Sungwoo Kim
LIGHT2
Diff: main.cpp
- Revision:
- 240:c93d3eabff75
- Parent:
- 239:8ac5c6162bc1
--- a/main.cpp Fri Jul 30 06:04:10 2021 +0000
+++ b/main.cpp Thu Mar 31 02:39:48 2022 +0000
@@ -97,6 +97,7 @@
float temp_I_GAIN = 0.0f;
int temp_VELOCITY_COMP_GAIN = 0;
int logging = 0;
+float valve_pos_pulse_can = 0.0f;
inline float tanh_inv(float y)
{
@@ -170,13 +171,13 @@
__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.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+ RCC_OscInitStruct.HSEState = RCC_HSE_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.PLLSource = RCC_PLLSOURCE_HSE;
+ RCC_OscInitStruct.PLL.PLLM = 1;//4
+ RCC_OscInitStruct.PLL.PLLN = 192; //96
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
@@ -195,14 +196,68 @@
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
- RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
+ RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
//Error_Handler();
}
+// HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
+// HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
+// HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
+// HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+
}
+//void SystemClock_Config(void) //External clock
+//{
+// RCC_OscInitTypeDef RCC_OscInitStruct;
+// RCC_ClkInitTypeDef RCC_ClkInitStruct;
+//
+// /* Configure the main internal regulator output voltage
+// */
+// __PWR_CLK_ENABLE();
+// __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
+// /* Initializes the CPU, AHB and APB busses clocks
+// */
+// RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
+// RCC_OscInitStruct.HSIState = RCC_HSE_ON;
+//// RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+// RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+// RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+// RCC_OscInitStruct.PLL.PLLM = 8;//8
+// RCC_OscInitStruct.PLL.PLLN = 80; //180
+// RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+// RCC_OscInitStruct.PLL.PLLQ = 4;
+// HAL_RCC_OscConfig(&RCC_OscInitStruct);
+//
+// HAL_PWREx_ActivateOverDrive();
+//// 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_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;
+// HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5);
+//
+// HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
+//
+// HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
+//
+// HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
+//}
+
int main()
{
/*********************************
@@ -213,36 +268,37 @@
SystemClock_Config();
LED = 0;
- pc.baud(9600);
+// 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();
- // 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_cs = 1;
- eeprom.format(8,3);
- eeprom.frequency(5000000); //5M
- eeprom_cs = 0;
- make_delay();
-
- enc_cs = 1; //sw add
- enc.format(8,0);
- enc.frequency(5000000); //10M
- enc_cs = 0; //sw add
-
- make_delay();
-
- // spi _ enc
- spi_enc_set_init();
- make_delay();
-
- ////// bno rom
- spi_eeprom_write(RID_BNO, (int16_t) 1);
- make_delay();
+// eeprom_cs = 1;
+// eeprom.format(8,3);
+// eeprom.frequency(5000000); //5M
+// eeprom_cs = 0;
+// make_delay();
+//
+// enc_cs = 1; //sw add
+// enc.format(8,0);
+// enc.frequency(5000000); //10M
+// enc_cs = 0; //sw add
+//
+// make_delay();
+//
+// // spi _ enc
+// spi_enc_set_init();
+// make_delay();
+//
+// ////// bno rom
+// spi_eeprom_write(RID_BNO, (int16_t) 0);
+// make_delay();
////////
// rom
@@ -258,260 +314,118 @@
TIM4->CR1 ^= TIM_CR1_UDIS;
make_delay();
- // CAN
- can.attach(&CAN_RX_HANDLER);
+// // CAN
+// can.attach(&CAN_RX_HANDLER);
CAN_ID_INIT();
make_delay();
//can.reset();
- can.filter(msg.id, 0xFFFFF000, CANStandard);
+// can.filter(msg.id, 0xFFFFF000, CANStandard);
+
+// // TMR2 init
+// Init_TMR2();
+// TIM2->CR1 ^= TIM_CR1_UDIS;
+// make_delay();
// TMR3 init
Init_TMR3();
TIM3->CR1 ^= TIM_CR1_UDIS;
make_delay();
- //Timer priority
- NVIC_SetPriority(TIM3_IRQn, 2);
- NVIC_SetPriority(TIM4_IRQn, 3);
+// //Timer priority
+ NVIC_SetPriority(TIM3_IRQn, 3);
+ NVIC_SetPriority(TIM4_IRQn, 2);
+// NVIC_SetPriority(TIM2_IRQn, 2);
+//
+//
+// //DAC init
+// if (SENSING_MODE == 0) {
+// dac_1 = FORCE_VREF / 3.3f;
+// dac_2 = 0.0f;
+// } else if (SENSING_MODE == 1) {
+// // if (DIR_VALVE_ENC > 0) {
+// dac_1 = PRES_A_VREF / 3.3f;
+// dac_2 = PRES_B_VREF / 3.3f;
+// // } else {
+// // dac_1 = PRES_B_VREF / 3.3f;
+// // dac_2 = PRES_A_VREF / 3.3f;
+// // }
+// }
+// make_delay();
- //DAC init
- if (SENSING_MODE == 0) {
- dac_1 = FORCE_VREF / 3.3f;
- dac_2 = 0.0f;
- } else if (SENSING_MODE == 1) {
-// if (DIR_VALVE_ENC > 0) {
- dac_1 = PRES_A_VREF / 3.3f;
- dac_2 = PRES_B_VREF / 3.3f;
-// } else {
-// dac_1 = PRES_B_VREF / 3.3f;
-// dac_2 = PRES_A_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;
- }
+ TIM4->CCR2 = (PWM_ARR)*(1.0f-0.0f);
+ TIM4->CCR1 = (PWM_ARR)*(1.0f-0.0f);
+
/************************************
*** Program is operating!
*************************************/
while(1) {
- // UART example
-// if(timer_while==100000) {
-// timer_while = 0;
-// pc.printf("%f\n", value);
-// }
-// timer_while ++;
-
- //i2c for SW valve
- if(OPERATING_MODE == 5) {
- read_field(i2c_slave_addr1);
- if(DIR_VALVE_ENC < 0) value = 1023 - value;
- }
+// if (LED > 0) LED = 0;
+// else LED = 1;
+// ADC1->CR2 |= 0x40000000;
+// LVDT_new = ((float)ADC1->DR) - 2047.5f;
+// TIM4->CCR2 = (PWM_ARR)*(1.0f-0.0f);
+// TIM4->CCR1 = (PWM_ARR)*(1.0f-0.3f);
}
}
-// Velocity feedforward for SW valve
-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); //VELOCITY_COMP_GAIN : 0~100
- return Ref_Valve_Pos_FF;
-}
-
-// Valve feedforward for SW valve
-void VALVE_POS_CONTROL(float REF_VALVE_POS)
-{
- int i = 0;
-
- if(REF_VALVE_POS > VALVE_MAX_POS) {
- REF_VALVE_POS = VALVE_MAX_POS;
- } else if(REF_VALVE_POS < VALVE_MIN_POS) {
- REF_VALVE_POS = VALVE_MIN_POS;
- }
- valve_pos_err = (float) (REF_VALVE_POS - value);
- valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
- valve_pos_err_old = valve_pos_err;
- valve_pos_err_sum += valve_pos_err;
- if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
- if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
-
- VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
-
- for(i=0; i<24; i++) {
- if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
- if(i==0) {
- VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
- } else {
- VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
- }
- break;
- }
- }
- Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
-}
-
-// Valve feedforward for SW valve
-void VALVE_POS_CONTROL_DZ(float REF_VALVE_POS_10000)
-{
- int i = 0;
- float valve_pos_ref_dz = 0.0f;
- if(REF_VALVE_POS_10000 > 10000.0f) {
- REF_VALVE_POS_10000 = 10000.0f;
- } else if(REF_VALVE_POS_10000 < -10000.0f) {
- REF_VALVE_POS_10000 = -10000.0f;
- }
- if (REF_VALVE_POS_10000 >= 0) {
- valve_pos_ref_dz = REF_VALVE_POS_10000/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
- } else {
- valve_pos_ref_dz = -REF_VALVE_POS_10000/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
- }
- valve_pos_err = (float) (valve_pos_ref_dz - value);
- valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
- valve_pos_err_old = valve_pos_err;
- valve_pos_err_sum += valve_pos_err;
- if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
- if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
-
- VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
-
- for(i=0; i<24; i++) {
- if(valve_pos_ref_dz >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) valve_pos_ref_dz <= 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) valve_pos_ref_dz - 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) valve_pos_ref_dz - 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;
-}
-
-// PWM duty vs. voltage output of L6205 in STM board
-#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
-*******************************************************************************/
-
//------------------------------------------------
// TMR4 : Sensor Read & Data Handling
//-----------------------------------------------
float FREQ_TMR4 = (float)FREQ_20k;
float DT_TMR4 = (float)DT_20k;
long CNT_TMR4 = 0;
-int TMR4_FREQ_10k = (int)FREQ_10k;
+int TMR4_FREQ_20k = (int)FREQ_20k;
+//int toggle = 0;
+int PWM_Flag = 0;
+int TMR4_timer = 0;
+
+float LVDT_new = 0.0f;
+float LVDT_old = 0.0f;
+float LVDT_f_cut = 1000.0f;
+float LVDT_LPF = 0.0f;
+float LVDT_sum = 0.0f;
+
extern "C" void TIM4_IRQHandler(void)
{
if (TIM4->SR & TIM_SR_UIF ) {
- // Current ===================================================
- //ADC3->CR2 |= 0x40000000; // adc _ 12bit
-
- cur.UpdateSen(((float)ADC3->DR-2047.5f)/2047.5f*10.0f, FREQ_TMR4, 500.0f); // unit : mA
+// if (LED > 0) LED = 0;
+// else LED = 1;
- // Encoder ===================================================
- if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
- ENC_UPDATE();
- }
+ PWM_Flag++;
+
+ if(PWM_Flag <= 15) {
- // Force or Pressure Transducer =============================================
- ADC1->CR2 |= 0x40000000;
- if (SENSING_MODE == 0) { // Force sensing
- force.UpdateSen((((float)ADC1->DR) - 2047.5f)/TORQUE_SENSOR_PULSE_PER_TORQUE, FREQ_TMR4, 100.0f); // unit : N
- } else if (SENSING_MODE == 1) { // Pressure sensing
- float pres_A_new, pres_B_new;
-// if (DIR_VALVE_ENC > 0) {
- pres_A_new = (((float)ADC1->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
- pres_B_new = (((float)ADC2->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
-// } else {
-// pres_A_new = (((float)ADC2->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
-// pres_B_new = (((float)ADC1->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
-// }
- pres_A.UpdateSen(pres_A_new,FREQ_TMR4,200.0f);
- pres_B.UpdateSen(pres_B_new,FREQ_TMR4,200.0f);
+ if (PWM_Flag >= 4 && PWM_Flag <=13) {
+ ADC1->CR2 |= 0x40000000;
+ LVDT_new = ((float)ADC1->DR) - 2047.5f;
+// if (ADC1->SR &= ~(ADC_SR_EOC)) {
+// if (LED > 0) LED = 0;
+// else LED = 1;
+// LED = 1;
+// }
+ LVDT_sum = LVDT_sum + LVDT_new;
+ if (LED > 0) LED = 0;
+ else LED = 1;
+ }
- if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
- float torq_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.0001f; // mm^3*bar >> Nm
- torq.UpdateSen(torq_new,FREQ_TMR4,1000.0f); // unit : Nm
- } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
- float force_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.1f; // mm^2*bar >> N
- force.UpdateSen(force_new,FREQ_TMR4,1000.0f); // unit : N
- }
+ //pwm
+ TIM4->CCR2 = (PWM_ARR)*(1.0f-0.0f);
+ TIM4->CCR1 = (PWM_ARR)*(1.0f-1.0f);
+ } else if(PWM_Flag <= 500) {
+ TIM4->CCR2 = (PWM_ARR)*(1.0f-0.0f);
+ TIM4->CCR1 = (PWM_ARR)*(1.0f-0.0f);
+ } else {
+ PWM_Flag = 0;
+ LVDT_LPF = 0.0f;
+ force.sen = LVDT_sum * 0.1f;
+ LVDT_sum = 0.0f;
}
CNT_TMR4++;
@@ -532,986 +446,266 @@
{
if (TIM3->SR & TIM_SR_UIF ) {
- if(MODE_POS_FT_TRANS == 1) {
- if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
- alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
- cnt_trans++;
- torq.err_int = 0.0f;
- force.err_int = 0.0f;
- if((float)cnt_trans * DT_TMR3 > 3.0f)
- MODE_POS_FT_TRANS = 2;
- } else if(MODE_POS_FT_TRANS == 3) {
- if (alpha_trans == 0.0f) MODE_POS_FT_TRANS = 0;
- alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
- cnt_trans++;
- torq.err_int = 0.0f;
- force.err_int = 0.0f;
- 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;
- }
- // Reference Update ==========================================================
- switch (REFERENCE_MODE) {
- case MODE_REF_NO_ACT: {
- break;
- }
- case MODE_REF_DIRECT: {
- pos.ref = REF_POSITION;
- vel.ref = REF_VELOCITY;
- torq.ref = REF_TORQUE;
- force.ref = REF_FORCE;
- break;
+ // // =====================================================================
+// // CONTROL LOOP --------------------------------------------------------
+// // =====================================================================
+// 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: {
+// static float FORCE_pulse_sum = 0.0;
+// static float PresA_pulse_sum = 0.0;
+// static float PresB_pulse_sum = 0.0;
+//
+// // DAC Voltage reference set
+// float VREF_TuningGain = -0.00000003f;
+// if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
+// if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
+// FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
+// if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
+// float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
+// FORCE_pulse_sum = 0.0f;
+//
+// FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
+// if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
+// if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
+// dac_1 = FORCE_VREF / 3.3f;
+// }
+// } else if (SENSING_MODE == 1) { // Pressure Sensor
+// PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
+// PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
+// if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
+// float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
+// float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
+// PresA_pulse_sum = 0.0f;
+// PresB_pulse_sum = 0.0f;
+//
+// PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
+// if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
+// if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
+// dac_1 = PRES_A_VREF / 3.3f;
+// PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
+// if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
+// if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
+// dac_2 = PRES_B_VREF / 3.3f;
+// }
+// }
+// TMR3_COUNT_TORQUE_NULL++;
+// } else {
+// if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
+// FORCE_pulse_sum = 0.0f;
+// dac_1 = FORCE_VREF / 3.3f;
+// spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
+// } else if (SENSING_MODE == 1) {
+// PresA_pulse_sum = 0.0f;
+// PresB_pulse_sum = 0.0f;
+// dac_1 = PRES_A_VREF / 3.3f;
+// dac_2 = PRES_B_VREF / 3.3f;
+// spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
+// spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
+// }
+// CONTROL_UTILITY_MODE = MODE_NO_ACT;
+// TMR3_COUNT_TORQUE_NULL = 0;
+// }
+// break;
+// }
+//
+//
+// default:
+// break;
+// }
+//
+// // CONTROL MODE ------------------------------------------------------------
+// switch (CONTROL_MODE) {
+// case MODE_NO_ACT: {
+// V_out = 0.0f;
+// break;
+// }
+//
+// case MODE_VALVE_OPEN_LOOP: {
+// V_out = (float) Vout.ref;
+// break;
+// }
+//
+// default:
+// break;
+// }
+//
+// if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
+// else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
+// else V_out = 0.0f;
+//
+//
+// ////////////////////////////////////////////////////////////////////
+// /////////////////// PWM Command ///////////////////////////////////
+// ////////////////////////////////////////////////////////////////////
+//
+// 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);
+//
+// // Saturation of output voltage
+// 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);
+//
+// ////////////////////////////////////////////////////////////////////////////
+// ////////////////////// Data transmission through CAN //////////////////////
+// ////////////////////////////////////////////////////////////////////////////
+//
+// if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
+
+ // Position, Velocity, and Torque (ID:1200)
+ if (flag_data_request[0] == LOW) {
+
+ if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
+ CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
+// CAN_TX_POSITION_FT((int16_t) (PRES_B_VREF*10.0f*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (pres_B.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
+
+ } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
+ CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen));
+// CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (valve_pos_can*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
}
- case MODE_REF_FINDHOME: {
- pos.ref = REF_POSITION_FINDHOME;
- vel.ref = 0.0f;
- torq.ref = 0.0f;
- force.ref = 0.0f;
- break;
- }
- default:
- break;
- }
-
- if (((OPERATING_MODE&0b110)>>1) == 0) {
- K_v = 1.03f; // Q = K_v*sqrt(deltaP)*tanh(C_d*Xv);
- C_d = 0.16f;
- 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
- } else if (((OPERATING_MODE&0b110)>>1) == 2) {
- C_d = 0.0000845f; // Q = C_d * Valve_pos * sqrt(deltaP*alpha/(1+alpha)) : Valve_pos = 10000, deltaP = 70, alpha = 1 -> Q = 5
}
- // =====================================================================
- // CONTROL LOOP --------------------------------------------------------
- // =====================================================================
- 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;
+ // Valve Position (ID:1300)
+ if (flag_data_request[1] == HIGH) {
+ CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
+// CAN_TX_PWM((int16_t)(TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f));
}
- // UTILITY MODE ------------------------------------------------------------
- switch (UTILITY_MODE) {
- case MODE_NO_ACT: {
- break;
- }
-
- case MODE_TORQUE_SENSOR_NULLING: {
- static float FORCE_pulse_sum = 0.0;
- static float PresA_pulse_sum = 0.0;
- static float PresB_pulse_sum = 0.0;
-
- // DAC Voltage reference set
- float VREF_TuningGain = -0.000003f;
- if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
- LED = 1;
- if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
- FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
- if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
- float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
- FORCE_pulse_sum = 0.0f;
-
- FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
- if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
- if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
- dac_1 = FORCE_VREF / 3.3f;
- }
- } else if (SENSING_MODE == 1) { // Pressure Sensor
- PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
- PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
- if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
- float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
- float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
- PresA_pulse_sum = 0.0f;
- PresB_pulse_sum = 0.0f;
-
- PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
- if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
- if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
- dac_1 = PRES_A_VREF / 3.3f;
- PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
- if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
- if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
- dac_2 = PRES_B_VREF / 3.3f;
- }
- }
- TMR3_COUNT_TORQUE_NULL++;
- } else {
- if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
- FORCE_pulse_sum = 0.0f;
- dac_1 = FORCE_VREF / 3.3f;
- spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
- } else if (SENSING_MODE == 1) {
- PresA_pulse_sum = 0.0f;
- PresB_pulse_sum = 0.0f;
- dac_1 = PRES_A_VREF / 3.3f;
- dac_2 = PRES_B_VREF / 3.3f;
- spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
- spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
- }
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
- TMR3_COUNT_TORQUE_NULL = 0;
- }
- break;
- }
-
- case MODE_FIND_HOME: {
- static int cnt_findhome = 0;
- static int cnt_terminate_findhome = 0;
- static float FINDHOME_POSITION_pulse = 0.0f;
- static float FINDHOME_POSITION_pulse_OLD = 0.0f;
- static float FINDHOME_VELOCITY_pulse = 0.0f;
- static float REF_POSITION_FINDHOME_INIT = 0.0f;
- if (FINDHOME_STAGE == FINDHOME_INIT) {
- REFERENCE_MODE = MODE_REF_FINDHOME;
- cnt_findhome = 0;
- cnt_terminate_findhome = 0;
- pos.ref = pos.sen;
- vel.ref = 0.0f;
- REF_POSITION_FINDHOME = pos.ref;
- FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
- } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
- int cnt_check_enc = (TMR_FREQ_5k/20); // 5000/20 = 250tic = 50msec
- if(cnt_findhome%cnt_check_enc == 0) {
- FINDHOME_POSITION_pulse = pos.sen*ENC_PULSE_PER_POSITION;
- FINDHOME_VELOCITY_pulse = FINDHOME_POSITION_pulse - FINDHOME_POSITION_pulse_OLD;
- FINDHOME_POSITION_pulse_OLD = FINDHOME_POSITION_pulse;
- }
- cnt_findhome++;
-
- if (fabs(FINDHOME_VELOCITY_pulse) <= 1) {
- cnt_terminate_findhome = cnt_terminate_findhome + 1;
- } else {
- cnt_terminate_findhome = 0;
- }
-
- if ((cnt_terminate_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
- double GOTOHOME_SPEED = 10.0f; // 20mm/s or 20deg/s
- if (HOMEPOS_OFFSET > 0) {
- REF_POSITION_FINDHOME = REF_POSITION_FINDHOME + GOTOHOME_SPEED*DT_5k;
- } else {
- REF_POSITION_FINDHOME = REF_POSITION_FINDHOME - GOTOHOME_SPEED*DT_5k;
- }
- CONTROL_MODE = MODE_JOINT_CONTROL;
- alpha_trans = 0.0f;
- } else {
- ENC_SET((long)((long)HOMEPOS_OFFSET*10));
- REF_POSITION_FINDHOME_INIT = (float)((long)HOMEPOS_OFFSET*10);
- FINDHOME_POSITION_pulse = 0;
- FINDHOME_POSITION_pulse_OLD = 0;
- FINDHOME_VELOCITY_pulse = 0;
-
- cnt_findhome = 0;
- cnt_terminate_findhome = 0;
- pos.ref = 0.0f;
- FINDHOME_STAGE = FINDHOME_ZEROPOSE;
- }
- } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
-
-// int T_move = 2*TMR_FREQ_5k;
- int T_move = 10000;
- REF_POSITION_FINDHOME = ((0.0f - REF_POSITION_FINDHOME_INIT)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)REF_POSITION_FINDHOME_INIT)/ENC_PULSE_PER_POSITION;
-
- cnt_findhome++;
-
- REFERENCE_MODE = MODE_REF_FINDHOME;
- CONTROL_MODE = MODE_JOINT_CONTROL;
- alpha_trans = 0.0f;
-
- if (cnt_findhome >= T_move) {
- cnt_findhome = 0;
- pos.ref = 0.0f;
- FINDHOME_STAGE = FINDHOME_INIT;
- CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
- REFERENCE_MODE = MODE_REF_DIRECT;
- }
- }
- 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*3.14159f*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;
- }
- }
- VALVE_ELECTRIC_CENTER = VALVE_POS_VS_PWM[0];
- spi_eeprom_write(RID_VALVE_ELECTRIC_CENTER, (int16_t) VALVE_ELECTRIC_CENTER);
- spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
- spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
- for(int i=0; i<25; i++) {
- spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
- }
- ID_index = 0;
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
- }
-
-
- break;
+ // Others : Pressure A, B, Supply Pressure, etc. (for Debugging) (ID:1400)
+ if (flag_data_request[2] == HIGH) {
+ float valve_pos_can = 0.0f;
+ if(value >= VALVE_ELECTRIC_CENTER) {
+ valve_pos_can = 10000.0f*((float)value-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
+ } else {
+ valve_pos_can = -10000.0f*((float)value -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
}
- 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) 50.0f;
- } 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) 50.0f;
- 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) 50.0f;
- 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_raw.ref = DDV_POS_AVG;
- VALVE_POS_CONTROL(valve_pos_raw.ref);
-
- } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
- valve_pos_raw.ref = DDV_POS_AVG;
- VALVE_POS_CONTROL(valve_pos_raw.ref);
-
- } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
- valve_pos_raw.ref = DDV_POS_AVG;
- VALVE_POS_CONTROL(valve_pos_raw.ref);
- FINAL_POS = pos.sen;
-
- if((FINAL_POS - START_POS)>1) {
- DZ_case = 1;
- } else if((FINAL_POS - START_POS)<-1) {
- DZ_case = -1;
- } else {
- DZ_case = 0;
- }
-
- 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) 50.0f;
- } 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_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
- if(valve_pos_raw.ref <= VALVE_MIN_POS) {
- valve_pos_raw.ref = VALVE_MIN_POS;
- } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
- valve_pos_raw.ref = VALVE_MAX_POS;
- }
- VALVE_POS_CONTROL(valve_pos_raw.ref);
-
- } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
- Ref_Valve_Pos_Old = valve_pos_raw.ref;
- FINAL_POS = pos.sen;
-
- if((FINAL_POS - START_POS)>1) {
- DZ_DIRECTION = 1 * DZ_case;
- } else if((FINAL_POS - START_POS)<-1) {
- 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_raw.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) 50.0f;
- } 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_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
- if(valve_pos_raw.ref <= VALVE_MIN_POS) {
- valve_pos_raw.ref = VALVE_MIN_POS;
- } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
- valve_pos_raw.ref = VALVE_MAX_POS;
- }
- VALVE_POS_CONTROL(valve_pos_raw.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_raw.ref;
- FINAL_POS = pos.sen;
-
- if((FINAL_POS - START_POS)>1) {
- DZ_DIRECTION = 1 * DZ_case;
- } else if((FINAL_POS - START_POS)<-1) {
- 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_raw.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;
-
- spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
- spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
- spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
-
- 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) 50.0f;
- } 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_raw.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
- if(valve_pos_raw.ref <= VALVE_MIN_POS) {
- valve_pos_raw.ref = VALVE_MIN_POS;
- } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
- valve_pos_raw.ref = VALVE_MAX_POS;
- }
- VALVE_POS_CONTROL(valve_pos_raw.ref);
-
- } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
- Ref_Valve_Pos_Old = valve_pos_raw.ref;
- FINAL_POS = pos.sen;
-
- if((FINAL_POS - START_POS)>1) {
- DZ_DIRECTION = 1;
- } else if((FINAL_POS - START_POS)<-1) {
- DZ_DIRECTION = -1;
- } else {
- DZ_DIRECTION = 1;
- }
- VALVE_DZ_timer = 0;
- DZ_index= DZ_index *2;
- if(DZ_index >= 128) {
- FIRST_DZ = valve_pos_raw.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) 50.0f;
- } 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_raw.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
- if(valve_pos_raw.ref <= VALVE_MIN_POS) {
- valve_pos_raw.ref = VALVE_MIN_POS;
- } else if(valve_pos_raw.ref > VALVE_MAX_POS) {
- valve_pos_raw.ref = VALVE_MAX_POS;
- }
- VALVE_POS_CONTROL(valve_pos_raw.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_raw.ref;
- FINAL_POS = pos.sen;
-
- if((FINAL_POS - START_POS)>1) {
- DZ_DIRECTION = -1;
- } else if((FINAL_POS - START_POS)<-1) {
- DZ_DIRECTION = 1;
- } else {
- DZ_DIRECTION = 1;
- }
-
- VALVE_DZ_timer = 0;
- DZ_index= DZ_index *2;
- if(DZ_index >= 128) {
- SECOND_DZ = valve_pos_raw.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;
-
- spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
- spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
- spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
-
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
- DZ_index = 1;
- }
- }
- }
- }
- break;
+ float valve_pos_ref_can = 0.0f;
+ if(valve_pos.ref >= VALVE_ELECTRIC_CENTER) {
+ valve_pos_ref_can = 10000.0f*((float)valve_pos.ref-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
+ } else {
+ valve_pos_ref_can = -10000.0f*((float)valve_pos.ref -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
}
- case MODE_STEP_TEST: {
- float valve_pos_ref = 0.0f;
- if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
- valve_pos_ref = 0.0f;
- } else {
- valve_pos_ref = 10000.0f;
- }
- if(valve_pos_ref >= 0) {
- valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
- } else {
- valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
- }
-
- VALVE_POS_CONTROL(valve_pos_raw.ref);
-
- ref_array[cnt_step_test] = valve_pos_ref;
- if(value>=(float) VALVE_ELECTRIC_CENTER) {
- pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_ELECTRIC_CENTER);
- } else {
- pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_ELECTRIC_CENTER);
- }
-
- CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
- cnt_step_test++;
- if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
- buffer_data_size = cnt_step_test;
- cnt_step_test = 0;
- cnt_send_buffer = 0;
- CONTROL_UTILITY_MODE = MODE_SEND_OVER;
- CONTROL_MODE = MODE_NO_ACT;
- }
-// if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
-// {
-// CONTROL_UTILITY_MODE = MODE_NO_ACT;
-// CONTROL_MODE = MODE_NO_ACT;
-// CAN_TX_PWM((int16_t) (1)); //1300
-// }
+ valve_pos_ref_can = (float)valve_pos.ref;
- break;
- }
- case MODE_SEND_OVER: {
- CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
- CONTROL_MODE = MODE_NO_ACT;
- break;
- }
-
- case MODE_FREQ_TEST: {
- float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
- if(valve_pos_ref >= 0) {
- valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
- } else {
- valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
- }
-
- VALVE_POS_CONTROL(valve_pos_raw.ref);
-
- ref_array[cnt_freq_test] = valve_pos_ref;
- if(value>=(float) VALVE_ELECTRIC_CENTER) {
- pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_ELECTRIC_CENTER);
- } else {
- pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_ELECTRIC_CENTER);
- }
-
- CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
- cnt_freq_test++;
- if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
- buffer_data_size = cnt_freq_test;
- cnt_freq_test = 0;
- cnt_send_buffer = 0;
- freq_test_valve_ref = freq_test_valve_ref * 1.05f;
- if (freq_test_valve_ref >= 400) {
- CONTROL_UTILITY_MODE = MODE_NO_ACT;
- CONTROL_MODE = MODE_NO_ACT;
- CAN_TX_VOUT((int16_t) (1)); //1300
- }
- CONTROL_MODE = MODE_NO_ACT;
- CONTROL_UTILITY_MODE = MODE_SEND_OVER;
-
- }
- break;
- }
-
- default:
- break;
+ CAN_TX_CURRENT((int16_t) valve_pos_can, (int16_t) valve_pos_pulse_can);
}
- // 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_DZ(valve_pos.ref);
- V_out = Vout.ref;
- } else if (CURRENT_CONTROL_MODE == 0) { //PWM
- I_REF = valve_pos.ref;
- } else {
- I_REF = valve_pos.ref * 0.001f; // Unit : pulse >> mA
- float I_MAX = 10.0f; // Max : 10mA
- if (I_REF > I_MAX) {
- I_REF = I_MAX;
- } else if (I_REF < -I_MAX) {
- I_REF = -I_MAX;
- }
- }
- break;
- }
-
- case MODE_JOINT_CONTROL: {
-
- float temp_vel_pos = 0.0f; // desired velocity for position control
- float temp_vel_FT = 0.0f; // desired velocity for force/torque control
- float temp_vel_ff = 0.0f; // desired velocity for feedforward control
- float temp_vel = 0.0f;
-
- float wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
-
- pos.err = pos.ref - pos.sen; // Unit : mm or deg
- vel.err = vel.ref - vel.sen; // Unit : mm/s or deg/s
-
- // position control command ===============================================================================================================================================
- if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
- temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err) * PI / 180.0f; // rad/s
- // L when P-gain = 100, f_cut = 10Hz
- } else {
- temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
- // L when P-gain = 100, f_cut = 10Hz
- }
-
- // torque control command ===============================================================================================================================================
- float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
- K_LPF = (1.0f-alpha_SpringDamper) * K_LPF + alpha_SpringDamper * K_SPRING;
- D_LPF = (1.0f-alpha_SpringDamper) * D_LPF + alpha_SpringDamper * D_DAMPER;
-
- if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
- float torq_ref_act = torq.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : Nm
- torq.err = torq_ref_act - torq.sen;
- torq.err_int += torq.err/((float)TMR_FREQ_5k);
- temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * torq.err + I_GAIN_JOINT_TORQUE * torq.err_int); // Nm >> rad/s
- } else {
- float force_ref_act = force.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : N
- //////////////////////////////////////////////////force_reference_filter////////////////////////////////////////////////////////////////////
- float alpha_torque_ref = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*1.0f));
- force_ref_filter = (1.0f-alpha_torque_ref) * force_ref_filter + alpha_torque_ref * force_ref_act;
- ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
- force_ref_act_can = force_ref_filter;
- force.err = force_ref_filter - force.sen;
- force.err_int += force.err/((float)TMR_FREQ_5k);
- temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * force.err + I_GAIN_JOINT_TORQUE * force.err_int); // N >> mm/s
- }
-
-
- // velocity feedforward command ========================================================================================================================================
- if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
- temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref * PI / 180.0f; // rad/s
- } else {
- temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref; // mm/s
- }
-
- // command integration =================================================================================================================================================
- temp_vel = (1.0f - alpha_trans) * temp_vel_pos + alpha_trans * temp_vel_FT + temp_vel_ff; // Position Control + Torque Control + Velocity Feedforward
-
- float Qact = 0.0f; // required flow rate
- float valve_pos_pulse = 0.0f;
- if( temp_vel > 0.0f ) {
- Qact = temp_vel * ((float)PISTON_AREA_A * 0.00006f); // mm^3/sec >> LPM
- if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
- I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f))))/C_d;
-// I_REF = Qact*2.0f;
- } else { // SW valve
- valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)));
- }
- } else {
- Qact = temp_vel * ((float)PISTON_AREA_B * 0.00006f); // mm^3/sec >> LPM
- if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
- I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f))))/C_d;
-// I_REF = Qact*2.0f;
- } else { // SW valve
- valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)));
- }
- }
-
-
-
-
- if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
-
- float I_MAX = 10.0f; // Maximum Current : 10mA
- // Anti-windup for FT
- // if (I_GAIN_JOINT_TORQUE != 0.0f) {
- if (I_GAIN_JOINT_TORQUE > 0.001f) {
- float Ka = 2.0f;
- if (I_REF > I_MAX) {
- float I_rem = I_REF - I_MAX;
- I_REF = I_MAX;
- float temp_vel_rem = K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
- torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
- } else if (I_REF < -I_MAX) {
- double I_rem = I_REF - (-I_MAX);
- I_REF = -I_MAX;
- float temp_vel_rem = K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
- torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
- }
- } else {
- if(I_REF > I_MAX) {
- I_REF = I_MAX;
- } else if (I_REF < -I_MAX) {
- I_REF = -I_MAX;
- }
- }
- } else { //SW valve
- float Valve_pos_MAX = 10000.0f; // Maximum Valve Pos : 10000
- // Anti-windup for FT
- // if (I_GAIN_JOINT_TORQUE != 0.0f) {
- if (I_GAIN_JOINT_TORQUE > 0.001f) {
- float Ka = 2.0f;
- if (valve_pos_pulse > Valve_pos_MAX) {
- float valve_pos_rem = valve_pos_pulse - Valve_pos_MAX;
- valve_pos_pulse = Valve_pos_MAX;
- float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
- torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
- } else if (valve_pos_pulse < -Valve_pos_MAX) {
- double valve_pos_rem = valve_pos_pulse - (-Valve_pos_MAX);
- valve_pos_pulse = -Valve_pos_MAX;
- float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
- torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
- }
- } else {
- if(valve_pos_pulse > 10000.0f) {
- valve_pos_pulse = 10000.0f;
- } else if(valve_pos_pulse < -10000.0f) {
- valve_pos_pulse = -10000.0f;
- }
- }
-// if (valve_pos_pulse >= 0) {
-// valve_pos.ref = valve_pos_pulse/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
-// } else {
-// valve_pos.ref = -valve_pos_pulse/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
-// }
- VALVE_POS_CONTROL_DZ(valve_pos_pulse);
- V_out = Vout.ref;
- }
- break;
- }
-
- case MODE_VALVE_OPEN_LOOP: {
- V_out = (float) Vout.ref;
- break;
- }
-
-// case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
-//
-// float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
-// float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
-//
-// V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
-//
-// //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
-// float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
-//
-// float g3_prime = 0.0f;
-// if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
-// g3_prime = 1.0f;
-// } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
-// g3_prime = -1.0f;
-// } else {
-// if ((value-VALVE_CENTER) > 0) {
-// g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
-//// g3_prime = sqrt(Ps-Pt);
-// } else {
-// g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
-//// g3_prime = sqrt(Ps-Pt);
-// }
-// }
-// float tau = 0.01f;
-// float K_valve = 0.0004f;
-//
-// float x_v = 0.0f; //x_v : -1~1
-// if(value>=VALVE_CENTER) {
-// x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
-// } else {
-// x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
-// }
-// float f4 = -x_v/tau;
-// float g4 = K_valve/tau;
-//
-// float torq_ref_dot = torq.ref_diff * 500.0f;
-//
-// pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
-// vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
-// pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
-//
-// torq.err = torq.ref - torq.sen; //[N]
-// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
-//
-// float k3 = 2000.0f; //2000 //20000
-// float k4 = 10.0f;
-// float rho3 = 3.2f;
-// float rho4 = 10000000.0f; //25000000.0f;
-// float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
-// if (x_4_des > 1) x_4_des = 1;
-// else if (x_4_des < -1) x_4_des = -1;
-//
-// if (x_4_des > 0) {
-// valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
-// } else {
-// valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
-// }
-//
-// float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
-// x_4_des_old = x_4_des;
-// V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
-//
-// float rho_a = 0.00001f;
-// float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
-// a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
-//
-// if(a_hat > -3000000.0f) a_hat = -3000000.0f;
-// else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
-//
-// break;
-// }
-
- 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;
-
- if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
- else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
- else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
-
- I_ERR = I_REF_fil_DZ - (double)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 * 100.0f;
- 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;
- I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
- I_REF_fil_old = I_REF_fil_DZ;
-// 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_DZ); // Unit : mV
- double V_MAX = VALVE_VOLTAGE_LIMIT*1000.0f; // 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;
- I_ERR_INT = I_ERR_INT - V_rem;
- } 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;
- I_ERR_INT = I_ERR_INT - V_rem;
- }
- } else {
- VALVE_PWM_RAW = I_REF * mV_PER_mA;
- }
-
- ////////////////////////////////////////////////////////////////////////////
- ///////////////// Dead Zone Cancellation & Linearization //////////////////
- ////////////////////////////////////////////////////////////////////////////
-
- // Output Voltage Linearization
- double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
- double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
-
- // Dead Zone Cancellation (Electrical dead-zone)
- if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
- else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
- else V_out = (float) (CUR_PWM_lin);
-
- } else { //////////////////////////sw valve
- // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
- if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
- else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
- else V_out = 0.0f;
- }
-
- ////////////////////////////////////////////////////////////////////
- /////////////////// PWM Command ///////////////////////////////////
- ////////////////////////////////////////////////////////////////////
- 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);
-
- // Saturation of output voltage
- 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);
-
- ////////////////////////////////////////////////////////////////////////////
- ////////////////////// Data transmission through CAN //////////////////////
- ////////////////////////////////////////////////////////////////////////////
-
- 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
- CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
-// CAN_TX_POSITION_FT((int16_t) (PRES_B_VREF*10.0f*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (pres_B.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
-
- } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
- CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
-// CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (valve_pos_can*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
- }
- }
-
- // Valve Position (ID:1300)
- if (flag_data_request[1] == HIGH) {
- CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
-// CAN_TX_PWM((int16_t)(alpha3));
- }
-
- // Others : Pressure A, B, Supply Pressure, etc. (for Debugging) (ID:1400)
- if (flag_data_request[2] == HIGH) {
- float valve_pos_can = 0.0f;
- if(value >= VALVE_ELECTRIC_CENTER) {
- valve_pos_can = 10000.0f*((float)value-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
- } else {
- valve_pos_can = -10000.0f*((float)value -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
- }
- float valve_pos_ref_can = 0.0f;
- if(valve_pos.ref >= VALVE_ELECTRIC_CENTER) {
- valve_pos_ref_can = 10000.0f*((float)valve_pos.ref-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
- } else {
- valve_pos_ref_can = -10000.0f*((float)valve_pos.ref -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
- }
-
- valve_pos_ref_can = (float)valve_pos.ref;
-
- CAN_TX_CURRENT((int16_t) valve_pos_can, (int16_t) force_ref_act_can);
- }
-
- TMR2_COUNT_CAN_TX = 0;
- }
+ TMR2_COUNT_CAN_TX = 0;
+// }
TMR2_COUNT_CAN_TX++;
}
TIM3->SR = 0x0; // reset the status register
-}
\ No newline at end of file
+}
+
+//
+//float FREQ_TMR2 = (float)FREQ_400k;
+//float DT_TMR2 = (float)DT_400k;
+//int TMR2_timer = 0;
+//int toggle_old = 0;
+//
+//float LVDT_new = 0.0f;
+//float LVDT_old = 0.0f;
+//float LVDT_f_cut = 1000.0f;
+//float LVDT_LPF = 0.0f;
+//float LVDT_sum = 0.0f;
+//
+//extern "C" void TIM2_IRQHandler(void)
+//{
+// if (TIM2->SR & TIM_SR_UIF ) {
+//// if (LED > 0) LED = 0;
+//// else LED = 1;
+//// LED = 1;
+//
+// if (toggle != toggle_old) {
+// TMR2_timer = 0;
+// LVDT_LPF = 0.0f;
+// LVDT_sum = 0.0f;
+//// if (LED > 0) LED = 0;
+//// else LED = 1;
+// }
+//
+// if (TMR2_timer >= 6 && TMR2_timer <=45) {
+//// if (TMR2_timer >= 6 && TMR2_timer <=25) {
+//// if (LED > 0) LED = 0;
+//// else LED = 1;
+//// LED = 0;
+// ADC1->CR2 |= 0x40000000;
+// LVDT_new = ((float)ADC1->DR) - 2047.5f;
+// if (ADC1->SR &= ~(ADC_SR_EOC)) {
+//// if (LED > 0) LED = 0;
+//// else LED = 1;
+//// LED = 1;
+// }
+//// float alpha_update = 1.0f / (1.0f + FREQ_TMR2 / (2.0f * 3.14f * LVDT_f_cut)); // f_cutoff : 100Hz
+//// LVDT_LPF = (1.0f - alpha_update) * LVDT_LPF + alpha_update * LVDT_new;
+//// LVDT_sum = LVDT_sum + LVDT_LPF;
+// LVDT_sum = LVDT_sum + LVDT_new;
+//
+//// force.UpdateSen((((float)ADC1->DR) - 2047.5f), FREQ_TMR2, 100.0f); // unit : N
+//// this->sen_diff = (sen_new-this->sen)*Freq_update;
+//// float alpha_update = 1.0f / (1.0f + Freq_update / (2.0f * 3.14f * f_cut)); // f_cutoff : 100Hz
+//// this->sen = (1.0f - alpha_update) * this->sen + alpha_update * sen_new;
+//// force.sen = LVDT_new;
+// }
+//
+// else if (TMR2_timer == 46) { //46
+//// if (TMR2_timer == 50) {
+//// LED = 1;
+//// ADC1->CR2 |= 0x40000000;
+//// LVDT_new = ((float)ADC1->DR) - 2047.5f;
+//// force.sen = LVDT_new;
+// force.sen = LVDT_sum * 0.025f;
+//// force.sen = LVDT_sum;
+//
+//// ADC1->CR2 |= 0x40000000;
+//// LVDT_new = ((float)ADC1->DR) - 2047.5f;
+//// force.sen = LVDT_new;
+//// force.UpdateSen(LVDT_sum * 0.025f, 1000.0f, 10.0f);
+//// LED = 0;
+// }
+//// LED = 0;
+// toggle_old = toggle;
+// TMR2_timer++;
+// }
+// TIM2->SR = 0x0; // reset the status register
+//
+//}
\ No newline at end of file