a46e63505ed8 48 //float P_GAIN_VALVE_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 49 //float I_GAIN_VALVE_POSITION_OPP= 0.0f;
Lightvalve 36:a46e63505ed8 50 //float D_GAIN_VALVE_POSITION_OPP= 0.0f;
Lightvalve 36:a46e63505ed8 51 //float P_GAIN_JOINT_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 52 //float I_GAIN_JOINT_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 53 //float D_GAIN_JOINT_POSITION_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 54 //float P_GAIN_JOINT_TORQUE_OPP = 0.0f;
Lightvalve 36:a46e63505ed8 55 //float I_GAIN_JOINT_TORQUE_OPP = 0.0;
Lightvalve 36:a46e63505ed8 56 //float D_GAIN_JOINT_TORQUE_OPP = 0.0;
Lightvalve 36:a46e63505ed8 57
Lightvalve 33:91b17819ec30 58 float VALVE_DEADZONE_PLUS;
Lightvalve 33:91b17819ec30 59 float VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 60
Lightvalve 11:82d8768d7351 61 int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 62 int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 63
Lightvalve 11:82d8768d7351 64 int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 65
Lightvalve 11:82d8768d7351 66 int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 67
Lightvalve 11:82d8768d7351 68 int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 69
Lightvalve 11:82d8768d7351 70 int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 71 int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 72
Lightvalve 11:82d8768d7351 73 int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 74 int16_t PISTON_AREA_B;
Lightvalve 30:8d561f16383b 75 float PISTON_AREA_alpha;
Lightvalve 11:82d8768d7351 76
Lightvalve 11:82d8768d7351 77
Lightvalve 11:82d8768d7351 78 int16_t PRES_SUPPLY;
Lightvalve 11:82d8768d7351 79 int16_t PRES_RETURN;
Lightvalve 11:82d8768d7351 80
Lightvalve 11:82d8768d7351 81 int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 82 int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 83
Lightvalve 11:82d8768d7351 84 int16_t STROKE;
Lightvalve 11:82d8768d7351 85
Lightvalve 11:82d8768d7351 86
Lightvalve 56:6f50d9d3bfee 87 int16_t VALVE_LIMIT_PLUS;
Lightvalve 56:6f50d9d3bfee 88 int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 89
Lightvalve 48:889798ff9329 90 float ENC_PULSE_PER_POSITION;
Lightvalve 48:889798ff9329 91 float TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 30:8d561f16383b 92 float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 30:8d561f16383b 93 float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 11:82d8768d7351 94
Lightvalve 11:82d8768d7351 95 int HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 96 int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 97
Lightvalve 30:8d561f16383b 98 float FRICTION;
Lightvalve 30:8d561f16383b 99 float REF_PERIOD;
Lightvalve 30:8d561f16383b 100 float REF_MAG;
Lightvalve 11:82d8768d7351 101 int REF_NUM;
Lightvalve 11:82d8768d7351 102
Lightvalve 11:82d8768d7351 103
Lightvalve 30:8d561f16383b 104 float DAC_REF;
Lightvalve 30:8d561f16383b 105 float DAC_RESOL;
Lightvalve 11:82d8768d7351 106
Lightvalve 11:82d8768d7351 107 int REF_POSITION;
Lightvalve 11:82d8768d7351 108 int REF_VELOCITY;
Lightvalve 11:82d8768d7351 109 int16_t REF_TORQUE;
Lightvalve 11:82d8768d7351 110 int16_t REF_PRES_DIFF;
Lightvalve 11:82d8768d7351 111 int16_t REF_PWM;
Lightvalve 11:82d8768d7351 112 int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 113 int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 114
Lightvalve 11:82d8768d7351 115 int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 116 int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 117 int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 118 int INIT_REF_POS;
Lightvalve 11:82d8768d7351 119 int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 120 int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 121 int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 122 int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 123
Lightvalve 11:82d8768d7351 124 int CUR_POSITION;
Lightvalve 11:82d8768d7351 125 int CUR_VELOCITY;
Lightvalve 30:8d561f16383b 126 float CUR_TORQUE;
Lightvalve 30:8d561f16383b 127 float CUR_PRES_A;
Lightvalve 30:8d561f16383b 128 float CUR_PRES_B;
Lightvalve 56:6f50d9d3bfee 129 int CUR_PWM;
Lightvalve 11:82d8768d7351 130 int CUR_VALVE_POSITION;
Lightvalve 11:82d8768d7351 131
Lightvalve 11:82d8768d7351 132 unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 133 unsigned int TMR2_COUNT_LED2;
Lightvalve 54:647072f5307a 134 unsigned int TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 135 unsigned int TMR3_COUNT_TEST = 0;
Lightvalve 11:82d8768d7351 136
Lightvalve 11:82d8768d7351 137 int num_err;
Lightvalve 11:82d8768d7351 138 int flag_err[8];
Lightvalve 11:82d8768d7351 139 int flag_err_old[8];
Lightvalve 11:82d8768d7351 140 int flag_err_rt;
Lightvalve 11:82d8768d7351 141
Lightvalve 11:82d8768d7351 142 int flag_ref_enable;
Lightvalve 11:82d8768d7351 143
Lightvalve 11:82d8768d7351 144 int flag_data_request[5];
Lightvalve 11:82d8768d7351 145
Lightvalve 45:35fa6884d0c6 146 int MODE_POS_FT_TRANS = 0;
Lightvalve 45:35fa6884d0c6 147
Lightvalve 56:6f50d9d3bfee 148 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 56:6f50d9d3bfee 149 ////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
Lightvalve 56:6f50d9d3bfee 150 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 56:6f50d9d3bfee 151
Lightvalve 56:6f50d9d3bfee 152 float CUR_PRES_A_BAR;
Lightvalve 56:6f50d9d3bfee 153 float CUR_PRES_B_BAR;
Lightvalve 56:6f50d9d3bfee 154 float CUR_TORQUE_NM;
Lightvalve 56:6f50d9d3bfee 155 float CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 156
Lightvalve 56:6f50d9d3bfee 157 float PRES_A_VREF;
Lightvalve 56:6f50d9d3bfee 158 float PRES_A_VREF_TEST;
Lightvalve 56:6f50d9d3bfee 159 float PRES_B_VREF;
Lightvalve 56:6f50d9d3bfee 160 float PRES_B_VREF_TEST;
Lightvalve 56:6f50d9d3bfee 161 float TORQUE_VREF;
Lightvalve 11:82d8768d7351 162
Lightvalve 56:6f50d9d3bfee 163 float VALVE_PWM_RAW_FB;
Lightvalve 56:6f50d9d3bfee 164 float VALVE_PWM_RAW_FF;
Lightvalve 56:6f50d9d3bfee 165 int VALVE_PWM_VALVE_DZ;
Lightvalve 56:6f50d9d3bfee 166 int VALVE_INPUT_PWM;
Lightvalve 11:82d8768d7351 167
Lightvalve 30:8d561f16383b 168 float VALVE_GAIN_LPM_PER_V[10];
Lightvalve 30:8d561f16383b 169 float VALVE_POS_VS_PWM[25];
Lightvalve 11:82d8768d7351 170 long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 171
Lightvalve 11:82d8768d7351 172 int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 173 int VALVE_MIN_POS;
Lightvalve 56:6f50d9d3bfee 174 float DDV_CENTER;
Lightvalve 11:82d8768d7351 175 int VALVE_POS_NUM;
Lightvalve 32:4b8c0fedaf2c 176 float VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 177 float VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 178 float VALVE_DZ_PLUS_OFFSET;
Lightvalve 56:6f50d9d3bfee 179 int VALVE_CENTER_OFFSET_times10;
Lightvalve 11:82d8768d7351 180
Lightvalve 56:6f50d9d3bfee 181 int TMR3_COUNT_FINDHOME;
Lightvalve 56:6f50d9d3bfee 182 int TMR3_COUNT_FLOWRATE;
Lightvalve 56:6f50d9d3bfee 183 int TMR3_COUNT_DEADZONE;
Lightvalve 56:6f50d9d3bfee 184 int TMR3_COUNT_PRES_NULL;
Lightvalve 56:6f50d9d3bfee 185 int TMR3_COUNT_TORQUE_NULL;
Lightvalve 56:6f50d9d3bfee 186 int TMR3_COUNT_PRES_CALIB;
Lightvalve 56:6f50d9d3bfee 187 int TMR3_COUNT_REFERENCE;
Lightvalve 56:6f50d9d3bfee 188 int TMR3_COUNT_JOINT;
Lightvalve 56:6f50d9d3bfee 189 int TMR3_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 190
Lightvalve 56:6f50d9d3bfee 191 bool FLAG_REFERENCE_VALVE_PWM;
Lightvalve 56:6f50d9d3bfee 192 bool FLAG_REFERENCE_VALVE_POSITION;
Lightvalve 56:6f50d9d3bfee 193 bool FLAG_REFERENCE_JOINT_POSITION;
Lightvalve 56:6f50d9d3bfee 194 bool FLAG_REFERENCE_JOINT_TORQUE;
Lightvalve 56:6f50d9d3bfee 195 bool FLAG_REFERENCE_PRES_DIFF;
Lightvalve 56:6f50d9d3bfee 196 bool FLAG_REFERENCE_CURRENT;
Lightvalve 11:82d8768d7351 197
Lightvalve 56:6f50d9d3bfee 198 float TUNING_TIME;
Lightvalve 56:6f50d9d3bfee 199
Lightvalve 56:6f50d9d3bfee 200 float REFERENCE_FREQ;
Lightvalve 56:6f50d9d3bfee 201 float REFERENCE_MAG;
Lightvalve 11:82d8768d7351 202
Lightvalve 11:82d8768d7351 203 bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 204
Lightvalve 11:82d8768d7351 205 int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 206 enum _JUMP_STATUS {
Lightvalve 11:82d8768d7351 207 JUMP_NO_ACT = 0, //0
Lightvalve 11:82d8768d7351 208 JUMP_START, //1
Lightvalve 11:82d8768d7351 209 JUMP_TAKEOFF, //2
Lightvalve 11:82d8768d7351 210 JUMP_FLYING, //3
Lightvalve 11:82d8768d7351 211 JUMP_LANDING, //4
Lightvalve 11:82d8768d7351 212 };
Lightvalve 11:82d8768d7351 213
Lightvalve 30:8d561f16383b 214 float CUR_PRES_DIFF_BAR = 0.0f;
Lightvalve 30:8d561f16383b 215 float CUR_PRES_A_sum = 0.0f;
Lightvalve 30:8d561f16383b 216 float CUR_PRES_B_sum = 0.0f;
Lightvalve 30:8d561f16383b 217 float CUR_PRES_A_mean = 0.0f;
Lightvalve 30:8d561f16383b 218 float CUR_PRES_B_mean = 0.0f;
Lightvalve 30:8d561f16383b 219 float CUR_TORQUE_sum = 0.0f;
Lightvalve 30:8d561f16383b 220 float CUR_TORQUE_mean = 0.0f;
Lightvalve 38:118df027d851 221 float PRES_A_NULL = 2048.0f;
Lightvalve 30:8d561f16383b 222 float PRES_B_NULL = 1.0f;
Lightvalve 30:8d561f16383b 223 float TORQUE_NULL = 3900.0f;
Lightvalve 11:82d8768d7351 224
Lightvalve 30:8d561f16383b 225 float Ref_Valve_Pos_Old = 0.0f;
Lightvalve 11:82d8768d7351 226
Lightvalve 13:747daba9cf59 227 int VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 228 int VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 229 int VALVE_FR_timer = 0;
Lightvalve 35:34ce7b0347b8 230 //int VALVE_HPL_timer = 0;
Lightvalve 13:747daba9cf59 231 int VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 232 int JOINT_VEL_TMP = 0;
Lightvalve 13:747daba9cf59 233 int DDV_POS_AVG = 0;
Lightvalve 19:23b7c1ad8683 234 int VALVE_POS_AVG[50] = {0};
Lightvalve 13:747daba9cf59 235 int VALVE_POS_AVG_OLD = 0;
Lightvalve 13:747daba9cf59 236 int data_num = 0;
Lightvalve 13:747daba9cf59 237 int ID_index = 0;
Lightvalve 13:747daba9cf59 238 int DZ_index = 1;
Lightvalve 19:23b7c1ad8683 239 int ID_index_array[50] = {0};
Lightvalve 13:747daba9cf59 240 int first_check = 0;
Lightvalve 30:8d561f16383b 241 float init_time = 0.0f;
Lightvalve 13:747daba9cf59 242 int VEL_POINT = 0;
Lightvalve 13:747daba9cf59 243 int DZ_case = 0;
Lightvalve 13:747daba9cf59 244 int START_POS = 0;
Lightvalve 13:747daba9cf59 245 int FINAL_POS = 0;
Lightvalve 13:747daba9cf59 246 int DZ_DIRECTION = 0;
Lightvalve 13:747daba9cf59 247 int FIRST_DZ = 0;
Lightvalve 13:747daba9cf59 248 int SECOND_DZ = 0;
Lightvalve 13:747daba9cf59 249 int DZ_NUM = 0;
Lightvalve 13:747daba9cf59 250 int one_period_end = 0;
Lightvalve 30:8d561f16383b 251 float Ref_Vel_Test = 0.0f;
Lightvalve 13:747daba9cf59 252 long TMR2_FOR_SLOW_LOGGING = 0;
Lightvalve 19:23b7c1ad8683 253 //int velcount = 0;
Lightvalve 13:747daba9cf59 254 char max_check = 0;
Lightvalve 34:bb2ca2fc2a8e 255 char min_check = 0;
Lightvalve 13:747daba9cf59 256
Lightvalve 30:8d561f16383b 257 float valve_pos_err = 0.0f, valve_pos_err_old = 0.0f, valve_pos_err_diff = 0.0f, valve_pos_err_sum = 0.0f;
Lightvalve 30:8d561f16383b 258 float joint_pos_err = 0.0f, joint_pos_err_old = 0.0f, joint_pos_err_diff = 0.0f, joint_pos_err_diff_fil = 0.0f, joint_pos_err_sum = 0.0f;
Lightvalve 30:8d561f16383b 259 float joint_torq_err = 0.0f, joint_torq_err_old = 0.0f, joint_torq_err_diff = 0.0f, joint_torq_err_sum = 0.0f;
Lightvalve 30:8d561f16383b 260 float VALVE_PWM_RAW_POS = 0.0f, VALVE_PWM_RAW_TORQ = 0.0f;
Lightvalve 13:747daba9cf59 261
Lightvalve 30:8d561f16383b 262 float CUR_FLOWRATE = 0.0f;
Lightvalve 30:8d561f16383b 263 float VALVE_FF_VOLTAGE = 0.0f;
Lightvalve 13:747daba9cf59 264
Lightvalve 13:747daba9cf59 265 int pos_plus_end = 0;
Lightvalve 13:747daba9cf59 266 int pos_minus_end = 0;
Lightvalve 13:747daba9cf59 267
Lightvalve 13:747daba9cf59 268 bool need_enc_init = false;
Lightvalve 13:747daba9cf59 269
Lightvalve 13:747daba9cf59 270 int temp_time = 0;
Lightvalve 13:747daba9cf59 271
Lightvalve 30:8d561f16383b 272 float CUR_VELOCITY_sum = 0.0f;
Lightvalve 30:8d561f16383b 273 float temp_vel_sum = 0.0f;
Lightvalve 13:747daba9cf59 274
Lightvalve 13:747daba9cf59 275 int DZ_dir = 0;
Lightvalve 13:747daba9cf59 276 int DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 277 int DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 278 int DZ_end = 2;
Lightvalve 13:747daba9cf59 279 int flag_flowrate = 0;
Lightvalve 13:747daba9cf59 280 int fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 281 int fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 282 int cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 283
Lightvalve 13:747daba9cf59 284 // find home
Lightvalve 13:747daba9cf59 285 int CUR_VELOCITY_OLD = 0;
Lightvalve 13:747daba9cf59 286 int cnt_findhome = 0;
Lightvalve 13:747daba9cf59 287 int cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 288 int FINDHOME_VELOCITY = 0;
Lightvalve 13:747daba9cf59 289 int FINDHOME_VELOCITY_OLD = 0;
Lightvalve 13:747daba9cf59 290 int FINDHOME_POSITION = 0;
Lightvalve 13:747daba9cf59 291 int FINDHOME_POSITION_OLD = 0;
Lightvalve 13:747daba9cf59 292
Lightvalve 13:747daba9cf59 293 // valve gain
Lightvalve 13:747daba9cf59 294 int check_vel_pos_init = 0;
Lightvalve 13:747daba9cf59 295 int check_vel_pos_fin = 0;
Lightvalve 13:747daba9cf59 296 int check_vel_pos_interv = 0;
Lightvalve 13:747daba9cf59 297 int valve_gain_repeat_cnt = 0;
Lightvalve 30:8d561f16383b 298 float VALVE_VOLTAGE = 0.0f;
Lightvalve 13:747daba9cf59 299
Lightvalve 30:8d561f16383b 300 float freq_fric_tune = 1.0f;
Lightvalve 13:747daba9cf59 301
Lightvalve 56:6f50d9d3bfee 302 bool FLAG_VALVE_OUTPUT_CALIB = false;
Lightvalve 56:6f50d9d3bfee 303
Lightvalve 14:8e7590227d22 304 uint32_t TMR3_COUNT_CAN_TX = 0;
Lightvalve 14:8e7590227d22 305
Lightvalve 56:6f50d9d3bfee 306 float I_REF = 0.0f;
Lightvalve 14:8e7590227d22 307 int TMR3_COUNT_IREF = 0;
Lightvalve 30:8d561f16383b 308 float CUR_CURRENT = 0.0f;
Lightvalve 30:8d561f16383b 309 float u_CUR[3] = {0.0f,0.0f,0.0f};
Lightvalve 29:69f3f5445d6d 310 int FINDHOME_STAGE = 0;
Lightvalve 29:69f3f5445d6d 311 int FINDHOME_INIT = 0;
Lightvalve 30:8d561f16383b 312 int FINDHOME_GOTOLIMIT = 1;
Lightvalve 30:8d561f16383b 313 int FINDHOME_ZEROPOSE = 2;
Lightvalve 14:8e7590227d22 314
Lightvalve 45:35fa6884d0c6 315 float alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 316
Lightvalve 23:59218d4a256d 317 //int h1, h2, h3, h4, h5, h6;
Lightvalve 23:59218d4a256d 318
Lightvalve 11:82d8768d7351 319 /*******************************************************************************
Lightvalve 11:82d8768d7351 320 * General math functions
Lightvalve 11:82d8768d7351 321 ******************************************************************************/
Lightvalve 11:82d8768d7351 322
Lightvalve 11:82d8768d7351 323
Lightvalve 34:bb2ca2fc2a8e 324 float dabs(float tx)
Lightvalve 34:bb2ca2fc2a8e 325 {
Lightvalve 30:8d561f16383b 326 if (tx >= 0.0f)
Lightvalve 11:82d8768d7351 327 return tx;
Lightvalve 11:82d8768d7351 328 else
Lightvalve 11:82d8768d7351 329 return -tx;
Lightvalve 11:82d8768d7351 330 }
Lightvalve 11:82d8768d7351 331
Lightvalve 34:bb2ca2fc2a8e 332 float change_int_to_efloat(int input)
Lightvalve 34:bb2ca2fc2a8e 333 {
Lightvalve 11:82d8768d7351 334 int i = 0;
Lightvalve 11:82d8768d7351 335
Lightvalve 30:8d561f16383b 336 float output = 0;
Lightvalve 48:889798ff9329 337 int vn = (int) ((float) input / 10.0f);
Lightvalve 11:82d8768d7351 338 int en = input % 10;
Lightvalve 11:82d8768d7351 339
Lightvalve 30:8d561f16383b 340 float temp = 1.;
Lightvalve 11:82d8768d7351 341 for (i = 0; i < en; i++)
Lightvalve 30:8d561f16383b 342 temp *= 0.1f;
Lightvalve 11:82d8768d7351 343
Lightvalve 30:8d561f16383b 344 output = (float) vn*temp;
Lightvalve 11:82d8768d7351 345 return output;
Lightvalve 11:82d8768d7351 346 }
Lightvalve 11:82d8768d7351 347
Lightvalve 34:bb2ca2fc2a8e 348 void make_delay(void)
Lightvalve 34:bb2ca2fc2a8e 349 {
Lightvalve 11:82d8768d7351 350 int i = 0;
Lightvalve 11:82d8768d7351 351
Lightvalve 11:82d8768d7351 352 for (i = 0; i < 100000; i++) {
Lightvalve 11:82d8768d7351 353 ;
Lightvalve 11:82d8768d7351 354 }
Lightvalve 11:82d8768d7351 355
Lightvalve 11:82d8768d7351 356 }
Lightvalve 11:82d8768d7351 357
Lightvalve 11:82d8768d7351 358
Lightvalve 11:82d8768d7351 359 /*******************************************************************************
Lightvalve 11:82d8768d7351 360 * ROM functions
Lightvalve 11:82d8768d7351 361 ******************************************************************************/
Lightvalve 34:bb2ca2fc2a8e 362 void ROM_RESET_DATA(void)
Lightvalve 34:bb2ca2fc2a8e 363 {
Lightvalve 16:903b5a4433b4 364 FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
Lightvalve 16:903b5a4433b4 365 if (!writer.ready()) writer.open();
Lightvalve 34:bb2ca2fc2a8e 366
Lightvalve 16:903b5a4433b4 367 writer.write(RID_BNO,(int) BNO); // write at address, 쓸때도 4byte씩 씀
Lightvalve 16:903b5a4433b4 368 writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE);
Lightvalve 52:8ea76864368a 369 writer.write(RID_SENSING_MODE, (int) SENSING_MODE);
Lightvalve 52:8ea76864368a 370 writer.write(RID_CURRENT_CONTROL_MODE, (int) CURRENT_CONTROL_MODE);
Lightvalve 52:8ea76864368a 371 writer.write(RID_FLAG_VALVE_DEADZONE, (int) FLAG_VALVE_DEADZONE);
Lightvalve 16:903b5a4433b4 372 writer.write(RID_CAN_FREQ,(int) CAN_FREQ);
Lightvalve 16:903b5a4433b4 373 writer.write(RID_JOINT_ENC_DIR,(int) DIR_JOINT_ENC);
Lightvalve 16:903b5a4433b4 374 writer.write(RID_VALVE_DIR,(int) DIR_VALVE);
Lightvalve 16:903b5a4433b4 375 writer.write(RID_VALVE_ENC_DIR,(int) DIR_VALVE_ENC);
Lightvalve 30:8d561f16383b 376 writer.write(RID_VOLATGE_SUPPLY,(int) (SUPPLY_VOLTAGE * 10.0f));
Lightvalve 30:8d561f16383b 377 writer.write(RID_VOLTAGE_VALVE,(int) (VALVE_VOLTAGE_LIMIT * 10.0f));
Lightvalve 16:903b5a4433b4 378 writer.write(RID_P_GAIN_VALVE_POSITION,(int) P_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 379 writer.write(RID_I_GAIN_VALVE_POSITION,(int) I_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 380 writer.write(RID_D_GAIN_VALVE_POSITION,(int) D_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 381 writer.write(RID_P_GAIN_JOINT_POSITION,(int) P_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 382 writer.write(RID_I_GAIN_JOINT_POSITION,(int) I_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 383 writer.write(RID_D_GAIN_JOINT_POSITION,(int) D_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 384 writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 385 writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 386 writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE);
Lightvalve 33:91b17819ec30 387 writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS * 10.0f));
Lightvalve 33:91b17819ec30 388 writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS * 10.0f));
Lightvalve 16:903b5a4433b4 389 writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN);
Lightvalve 16:903b5a4433b4 390 writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN);
Lightvalve 16:903b5a4433b4 391 writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER);
Lightvalve 16:903b5a4433b4 392 writer.write(RID_VALVE_FF,(int) VALVE_FF);
Lightvalve 16:903b5a4433b4 393 writer.write(RID_BULK_MODULUS,(int) BNO);
Lightvalve 16:903b5a4433b4 394 writer.write(RID_CHAMBER_VOLUME_A,(int) CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 395 writer.write(RID_CHAMBER_VOLUME_B,(int) CHAMBER_VOLUME_B);
Lightvalve 16:903b5a4433b4 396 writer.write(RID_PISTON_AREA_A,(int) PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 397 writer.write(RID_PISTON_AREA_B,(int) PISTON_AREA_B);
Lightvalve 16:903b5a4433b4 398 writer.write(RID_PRES_SUPPLY,(int) PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 399 writer.write(RID_PRES_RETURN,(int) PRES_RETURN);
Lightvalve 16:903b5a4433b4 400 writer.write(RID_ENC_LIMIT_MINUS,(int) ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 401 writer.write(RID_ENC_LIMIT_PLUS,(int) ENC_LIMIT_PLUS);
Lightvalve 16:903b5a4433b4 402 writer.write(RID_STROKE,(int) STROKE);
Lightvalve 56:6f50d9d3bfee 403 writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS);
Lightvalve 56:6f50d9d3bfee 404 writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS);
Lightvalve 48:889798ff9329 405 writer.write(RID_ENC_PULSE_PER_POSITION,(int) (ENC_PULSE_PER_POSITION*10.0f));
Lightvalve 48:889798ff9329 406 writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) (TORQUE_SENSOR_PULSE_PER_TORQUE * 100.0f));
Lightvalve 30:8d561f16383b 407 writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 30:8d561f16383b 408 writer.write(RID_PRES_SENSOR_B_PULSE_PER_BAR,(int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 409 writer.write(RID_FRICTION,(int) (FRICTION * 10.0f));
Lightvalve 34:bb2ca2fc2a8e 410 writer.write(RID_HOMEPOS_OFFSET,(int) HOMEPOS_OFFSET);
Lightvalve 34:bb2ca2fc2a8e 411 writer.write(RID_HOMEPOS_VALVE_OPENING,(int) HOMEPOS_VALVE_OPENING);
Lightvalve 34:bb2ca2fc2a8e 412 writer.write(RID_TORQUE_SENSOR_VREF,(int) (TORQUE_VREF * 1000.0f));
Lightvalve 30:8d561f16383b 413 writer.write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0f));
Lightvalve 30:8d561f16383b 414 writer.write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0f));
Lightvalve 34:bb2ca2fc2a8e 415 writer.write(RID_VALVE_GAIN_PLUS_1,(int) (VALVE_GAIN_LPM_PER_V[0] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 416 writer.write(RID_VALVE_GAIN_PLUS_2,(int) (VALVE_GAIN_LPM_PER_V[2] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 417 writer.write(RID_VALVE_GAIN_PLUS_3,(int) (VALVE_GAIN_LPM_PER_V[4] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 418 writer.write(RID_VALVE_GAIN_PLUS_4,(int) (VALVE_GAIN_LPM_PER_V[6] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 419 writer.write(RID_VALVE_GAIN_PLUS_5,(int) (VALVE_GAIN_LPM_PER_V[8] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 420 writer.write(RID_VALVE_GAIN_MINUS_1,(int) (VALVE_GAIN_LPM_PER_V[1] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 421 writer.write(RID_VALVE_GAIN_MINUS_2,(int) (VALVE_GAIN_LPM_PER_V[3] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 422 writer.write(RID_VALVE_GAIN_MINUS_3,(int) (VALVE_GAIN_LPM_PER_V[5] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 423 writer.write(RID_VALVE_GAIN_MINUS_4,(int) (VALVE_GAIN_LPM_PER_V[7] * 100.0f));
Lightvalve 30:8d561f16383b 424 writer.write(RID_VALVE_GAIN_MINUS_5,(int) (VALVE_GAIN_LPM_PER_V[9] * 100.0f));
Lightvalve 34:bb2ca2fc2a8e 425 for(int i=0; i<25; i++) {
Lightvalve 18:b8adf1582ea3 426 writer.write(RID_VALVE_POS_VS_PWM_0 + i, (int) VALVE_POS_VS_PWM[i]);
Lightvalve 18:b8adf1582ea3 427 }
Lightvalve 34:bb2ca2fc2a8e 428 for(int i=0; i<100; i++) {
Lightvalve 19:23b7c1ad8683 429 writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[i] & 0xFFFF));
Lightvalve 19:23b7c1ad8683 430 writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[i] >> 16) & 0xFFFF));
Lightvalve 18:b8adf1582ea3 431 }
Lightvalve 18:b8adf1582ea3 432 writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS);
Lightvalve 18:b8adf1582ea3 433 writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS);
Lightvalve 56:6f50d9d3bfee 434 writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f));
Lightvalve 18:b8adf1582ea3 435 writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM);
Lightvalve 46:2694daea349b 436
Lightvalve 46:2694daea349b 437 writer.write(RID_K_SPRING, (int) K_SPRING);
Lightvalve 46:2694daea349b 438 writer.write(RID_D_DAMPER, (int) D_DAMPER);
Lightvalve 11:82d8768d7351 439
Lightvalve 34:bb2ca2fc2a8e 440 writer.close();
Lightvalve 34:bb2ca2fc2a8e 441
Lightvalve 11:82d8768d7351 442 }
Lightvalve 11:82d8768d7351 443
Lightvalve 34:bb2ca2fc2a8e 444 void ROM_CALL_DATA(void)
Lightvalve 34:bb2ca2fc2a8e 445 {
Lightvalve 16:903b5a4433b4 446 BNO = flashReadInt(Rom_Sector, RID_BNO);
Lightvalve 16:903b5a4433b4 447 OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE);
Lightvalve 52:8ea76864368a 448 SENSING_MODE = flashReadInt(Rom_Sector, RID_SENSING_MODE);
Lightvalve 52:8ea76864368a 449 CURRENT_CONTROL_MODE = flashReadInt(Rom_Sector, RID_CURRENT_CONTROL_MODE);
Lightvalve 52:8ea76864368a 450 FLAG_VALVE_DEADZONE = flashReadInt(Rom_Sector, RID_FLAG_VALVE_DEADZONE);
Lightvalve 16:903b5a4433b4 451 CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ);
Lightvalve 16:903b5a4433b4 452 DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR);
Lightvalve 16:903b5a4433b4 453 DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR);
Lightvalve 16:903b5a4433b4 454 DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR);
Lightvalve 30:8d561f16383b 455 SUPPLY_VOLTAGE = (float) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1f;
Lightvalve 30:8d561f16383b 456 VALVE_VOLTAGE_LIMIT = (float) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1f;
Lightvalve 16:903b5a4433b4 457 P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 458 I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 459 D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION);
Lightvalve 16:903b5a4433b4 460 P_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 461 I_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 462 D_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_POSITION);
Lightvalve 16:903b5a4433b4 463 P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 464 I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE);
Lightvalve 16:903b5a4433b4 465 D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE);
Lightvalve 33:91b17819ec30 466 VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f;
Lightvalve 33:91b17819ec30 467 VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f;
Lightvalve 16:903b5a4433b4 468 VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN);
Lightvalve 16:903b5a4433b4 469 COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN);
Lightvalve 16:903b5a4433b4 470 VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER);
Lightvalve 16:903b5a4433b4 471 VALVE_FF = flashReadInt(Rom_Sector, RID_VALVE_FF);
Lightvalve 16:903b5a4433b4 472 BULK_MODULUS = flashReadInt(Rom_Sector, RID_BULK_MODULUS);
Lightvalve 16:903b5a4433b4 473 CHAMBER_VOLUME_A = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_A);
Lightvalve 16:903b5a4433b4 474 CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B);
Lightvalve 16:903b5a4433b4 475 PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A);
Lightvalve 16:903b5a4433b4 476 PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B);
Lightvalve 30:8d561f16383b 477 PISTON_AREA_alpha = (float)PISTON_AREA_B/(float)PISTON_AREA_A;
Lightvalve 16:903b5a4433b4 478 PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY);
Lightvalve 16:903b5a4433b4 479 PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN);
Lightvalve 16:903b5a4433b4 480 ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS);
Lightvalve 16:903b5a4433b4 481 ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS);
Lightvalve 16:903b5a4433b4 482 STROKE = flashReadInt(Rom_Sector, RID_STROKE);
Lightvalve 56:6f50d9d3bfee 483 VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS);
Lightvalve 56:6f50d9d3bfee 484 VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS);
Lightvalve 48:889798ff9329 485 ENC_PULSE_PER_POSITION = (float) (flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION)) * 0.1f;
Lightvalve 48:889798ff9329 486 // ENC_PULSE_PER_POSITION = (float) 1024.0f;
Lightvalve 48:889798ff9329 487 TORQUE_SENSOR_PULSE_PER_TORQUE = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE)) * 0.01f;
Lightvalve 48:889798ff9329 488 //TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 0.41928f; //for ankle
Lightvalve 48:889798ff9329 489 // TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 10000.0f/2048.0f; //for knee
Lightvalve 30:8d561f16383b 490 PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f;
Lightvalve 48:889798ff9329 491 // PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 30:8d561f16383b 492 PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f;
Lightvalve 48:889798ff9329 493 // PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f;
Lightvalve 30:8d561f16383b 494 FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f;
Lightvalve 16:903b5a4433b4 495 HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET);
Lightvalve 16:903b5a4433b4 496 HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING);
Lightvalve 30:8d561f16383b 497 TORQUE_VREF = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_VREF)) *0.001f;
Lightvalve 32:4b8c0fedaf2c 498 PRES_A_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_A_SENSOR_VREF) * 0.001f;
Lightvalve 32:4b8c0fedaf2c 499 PRES_B_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_B_SENSOR_VREF) * 0.001f;
Lightvalve 30:8d561f16383b 500 VALVE_GAIN_LPM_PER_V[0] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_1)) * 0.01f;
Lightvalve 30:8d561f16383b 501 VALVE_GAIN_LPM_PER_V[2] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_2)) * 0.01f;
Lightvalve 30:8d561f16383b 502 VALVE_GAIN_LPM_PER_V[4] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_3)) * 0.01f;
Lightvalve 30:8d561f16383b 503 VALVE_GAIN_LPM_PER_V[6] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_4)) * 0.01f;
Lightvalve 30:8d561f16383b 504 VALVE_GAIN_LPM_PER_V[8] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_5)) * 0.01f;
Lightvalve 30:8d561f16383b 505 VALVE_GAIN_LPM_PER_V[1] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_1)) * 0.01f;
Lightvalve 30:8d561f16383b 506 VALVE_GAIN_LPM_PER_V[3] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_2)) * 0.01f;
Lightvalve 30:8d561f16383b 507 VALVE_GAIN_LPM_PER_V[5] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01f;
Lightvalve 30:8d561f16383b 508 VALVE_GAIN_LPM_PER_V[7] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01f;
Lightvalve 30:8d561f16383b 509 VALVE_GAIN_LPM_PER_V[9] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01f;
Lightvalve 34:bb2ca2fc2a8e 510 for(int i=0; i<25; i++) {
Lightvalve 30:8d561f16383b 511 VALVE_POS_VS_PWM[i] = (float) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i));
Lightvalve 16:903b5a4433b4 512 }
Lightvalve 34:bb2ca2fc2a8e 513 for(int i=0; i<100; i++) {
Lightvalve 16:903b5a4433b4 514 JOINT_VEL[i] = ( ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ;
Lightvalve 16:903b5a4433b4 515 }
Lightvalve 16:903b5a4433b4 516 VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS);
Lightvalve 16:903b5a4433b4 517 VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS);
Lightvalve 56:6f50d9d3bfee 518 DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f;
Lightvalve 16:903b5a4433b4 519 VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM);
Lightvalve 46:2694daea349b 520
Lightvalve 46:2694daea349b 521 K_SPRING = flashReadInt(Rom_Sector, RID_K_SPRING);
Lightvalve 46:2694daea349b 522 D_DAMPER = flashReadInt(Rom_Sector, RID_D_DAMPER);
Lightvalve 48:889798ff9329 523
Lightvalve 11:82d8768d7351 524 }
Lightvalve 11:82d8768d7351 525
Lightvalve 11:82d8768d7351 526 /*******************************************************************************
Lightvalve 11:82d8768d7351 527 * ENCODER functions
Lightvalve 11:82d8768d7351 528 ******************************************************************************/
Lightvalve 11:82d8768d7351 529 // A-KHA
Lightvalve 30:8d561f16383b 530 #define KF_G1_11 0.083920206005350f
Lightvalve 30:8d561f16383b 531 #define KF_G1_12 0.000013905329560f
Lightvalve 30:8d561f16383b 532 #define KF_G1_21 -0.000575742328210f
Lightvalve 30:8d561f16383b 533 #define KF_G1_22 0.799999939711725f
Lightvalve 11:82d8768d7351 534 // K
Lightvalve 30:8d561f16383b 535 #define KF_G2_11 0.916079793994650f
Lightvalve 30:8d561f16383b 536 #define KF_G2_12 0.000002878711641f
Lightvalve 30:8d561f16383b 537 #define KF_G2_21 0.000575742328210f
Lightvalve 30:8d561f16383b 538 #define KF_G2_22 0.199999945139809f
Lightvalve 11:82d8768d7351 539
Lightvalve 30:8d561f16383b 540 float KF_Y_11 = 0.0f;
Lightvalve 30:8d561f16383b 541 float KF_Y_21 = 0.0f;
Lightvalve 30:8d561f16383b 542 float KF_X_11 = 0.0f;
Lightvalve 30:8d561f16383b 543 float KF_X_21 = 0.0f;
Lightvalve 11:82d8768d7351 544
Lightvalve 11:82d8768d7351 545 long ENC_pos_old = 0, ENC_pos_cur = 0, ENC_pos_diff = 0;
Lightvalve 11:82d8768d7351 546 long ENC_RAW = 0, ENC_VEL_RAW = 0, ENC_VEL_KF = 0;
Lightvalve 11:82d8768d7351 547 long enc_offset = 0;
Lightvalve 11:82d8768d7351 548
Lightvalve 34:bb2ca2fc2a8e 549 void ENC_UPDATE(void)
Lightvalve 34:bb2ca2fc2a8e 550 {
Lightvalve 11:82d8768d7351 551
Lightvalve 11:82d8768d7351 552 ENC_pos_cur = spi_enc_read();
Lightvalve 11:82d8768d7351 553 ENC_pos_diff = ENC_pos_cur - ENC_pos_old;
Lightvalve 11:82d8768d7351 554
Lightvalve 56:6f50d9d3bfee 555 // if (ENC_pos_diff > 1300 || ENC_pos_diff<-1300) {
Lightvalve 56:6f50d9d3bfee 556 // //MOT_E_STOP(0);
Lightvalve 56:6f50d9d3bfee 557 // }
Lightvalve 56:6f50d9d3bfee 558
Lightvalve 56:6f50d9d3bfee 559 ENC_VEL_RAW = (int32_t) (ENC_pos_diff * TMR_FREQ_5k);
Lightvalve 56:6f50d9d3bfee 560
Lightvalve 54:647072f5307a 561 // KF_Y_11 = ENC_pos_cur;
Lightvalve 54:647072f5307a 562 // KF_Y_21 = ENC_VEL_RAW;
Lightvalve 54:647072f5307a 563 // KF_X_11 = KF_G1_11 * KF_X_11 + KF_G1_12 * KF_X_21 + KF_G2_11 * KF_Y_11 + KF_G2_12*KF_Y_21;
Lightvalve 54:647072f5307a 564 // KF_X_21 = KF_G1_21 * KF_X_11 + KF_G1_22 * KF_X_21 + KF_G2_21 * KF_Y_11 + KF_G2_22*KF_Y_21;
Lightvalve 54:647072f5307a 565 // ENC_VEL_KF = (int32_t) KF_X_21;
Lightvalve 54:647072f5307a 566 //
Lightvalve 54:647072f5307a 567 // pos.sen = (DIR_JOINT_ENC) * ENC_pos_cur + enc_offset;
Lightvalve 56:6f50d9d3bfee 568 // // CUR_POSITION = (DIR_JOINT_ENC) * ENC_pos_cur;
Lightvalve 54:647072f5307a 569 // vel.sen = (DIR_JOINT_ENC) * ENC_VEL_KF;
Lightvalve 56:6f50d9d3bfee 570
Lightvalve 56:6f50d9d3bfee 571 // CUR_POSITION = ENC_pos_cur;
Lightvalve 56:6f50d9d3bfee 572 // CUR_VELOCITY = ENC_VEL_KF;
Lightvalve 56:6f50d9d3bfee 573
Lightvalve 54:647072f5307a 574 double NEW_POSITION = (double) ((DIR_JOINT_ENC) * ENC_pos_cur + enc_offset);
Lightvalve 56:6f50d9d3bfee 575 double NEW_VELOCITY = (double) ((DIR_JOINT_ENC) * ENC_pos_diff * (int) FREQ_5k);
Lightvalve 54:647072f5307a 576
Lightvalve 56:6f50d9d3bfee 577 double alpha_update_pos = 1.0f/(1.0f + FREQ_5k/(2.0f*3.14f*50.0f));
Lightvalve 54:647072f5307a 578 pos.sen = NEW_POSITION;
Lightvalve 56:6f50d9d3bfee 579 vel.sen = (1.0f - alpha_update_pos) * vel.sen + alpha_update_pos * NEW_VELOCITY;
Lightvalve 56:6f50d9d3bfee 580
Lightvalve 11:82d8768d7351 581 ENC_pos_old = ENC_pos_cur;
Lightvalve 11:82d8768d7351 582 }
Lightvalve 11:82d8768d7351 583
Lightvalve 34:bb2ca2fc2a8e 584 void ENC_SET_ZERO(void)
Lightvalve 34:bb2ca2fc2a8e 585 {
Lightvalve 11:82d8768d7351 586
Lightvalve 11:82d8768d7351 587 spi_enc_set_clear();
Lightvalve 11:82d8768d7351 588 CUR_POSITION = 0;
Lightvalve 11:82d8768d7351 589 ENC_pos_old = ENC_pos_cur = 0;
Lightvalve 11:82d8768d7351 590
Lightvalve 11:82d8768d7351 591 }
Lightvalve 11:82d8768d7351 592
Lightvalve 34:bb2ca2fc2a8e 593 void ENC_SET(int32_t value_e)
Lightvalve 34:bb2ca2fc2a8e 594 {
Lightvalve 11:82d8768d7351 595 spi_enc_set_clear();
Lightvalve 13:747daba9cf59 596 enc_offset = value_e;
Lightvalve 13:747daba9cf59 597 CUR_POSITION = value_e;
Lightvalve 13:747daba9cf59 598 ENC_pos_old = ENC_pos_cur = value_e;
Lightvalve 11:82d8768d7351 599
Lightvalve 11:82d8768d7351 600 }
Lightvalve 18:b8adf1582ea3 601
Lightvalve 19:23b7c1ad8683 602
Lightvalve 30:8d561f16383b 603