![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
LIGHT2
main.cpp
- Committer:
- Lightvalve
- Date:
- 2020-06-08
- Revision:
- 74:2bd13b02ed17
- Parent:
- 73:f80dc3970c99
- Child:
- 75:fd59821a2b84
File content as of revision 74:2bd13b02ed17:
//200522-1 #include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" #include "function_CAN.h" #include "SPI_EEP_ENC.h" #include "I2C_AS5510.h" #include "setting.h" #include "function_utilities.h" #include "stm32f4xx_flash.h" #include "FlashWriter.h" using namespace std; Timer t; ///191008//// // dac & check /////////////////////////////////////////// DigitalOut check(PC_2); DigitalOut check_2(PC_3); AnalogOut dac_1(PA_4); AnalogOut dac_2(PA_5); AnalogIn adc1(PC_4); //pressure_1 AnalogIn adc2(PB_0); //pressure_2 AnalogIn adc3(PC_1); //current // PWM /////////////////////////////////////////// float dtc_v=0.0f; float dtc_w=0.0f; // I2C /////////////////////////////////////////// I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) const int i2c_slave_addr1 = 0x56; unsigned int value; // 10bit output of reading sensor AS5510 // SPI /////////////////////////////////////////// //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); //DigitalOut eeprom_cs(PB_12); //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector SPI enc(PC_12,PC_11,PC_10); DigitalOut enc_cs(PD_2); DigitalOut LED(PA_15); // UART /////////////////////////////////////////// Serial pc(PA_9,PA_10); // _ UART // CAN /////////////////////////////////////////// CAN can(PB_8, PB_9, 1000000); CANMessage msg; void onMsgReceived() { CAN_RX_HANDLER(); } // Variables /////////////////////////////////////////// State pos; State vel; State Vout; State torq; State pres_A; State pres_B; State cur; State valve_pos; State INIT_Vout; State INIT_Valve_Pos; State INIT_Pos; State INIT_torq; extern int CID_RX_CMD; extern int CID_RX_REF_POSITION; extern int CID_RX_REF_VALVE_POS; extern int CID_RX_REF_PWM; extern int CID_TX_INFO; extern int CID_TX_POSITION; extern int CID_TX_TORQUE; extern int CID_TX_PRES; extern int CID_TX_VOUT; extern int CID_TX_VALVE_POSITION; // ============================================================================= // ============================================================================= // ============================================================================= /******************************************************************************* * REFERENCE MODE ******************************************************************************/ enum _REFERENCE_MODE { MODE_REF_NO_ACT = 0, //0 MODE_REF_DIRECT, //1 MODE_REF_COS_INC, //2 MODE_REF_LINE_INC, //3 MODE_REF_SIN_WAVE, //4 MODE_REF_SQUARE_WAVE, //5 }; /******************************************************************************* * CONTROL MODE ******************************************************************************/ enum _CONTROL_MODE { //control mode MODE_NO_ACT = 0, //0 MODE_VALVE_POSITION_CONTROL, //1 MODE_JOINT_CONTROL, //2 MODE_VALVE_OPEN_LOOP, //3 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 MODE_TEST_CURRENT_CONTROL, //9 MODE_TEST_PWM_CONTROL, //10 MODE_CURRENT_CONTROL, //11 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 //utility MODE_TORQUE_SENSOR_NULLING = 20, //20 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 MODE_FIND_HOME, //22 MODE_VALVE_GAIN_SETTING, //23 MODE_PRESSURE_SENSOR_NULLING, //24 MODE_PRESSURE_SENSOR_CALIB, //25 MODE_ROTARY_FRICTION_TUNING, //26 MODE_DDV_POS_VS_PWM_ID = 30, //30 MODE_DDV_DEADZONE_AND_CENTER, //31 MODE_DDV_POS_VS_FLOWRATE, //32 MODE_SYSTEM_ID, //33 }; void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the CPU, AHB and APB busses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = 8;//8 RCC_OscInitStruct.PLL.PLLN = 180; //180 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 2; RCC_OscInitStruct.PLL.PLLR = 2; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { //Error_Handler(); } /** Activate the Over-Drive mode */ if (HAL_PWREx_EnableOverDrive() != HAL_OK) { //Error_Handler(); } /** Initializes the CPU, AHB and APB busses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { //Error_Handler(); } } float x_past[num_array_x_past] = {0.0f}; float f_past[num_array_f_past] = {0.0f}; float f_future[num_array_f_future] = {0.0f}; float input_NN[num_input] = { 0.0f }; const float h1[num_input][32] = { {-1.4743009805679321f,0.5129876136779785f,0.11174947023391724f,-0.8039280772209167f,-1.4637694358825684f,0.2011072337627411f,-0.4892384707927704f,0.04396459832787514f,1.085688829421997f,-0.05325494706630707f,-0.22208644449710846f,-0.3191893994808197f,-0.20386390388011932f,0.05593113601207733f,-0.2227066308259964f,6.312101364135742f,0.25240346789360046f,0.26314130425453186f,0.8665339350700378f,0.6219818592071533f,-0.35327082872390747f,0.11287471652030945f,-0.35108765959739685f,-0.08360615372657776f,1.257103443145752f,0.19390198588371277f,-0.18648496270179749f,-0.8695134520530701f,-0.21997424960136414f,-0.19833232462406158f,-2.7575714588165283f,0.6486210227012634f}, {-1.1757118701934814f,0.12839122116565704f,0.31515684723854065f,-0.6841540932655334f,-0.915271520614624f,0.1183541864156723f,0.056923795491456985f,-0.2998160421848297f,0.36409735679626465f,0.16462896764278412f,-0.3454630970954895f,-0.7605596780776978f,0.022385627031326294f,0.02863398753106594f,0.0484127402305603f,2.5534121990203857f,0.010308381170034409f,0.06643325090408325f,0.9567005634307861f,0.5384038686752319f,-0.03268212080001831f,-0.12745296955108643f,-0.10032522678375244f,0.29246577620506287f,0.8747367858886719f,0.3099159896373749f,0.1338752806186676f,-0.2527216970920563f,-0.4574125111103058f,0.10351350903511047f,-2.7833352088928223f,0.5054405331611633f}, {-0.5683897137641907f,0.2656513452529907f,-0.0044558048248291016f,-0.21147896349430084f,-0.7794276475906372f,-0.013845936395227909f,0.039425864815711975f,-0.11728266626596451f,0.5722947120666504f,0.11653844267129898f,0.22880631685256958f,0.1579059511423111f,-0.034644484519958496f,0.09351001679897308f,-0.33472365140914917f,1.067907452583313f,0.47883161902427673f,-0.28053343296051025f,0.7248943448066711f,0.3842637836933136f,0.23385211825370789f,-0.16158531606197357f,0.14301708340644836f,-0.2602297365665436f,0.22610950469970703f,0.15341529250144958f,-0.1637192666530609f,-0.15414339303970337f,-0.43524667620658875f,0.31950315833091736f,-0.6749447584152222f,-0.19309589266777039f}, {-0.4968480169773102f,0.23193597793579102f,-0.2166784107685089f,-1.2506850957870483f,-0.5807672739028931f,0.030595412477850914f,0.10711639374494553f,-0.08740954846143723f,1.1079471111297607f,0.07859555631875992f,0.0327354334294796f,1.6716376543045044f,-0.12461960315704346f,0.287179172039032f,-0.13525955379009247f,-2.4392662048339844f,0.03383607044816017f,-0.25070422887802124f,0.2708638608455658f,0.09013785421848297f,-0.26321321725845337f,-0.09280073642730713f,-0.15524277091026306f,-0.30760157108306885f,-0.18088741600513458f,0.1494223177433014f,0.1411983072757721f,-0.2969694137573242f,0.302108496427536f,0.13963142037391663f,2.0767455101013184f,-0.3507152497768402f}, {0.16876094043254852f,0.19978192448616028f,0.0887511670589447f,-1.0986404418945312f,0.4139440059661865f,-0.2392287701368332f,0.16121691465377808f,-0.44852307438850403f,0.03384576365351677f,0.3186657726764679f,-0.37815555930137634f,2.00061297416687f,0.2231200635433197f,0.21527090668678284f,-0.2646164298057556f,-7.642004489898682f,-0.289411336183548f,-0.19455955922603607f,0.23188632726669312f,-0.39471757411956787f,0.14516910910606384f,0.24891802668571472f,-0.2589884400367737f,-0.07870301604270935f,0.1912648230791092f,-0.3615073263645172f,0.04281669855117798f,-0.3090411424636841f,0.5239861607551575f,-0.17222367227077484f,2.9128549098968506f,-0.9137210249900818f}, {2.9420602321624756f,-1.9236931800842285f,0.3220093548297882f,3.0883901119232178f,2.7083637714385986f,-0.4282852113246918f,0.272231787443161f,-0.8573805093765259f,-3.2694284915924072f,0.038693975657224655f,0.14920851588249207f,-2.943453550338745f,-0.033180445432662964f,0.09167464077472687f,0.2311277687549591f,-5.281419277191162f,-0.9328039884567261f,-0.3372360169887543f,-3.3255960941314697f,-1.4718525409698486f,0.14268693327903748f,-0.010211020708084106f,0.13283005356788635f,0.3492297828197479f,-2.4515299797058105f,0.2196546494960785f,-0.3087477684020996f,1.174128770828247f,0.4970226585865021f,-0.0013858675956726074f,0.833534836769104f,-0.9397740960121155f}, {-0.12289532274007797f,-0.4230583608150482f,0.17188844084739685f,-0.15714119374752045f,0.5515309572219849f,-0.07132183760404587f,-0.3243871033191681f,0.5124150514602661f,-0.032863590866327286f,-0.16425874829292297f,-0.2072129100561142f,-0.33001554012298584f,0.10405707359313965f,-0.09359996765851974f,-0.19284740090370178f,0.5706704258918762f,-0.4931461215019226f,-0.08617988228797913f,0.11932601779699326f,-0.24879246950149536f,-0.17120671272277832f,-0.18692201375961304f,-0.27713942527770996f,-0.25876912474632263f,-0.21630950272083282f,-0.1639401763677597f,-0.11886438727378845f,-0.3469441533088684f,-0.10149825364351273f,-0.03679269552230835f,0.5045844912528992f,-0.977185845375061f}, {0.5713993310928345f,-1.6763008832931519f,0.17564991116523743f,0.011013035662472248f,1.9154878854751587f,0.1794796884059906f,0.007752325851470232f,-0.33416134119033813f,0.8769769668579102f,0.06824252754449844f,-0.40794607996940613f,-0.9671597480773926f,0.11404365301132202f,-0.10507532954216003f,0.05785831809043884f,-1.513221025466919f,-0.22412481904029846f,-0.3020205795764923f,-0.7890581488609314f,0.10669976472854614f,-0.07841125130653381f,0.023927748203277588f,-0.13482488691806793f,-0.030016034841537476f,-1.2900556325912476f,0.01873531937599182f,-0.3603379428386688f,0.05125556141138077f,-0.5910242199897766f,0.004555642604827881f,-0.7323960065841675f,0.20214247703552246f}, {0.24793101847171783f,-1.4586869478225708f,0.14468064904212952f,0.3319012522697449f,0.8812659382820129f,0.05334705114364624f,-0.04154440015554428f,-0.34890323877334595f,-0.044500451534986496f,0.06494580209255219f,-0.49450263381004333f,-0.628044843673706f,0.1213512122631073f,0.23872517049312592f,0.2548488676548004f,-0.22817519307136536f,-0.1392069309949875f,0.0635470449924469f,-0.20736227929592133f,-0.24837639927864075f,-0.31974175572395325f,-0.023564070463180542f,-0.3126928508281708f,0.08913204073905945f,-1.8285082578659058f,-0.08672919869422913f,-0.0939876139163971f,0.3397037386894226f,-0.42580682039260864f,-0.1258344054222107f,-1.2035561800003052f,0.18924254179000854f}, {-0.8917240500450134f,-0.5649289488792419f,-0.257980614900589f,0.41589778661727905f,-0.01692057028412819f,-0.5954352021217346f,0.224609375f,-1.0152932405471802f,-0.7272727489471436f,0.01305420882999897f,-0.5203432440757751f,-0.055205944925546646f,0.0886462926864624f,0.07924339175224304f,-0.28265631198883057f,-0.26041340827941895f,0.2794317305088043f,0.3503457009792328f,0.15961854159832f,-0.25049272179603577f,-0.21211731433868408f,0.17289242148399353f,-0.12325988709926605f,-0.3394215703010559f,-0.8481871485710144f,0.05944719910621643f,0.1433921754360199f,-0.04261259734630585f,-0.394834965467453f,0.3204980194568634f,-1.9986618757247925f,0.6730575561523438f}, {-0.8341559171676636f,-0.2684621214866638f,-0.07026931643486023f,0.397159218788147f,-0.6981339454650879f,-1.0095140933990479f,0.10773017257452011f,-1.0076252222061157f,-0.3853195011615753f,-0.2796121835708618f,-0.4985242187976837f,-0.2273145616054535f,-0.1888507455587387f,0.24816296994686127f,0.018085569143295288f,-0.17053034901618958f,-0.39020341634750366f,-0.2574009597301483f,0.5353179574012756f,-0.26301470398902893f,0.1791209876537323f,-0.267413854598999f,0.2530073821544647f,0.011960417032241821f,-0.2924850881099701f,0.10836628079414368f,0.0850057601928711f,-0.7916872501373291f,-0.04914750158786774f,0.03124985098838806f,-0.9435319304466248f,0.48992300033569336f}, {-0.3354490399360657f,1.3082547187805176f,-0.32509708404541016f,0.5868008732795715f,-3.189622402191162f,-0.6864910125732422f,-0.22981266677379608f,0.5166454315185547f,-0.39996400475502014f,0.30386364459991455f,0.14804117381572723f,-0.8406718969345093f,-0.039651691913604736f,-0.19651031494140625f,-0.3158351480960846f,2.5244858264923096f,-0.003066816832870245f,-0.1921754628419876f,0.05344792827963829f,-0.761264443397522f,0.30605974793434143f,0.24016639590263367f,-0.2466658353805542f,0.34621962904930115f,-0.22689533233642578f,0.22247567772865295f,0.35698744654655457f,-0.4441293776035309f,-0.03363892063498497f,0.1561911404132843f,2.4612081050872803f,0.48685315251350403f}, }; const float h2[32][32] = { {-0.13349971175193787f,-0.10295046865940094f,-0.04925942420959473f,1.280124545097351f,-0.15490937232971191f,0.033856622874736786f,-0.04081379994750023f,-0.005485334899276495f,-0.30411389470100403f,-0.10008957982063293f,-1.2587801218032837f,-0.6670481562614441f,-0.05967569723725319f,0.3004262149333954f,-0.25955256819725037f,-0.7483679056167603f,0.07803884148597717f,-0.21483641862869263f,-0.23970496654510498f,-0.001161460648290813f,0.16521166265010834f,0.5674102902412415f,-0.349931538105011f,1.3549039363861084f,-1.7240166664123535f,-5.456592082977295f,1.5738717317581177f,-0.558826208114624f,0.23828622698783875f,0.11771553754806519f,-0.24613501131534576f,-0.2100168615579605f}, {-0.16083313524723053f,0.002147972583770752f,-0.04321768879890442f,0.6211387515068054f,0.039372533559799194f,-0.2222750335931778f,-0.3284362256526947f,-0.05986310541629791f,0.24677053093910217f,0.048597872257232666f,0.8936637043952942f,-0.2483992576599121f,0.09942688047885895f,0.2011941522359848f,-0.7357266545295715f,-0.017485879361629486f,0.056778669357299805f,-0.2737269401550293f,-0.4300925135612488f,0.2086859494447708f,1.1059287786483765f,-0.21067720651626587f,-0.19336271286010742f,1.102860689163208f,0.7933023571968079f,1.338315486907959f,0.6721952557563782f,0.07338664680719376f,-0.28620439767837524f,-0.0511949360370636f,0.19307708740234375f,0.0498574897646904f}, {-0.1579037755727768f,0.28447648882865906f,-0.1789936125278473f,0.20799604058265686f,0.025723248720169067f,0.17740526795387268f,-0.1666354387998581f,-0.06060470640659332f,-0.017253071069717407f,-0.2790656089782715f,-0.16800916194915771f,-0.2990717589855194f,0.07126197218894958f,-0.08032660186290741f,-0.1799015998840332f,-0.1891922950744629f,0.2556300461292267f,0.2080206573009491f,-0.24888339638710022f,0.27691522240638733f,-0.21319638192653656f,-0.14012537896633148f,-0.30466505885124207f,-0.013728171586990356f,-0.1629670113325119f,0.2530798614025116f,0.0633285641670227f,0.0011726915836334229f,-0.14820529520511627f,0.2823629677295685f,0.10884168744087219f,-0.2637729346752167f}, {-0.12927524745464325f,-0.01806354522705078f,-0.23058539628982544f,0.63189697265625f,-0.27190759778022766f,-0.3730033040046692f,-0.8115553259849548f,0.08093426376581192f,-0.06944303214550018f,0.09271347522735596f,-2.722224473953247f,-1.2269439697265625f,-0.3049498200416565f,1.2689456939697266f,-2.805372953414917f,-0.9663218855857849f,0.10996055603027344f,0.24023392796516418f,-0.03543578460812569f,-0.21188944578170776f,0.4769108295440674f,0.48317280411720276f,-0.197353333234787f,-1.7239737510681152f,-3.9676356315612793f,-2.5667073726654053f,1.1999430656433105f,-0.3867886960506439f,-0.22396358847618103f,0.2546447217464447f,0.03394383192062378f,0.11225764453411102f}, {-0.18258020281791687f,0.2506926953792572f,-0.0804666131734848f,0.5413139462471008f,0.02918580174446106f,-0.49598148465156555f,-1.1662700176239014f,-0.03175133466720581f,0.043158918619155884f,-0.2690317630767822f,-4.98800802230835f,-0.5678669810295105f,-0.3901797831058502f,-1.0370582342147827f,0.8740242719650269f,-0.5537750124931335f,-0.10307048261165619f,0.15626338124275208f,-0.3072211444377899f,0.009028329513967037f,-0.5639596581459045f,0.6691295504570007f,0.033467549830675125f,-0.9125944375991821f,-6.715816020965576f,-4.310957908630371f,-3.061199426651001f,0.03134983405470848f,0.2695164978504181f,-0.16498444974422455f,0.008398771286010742f,-0.17998085916042328f}, {-0.19158349931240082f,-0.004258692264556885f,0.032371193170547485f,-0.5128591656684875f,-0.023485273122787476f,-0.29336631298065186f,0.01052588690072298f,-0.14440131187438965f,-0.03548547625541687f,0.08825305104255676f,-0.4387255609035492f,0.23733142018318176f,-0.2578849494457245f,-0.3745420277118683f,-0.6291588544845581f,-0.19938604533672333f,0.2371552288532257f,0.24713221192359924f,0.24441927671432495f,0.1610240638256073f,-0.15116243064403534f,0.17496362328529358f,-0.1307595670223236f,-0.10037604719400406f,-0.873717188835144f,-0.3710215985774994f,-0.3427795171737671f,-0.1499081701040268f,0.05800282955169678f,-0.26823562383651733f,0.17187702655792236f,0.14048008620738983f}, {-0.21433322131633759f,-0.1279313862323761f,-0.11171227693557739f,0.06155899912118912f,-0.26441383361816406f,0.2845393121242523f,-0.2515186071395874f,-0.20844537019729614f,-0.26620519161224365f,0.17144301533699036f,0.3298402428627014f,-0.4031357765197754f,0.1674382984638214f,-0.29719820618629456f,-0.29265671968460083f,-0.0012210176791995764f,-0.16153597831726074f,0.18742787837982178f,-0.13913598656654358f,0.07254640012979507f,-0.04236830025911331f,-0.05135415494441986f,-0.07988794147968292f,-0.12543122470378876f,-1.5133941173553467f,-0.2034493237733841f,-0.85774827003479f,-0.20926140248775482f,-0.11822041869163513f,0.19546762108802795f,-0.16657039523124695f,-0.05115969106554985f}, {0.29264822602272034f,0.11346611380577087f,0.04012581706047058f,0.05740009993314743f,0.22828009724617004f,-0.19018054008483887f,-1.1535316705703735f,0.004197537899017334f,0.2864855229854584f,0.01006925106048584f,-2.4678680896759033f,-0.18147850036621094f,-0.09209762513637543f,-0.12303187698125839f,0.10314933955669403f,-0.3363741934299469f,-0.2721019387245178f,0.2706601917743683f,-0.0892624482512474f,-0.14332403242588043f,0.4582879841327667f,-0.035549718886613846f,-0.07979777455329895f,0.4704812467098236f,-0.40594908595085144f,-1.0037224292755127f,0.032436054199934006f,-0.19364362955093384f,-0.14135785400867462f,0.07403197884559631f,0.16089555621147156f,0.048968520015478134f}, {0.28564146161079407f,0.2890130579471588f,-0.021617114543914795f,-4.92688512802124f,0.29321715235710144f,-0.06674496084451675f,-1.487597107887268f,-0.321830689907074f,0.29470762610435486f,-0.06864601373672485f,-5.173375606536865f,0.002959294244647026f,0.24146446585655212f,-5.726869106292725f,3.857992649078369f,0.9529374837875366f,0.046292245388031006f,0.06025278568267822f,-0.10487136989831924f,0.23163233697414398f,2.1643824577331543f,-4.656379699707031f,0.2240782380104065f,2.6730458736419678f,-3.7491800785064697f,-13.209855079650879f,-4.503188610076904f,0.3439862132072449f,0.2501918375492096f,-0.14010676741600037f,-0.24744901061058044f,-0.2297639101743698f}, {0.2615049183368683f,0.08643358945846558f,-0.29237738251686096f,-0.18468749523162842f,0.15896368026733398f,-0.0771239846944809f,0.24178484082221985f,-0.15540927648544312f,0.18755429983139038f,-0.07031691074371338f,-0.0023797275498509407f,-0.04990173503756523f,0.12828806042671204f,0.06089276820421219f,-0.03952138125896454f,0.2214757651090622f,-0.015168905258178711f,-0.2859399914741516f,-0.28549692034721375f,-0.21494735777378082f,0.1105470135807991f,0.09635812044143677f,-0.2307620644569397f,0.12914128601551056f,0.013601277023553848f,-0.24831965565681458f,0.16286678612232208f,0.021540671586990356f,0.2113950550556183f,0.0796298086643219f,-0.0010054409503936768f,-0.31507372856140137f}, {0.19981321692466736f,0.1956864297389984f,-0.033508092164993286f,-0.19836680591106415f,-0.12505969405174255f,0.026693344116210938f,0.07105929404497147f,0.14285165071487427f,-0.17670965194702148f,0.17403557896614075f,-0.19787709414958954f,0.11202842742204666f,-0.1060299277305603f,-0.027757909148931503f,-0.18809202313423157f,0.08140740543603897f,0.03990337252616882f,0.0716913640499115f,0.14590968191623688f,-0.09631559252738953f,0.24046443402767181f,0.09466715902090073f,0.07470300793647766f,0.3032955527305603f,0.048368096351623535f,0.0733884871006012f,0.01948792301118374f,-0.24866564571857452f,0.13817378878593445f,0.17853263020515442f,-0.009185433387756348f,-0.04189503565430641f}, {-0.2546439468860626f,-0.09556084871292114f,0.12328919768333435f,0.10234541445970535f,-0.258735328912735f,0.025906238704919815f,-0.9940283894538879f,-0.17878928780555725f,0.17735600471496582f,0.009893029928207397f,-1.1969135999679565f,-0.047880250960588455f,-0.15203486382961273f,-0.9826857447624207f,0.6386008858680725f,1.2214031219482422f,0.009990394115447998f,0.10842388868331909f,0.043476805090904236f,0.17412154376506805f,-2.0741512775421143f,-1.7650431394577026f,-0.022295136004686356f,4.355454444885254f,-1.875421404838562f,-9.219999313354492f,-0.3823656439781189f,0.015691721811890602f,-0.288028746843338f,-0.2434448003768921f,0.17687886953353882f,0.2669908106327057f}, {-0.08816954493522644f,0.2728963792324066f,-0.07170480489730835f,0.1482785940170288f,0.07727676630020142f,0.20119628310203552f,0.03849402070045471f,0.02873826026916504f,-0.15294449031352997f,-0.038666754961013794f,-0.1574239432811737f,0.27019134163856506f,0.1312139928340912f,-0.26498496532440186f,0.1620480716228485f,0.12264445424079895f,0.023397088050842285f,0.21900424361228943f,0.25839516520500183f,0.2068612277507782f,-0.29656288027763367f,0.045920878648757935f,-0.19714993238449097f,0.22523340582847595f,0.07844719290733337f,0.22350957989692688f,-0.04062908887863159f,-0.26378923654556274f,0.18573936820030212f,0.15478622913360596f,0.013760745525360107f,0.010002970695495605f}, {0.14700931310653687f,0.1833711564540863f,-0.0858893096446991f,0.1207326278090477f,-0.25116482377052307f,0.2733006179332733f,0.13315808773040771f,-0.16134384274482727f,0.000652611255645752f,-0.22920364141464233f,0.11454284191131592f,-0.16081789135932922f,0.26723334193229675f,0.13427476584911346f,-0.002395039424300194f,-0.2095751315355301f,-0.07963520288467407f,0.14483880996704102f,-0.3164742887020111f,-0.2242819219827652f,-0.047836992889642715f,0.20103435218334198f,-0.2228696048259735f,0.21176107227802277f,-0.12127146124839783f,-0.05009032413363457f,0.029205046594142914f,0.04030504822731018f,-0.011228948831558228f,0.26896968483924866f,-0.28556761145591736f,-0.14091061055660248f}, {-0.23982827365398407f,0.03880670666694641f,-0.013682037591934204f,-0.11685100197792053f,-0.020662933588027954f,0.30190005898475647f,-0.14934301376342773f,-0.15993990004062653f,0.1152651309967041f,-0.11991468071937561f,-0.15497799217700958f,0.11116543412208557f,-0.2045515924692154f,0.2403949797153473f,-0.21275603771209717f,0.05732181668281555f,-0.2770107090473175f,0.088544100522995f,0.19012078642845154f,-0.07119561731815338f,-0.18914666771888733f,-0.10413256287574768f,-0.16050675511360168f,0.11598068475723267f,-0.03151249885559082f,-0.1937510371208191f,0.18474078178405762f,0.19502457976341248f,0.22045472264289856f,-0.29474368691444397f,0.09864541888237f,0.06054645776748657f}, {-0.1617974042892456f,0.1317739188671112f,0.03260180354118347f,-0.47640275955200195f,-0.05160003900527954f,-0.1987132430076599f,-0.5243880748748779f,-0.04716947674751282f,0.05445769429206848f,0.07657262682914734f,-0.43516671657562256f,-0.43980008363723755f,0.07224908471107483f,-0.49106526374816895f,1.0945075750350952f,-0.4323865473270416f,-0.25386664271354675f,-0.18997573852539062f,-0.34191346168518066f,-0.26573890447616577f,-0.21221253275871277f,-2.254088878631592f,-0.3044300675392151f,0.8124839663505554f,-0.9061503410339355f,-0.5403195023536682f,1.1790885925292969f,-0.4348408579826355f,-0.0006675124168395996f,-0.2239055633544922f,-0.035532981157302856f,0.2590028941631317f}, {0.036086976528167725f,-0.062024205923080444f,0.10704237222671509f,-0.12987326085567474f,-0.04875987768173218f,0.06802880018949509f,-0.8698762655258179f,0.27597710490226746f,-0.23304778337478638f,-0.035415440797805786f,-2.0245344638824463f,-0.23298227787017822f,0.09661726653575897f,-0.2498205006122589f,0.5921604633331299f,-0.24696698784828186f,-0.027234435081481934f,0.19620582461357117f,0.08906462043523788f,-0.26627424359321594f,-0.010561914183199406f,-0.13461652398109436f,-0.19671492278575897f,-0.02363339252769947f,0.46716246008872986f,-1.002728819847107f,-0.20850232243537903f,0.14306971430778503f,-0.2531542181968689f,0.24004116654396057f,-0.21812304854393005f,-0.16972646117210388f}, {0.1379433274269104f,-0.16078773140907288f,0.11784148216247559f,0.2671110928058624f,0.2693568766117096f,0.19759181141853333f,0.08533552289009094f,0.17868870496749878f,0.040603965520858765f,-0.2119520902633667f,0.1136421263217926f,-0.24326792359352112f,-0.07898660004138947f,0.2795462906360626f,-0.22247430682182312f,-0.0708579272031784f,0.18204066157341003f,0.2297056019306183f,0.034212857484817505f,0.05284380912780762f,-0.15357805788516998f,-0.2940097451210022f,0.26029130816459656f,0.2647087275981903f,0.1594548225402832f,0.04613301157951355f,-0.22981436550617218f,0.10197556018829346f,-0.08671019971370697f,-0.019541800022125244f,0.30332449078559875f,0.15016543865203857f}, {0.09298902750015259f,0.2841971218585968f,-0.0814327746629715f,-2.731276750564575f,-0.017610490322113037f,-0.06074318289756775f,-1.5845422744750977f,0.15259110927581787f,-0.2925014793872833f,0.022429823875427246f,-0.2619180679321289f,-0.1549808382987976f,-0.3161531388759613f,-0.23874492943286896f,3.076063394546509f,2.4461829662323f,0.1296386420726776f,0.027322769165039062f,0.022547489032149315f,-0.03319418430328369f,1.8991377353668213f,2.537659168243408f,-0.04299110546708107f,0.5268949866294861f,-1.591102123260498f,1.9091010093688965f,5.063668727874756f,-0.02161700278520584f,0.14345040917396545f,-0.11986468732357025f,-0.19420018792152405f,0.10672175884246826f}, {-0.14775772392749786f,0.29651907086372375f,0.02990397810935974f,-0.12615962326526642f,0.1826970875263214f,-0.46191272139549255f,0.07440656423568726f,0.26979032158851624f,-0.2325194776058197f,-0.2458522766828537f,-0.08576210588216782f,-0.46518194675445557f,-0.34951093792915344f,-0.2910379469394684f,0.2927502989768982f,0.011583632789552212f,0.2577105462551117f,0.11064860224723816f,-0.3307203948497772f,-0.021332113072276115f,-0.2085086703300476f,-0.5684881806373596f,-0.18221455812454224f,-0.8137326836585999f,-0.3890586793422699f,-0.5431081056594849f,-0.07870390266180038f,0.10474206507205963f,-0.2205982804298401f,0.28094157576560974f,-0.1669490486383438f,0.08194888383150101f}, {0.2703488767147064f,-0.16041381657123566f,0.12738299369812012f,-0.03611093759536743f,0.1169431209564209f,0.1861400008201599f,-0.1765512377023697f,0.28177282214164734f,0.1474648416042328f,-0.23766008019447327f,-0.005803406238555908f,0.08728843927383423f,0.09594401717185974f,-0.17028304934501648f,-0.16805587708950043f,-0.058941617608070374f,-0.22846683859825134f,0.08700510859489441f,-0.2656046748161316f,0.07154610753059387f,-0.1559111475944519f,0.22832396626472473f,-0.18301571905612946f,-0.17816279828548431f,-0.04200500249862671f,0.2835671007633209f,0.1830621361732483f,-0.26011598110198975f,0.08541131019592285f,0.08213254809379578f,-0.29332536458969116f,0.08477649092674255f}, {-0.06283275783061981f,-0.26753589510917664f,-0.10381917655467987f,-0.13344663381576538f,0.2644997537136078f,0.2204643189907074f,0.2924788296222687f,-0.17931663990020752f,-0.09078609943389893f,-0.17306232452392578f,0.02247890830039978f,-0.26996222138404846f,0.22075030207633972f,-0.3029964864253998f,0.21873190999031067f,-0.0030784308910369873f,0.18228653073310852f,0.09971508383750916f,-0.242676243185997f,-0.1424383968114853f,0.19031599164009094f,0.3004438579082489f,-0.23650792241096497f,-0.2683113217353821f,0.29957786202430725f,0.08561205863952637f,-0.1366746425628662f,-0.15950153768062592f,-0.07675467431545258f,-0.2218506634235382f,-0.2795913517475128f,0.1869203746318817f}, {0.2003176510334015f,-0.27792131900787354f,0.055196613073349f,-0.27959588170051575f,0.18430876731872559f,-0.05316638946533203f,0.16156336665153503f,-0.18850930035114288f,0.09482413530349731f,0.021483391523361206f,0.009039878845214844f,0.1586727499961853f,0.11457142233848572f,0.2876913249492645f,-0.24802550673484802f,0.14089101552963257f,-0.06842575967311859f,-0.10107968747615814f,0.06239110231399536f,-0.2528536915779114f,-0.27538973093032837f,0.15457189083099365f,-0.15549622476100922f,0.20245882868766785f,0.08544808626174927f,0.22650876641273499f,-0.05268847942352295f,0.20387354493141174f,0.24724552035331726f,0.21444126963615417f,0.05186706781387329f,-0.11084021627902985f}, {-0.19810965657234192f,0.2745245397090912f,0.1767616868019104f,0.19752147793769836f,0.0650932788848877f,0.29138168692588806f,-0.29061684012413025f,0.010446667671203613f,0.025284886360168457f,-0.10202452540397644f,-0.10358673334121704f,0.14746251702308655f,0.15136101841926575f,0.04500553011894226f,-0.2497977316379547f,-0.29277902841567993f,0.02556520700454712f,-0.09509801864624023f,0.16731274127960205f,-0.25266408920288086f,-0.3004688322544098f,-0.19769597053527832f,-0.14847496151924133f,0.3053832948207855f,0.07563886046409607f,-0.10258816182613373f,-0.060128673911094666f,0.0016401112079620361f,-0.29647189378738403f,-0.18869297206401825f,0.05497395992279053f,0.16092956066131592f}, {-0.011267274618148804f,-0.25281068682670593f,-0.10565309226512909f,1.313109040260315f,0.2702934443950653f,-0.16830015182495117f,-0.930772602558136f,-0.28811463713645935f,-0.06814777851104736f,-0.24531681835651398f,-3.058490037918091f,-0.2300516963005066f,-0.1632959395647049f,1.5425636768341064f,-1.5663095712661743f,1.5011004209518433f,0.2015441358089447f,0.04417389631271362f,-0.005152677185833454f,0.09364341199398041f,0.6426186561584473f,-0.23444923758506775f,-0.3330303132534027f,-1.2967901229858398f,0.25707486271858215f,-4.165918350219727f,1.0752300024032593f,-0.25059279799461365f,-0.18211489915847778f,-0.15127526223659515f,0.20075061917304993f,0.2749989330768585f}, {-0.10580866038799286f,-0.17215237021446228f,-0.01352420449256897f,-0.13443149626255035f,-0.10265451669692993f,-0.2169143706560135f,0.30098411440849304f,-0.2986297905445099f,0.07908004522323608f,-0.30061498284339905f,0.10424068570137024f,-0.018799901008605957f,-0.18665757775306702f,0.005998075008392334f,-0.2969498336315155f,0.18525955080986023f,0.2379322350025177f,0.15184926986694336f,0.215760737657547f,-0.19088758528232574f,0.08620095252990723f,0.019999295473098755f,-0.0752219706773758f,0.11181813478469849f,0.1881926953792572f,0.2210972011089325f,0.13236162066459656f,-0.06690356135368347f,-0.18345263600349426f,-0.14861416816711426f,0.08577704429626465f,-0.09683996438980103f}, {0.03951254487037659f,0.23604217171669006f,0.012746036052703857f,-0.12561996281147003f,-0.1283164620399475f,0.25823846459388733f,0.10610169172286987f,0.22718152403831482f,0.1749366819858551f,0.007794857025146484f,0.11289489269256592f,0.2725127637386322f,-0.13616766035556793f,-0.03546282649040222f,-0.1685536652803421f,-0.24492129683494568f,0.15760570764541626f,0.017505377531051636f,-0.273531436920166f,-0.005667984485626221f,0.18370777368545532f,-0.023328542709350586f,0.2379932701587677f,-0.048420339822769165f,0.10376441478729248f,-0.295401930809021f,-0.20498433709144592f,0.22346952557563782f,-0.26649031043052673f,-0.08466874063014984f,0.23347875475883484f,-0.03380200266838074f}, {0.3014208972454071f,-0.11652402579784393f,0.24921879172325134f,0.07712072879076004f,-0.2817712128162384f,-0.3833066523075104f,-0.3132827579975128f,-0.11968852579593658f,0.23963233828544617f,0.21321198344230652f,-1.791103482246399f,-0.4919784963130951f,-0.3194027841091156f,-0.25034114718437195f,0.8474244475364685f,-0.42753225564956665f,-0.19791248440742493f,0.2487291395664215f,-0.46492311358451843f,-0.29802024364471436f,-0.0674523413181305f,-0.2174830287694931f,-0.14273761212825775f,-0.27775508165359497f,-0.19105273485183716f,-1.3434487581253052f,-0.19815705716609955f,-0.274930864572525f,-0.03476092219352722f,0.2736774981021881f,0.004408210515975952f,-0.06131956726312637f}, {-0.17075178027153015f,0.009595632553100586f,0.2466227114200592f,0.1822662204504013f,-0.29828932881355286f,-0.31096041202545166f,0.056065429002046585f,-0.15331926941871643f,-0.2516406178474426f,0.012286126613616943f,0.024867398664355278f,-0.33107736706733704f,-0.24580621719360352f,-0.1839974820613861f,-0.11177343130111694f,0.012414718978106976f,-0.24087269604206085f,-0.048499464988708496f,-0.3043265640735626f,0.010769988410174847f,-0.26487013697624207f,-0.25967180728912354f,-0.031352698802948f,0.3570070266723633f,-0.2365017980337143f,-0.5252702236175537f,-0.3190637528896332f,0.14130637049674988f,-0.07090267539024353f,-0.23986908793449402f,-0.2543276250362396f,-0.010916618630290031f}, {-0.01348048448562622f,0.08233943581581116f,0.18838337063789368f,0.21852442622184753f,-0.04740855097770691f,0.19177213311195374f,-0.0060100555419921875f,0.20933791995048523f,0.06356173753738403f,0.063028484582901f,0.09440034627914429f,0.29559019207954407f,-0.2545689642429352f,-0.09652335941791534f,-0.2841038703918457f,-0.03553757071495056f,0.02329021692276001f,-0.08720272779464722f,-0.0750999003648758f,-0.10468094050884247f,-0.03761094808578491f,-0.030853450298309326f,0.2112145721912384f,0.2599640190601349f,-0.2969062626361847f,-0.13667742908000946f,0.24173608422279358f,0.09566575288772583f,0.021116197109222412f,-0.005982398986816406f,-0.26417285203933716f,0.1879688799381256f}, {-0.1763739138841629f,-0.17203155159950256f,0.0620841383934021f,0.7519717216491699f,-0.07396678626537323f,-0.43612802028656006f,-0.6830880045890808f,0.13165532052516937f,-0.21029016375541687f,0.2210421860218048f,-0.7751655578613281f,-0.11761168390512466f,-0.2229713350534439f,-0.2812947630882263f,0.7009834051132202f,0.025538338348269463f,0.10771593451499939f,-0.29308468103408813f,-0.24863621592521667f,-0.1855255365371704f,-0.28351545333862305f,-2.443448305130005f,-0.2669830918312073f,2.8655338287353516f,0.4038540720939636f,-2.3565399646759033f,0.6615243554115295f,-0.10053587704896927f,0.17976179718971252f,-0.22928372025489807f,0.28763797879219055f,0.10409565269947052f}, {-0.09888127446174622f,-0.22750279307365417f,-0.22503364086151123f,-0.05784646421670914f,-0.012498408555984497f,-0.3869885504245758f,-1.1741740703582764f,0.08175003528594971f,-0.016126900911331177f,0.06972584128379822f,1.7343919277191162f,-0.4380711317062378f,-0.16324742138385773f,0.8052618503570557f,0.016103001311421394f,-0.00995106901973486f,-0.09216172993183136f,0.04617339372634888f,-0.2994539737701416f,-0.13055814802646637f,0.35855257511138916f,-0.5050032138824463f,-0.10609392076730728f,-0.2347375899553299f,1.1336708068847656f,0.6693243384361267f,-0.028294380754232407f,-0.4562782049179077f,-0.16326025128364563f,0.11664235591888428f,-0.02675291895866394f,0.11686071008443832f}, }; const float h3[32][32] = { {-0.2551194727420807f,-0.09101890027523041f,-0.026477575302124023f,-0.24469062685966492f,-0.10447631776332855f,-1.3142824172973633e-05f,0.23563924431800842f,0.21467849612236023f,-0.17011712491512299f,0.034586966037750244f,-0.08393588662147522f,0.28293344378471375f,0.045914679765701294f,0.1892293095588684f,-0.2476848065853119f,0.13452908396720886f,0.033751994371414185f,0.2061004936695099f,-0.022569477558135986f,-0.10083381831645966f,-0.11890523135662079f,0.024368882179260254f,-0.22618433833122253f,0.044178664684295654f,0.25393906235694885f,-0.1258748173713684f,0.2930828630924225f,-0.22120264172554016f,0.08456003665924072f,0.2922307550907135f,-0.21407078206539154f,-0.1853330433368683f}, {0.05588451027870178f,0.19731858372688293f,-0.055143773555755615f,0.030042022466659546f,-0.13887283205986023f,-0.1361943781375885f,-0.2855546772480011f,0.011247634887695312f,0.1085631251335144f,0.021339505910873413f,0.17599248886108398f,0.09762296080589294f,-0.05771490931510925f,-0.14660483598709106f,-0.21469902992248535f,0.03876742720603943f,-0.21865856647491455f,-0.12651903927326202f,0.22753819823265076f,-0.23926785588264465f,-0.14443452656269073f,0.06739777326583862f,0.14157342910766602f,0.049514561891555786f,-0.1251431256532669f,-0.25851932168006897f,0.0932874083518982f,0.2900666892528534f,-0.023782014846801758f,0.050485759973526f,0.09447437524795532f,0.0058679282665252686f}, {-0.2800689935684204f,-0.038760632276535034f,0.13974270224571228f,0.01585569977760315f,0.11945047974586487f,-0.19458696246147156f,0.11322265863418579f,0.25643888115882874f,-0.061097174882888794f,-0.07816044986248016f,-0.07445238530635834f,-0.22145158052444458f,-0.1081896424293518f,-0.09452249109745026f,0.16234496235847473f,0.1413259506225586f,-0.2648085951805115f,-0.054869145154953f,-0.05491623282432556f,0.17325228452682495f,0.23639705777168274f,0.0748760998249054f,-0.1324603259563446f,0.15828460454940796f,-0.22871175408363342f,-0.027338534593582153f,-0.06307074427604675f,0.13438841700553894f,0.13834497332572937f,0.1633671224117279f,0.259930282831192f,-0.21565306186676025f}, {0.2906629145145416f,0.1551600843667984f,-0.2655833959579468f,-0.44009914994239807f,-2.0079965591430664f,-0.36491087079048157f,-0.2448699176311493f,-0.17915479838848114f,-1.0330456495285034f,-0.44588953256607056f,-2.0177645683288574f,0.09390446543693542f,-0.18337127566337585f,-1.5281589031219482f,0.22106656432151794f,-0.23978039622306824f,-0.28915077447891235f,0.030949801206588745f,-0.6237343549728394f,-0.42183059453964233f,0.49829596281051636f,0.3763199746608734f,-1.0933080911636353f,-0.9912642240524292f,-0.5143504738807678f,-0.11024686694145203f,-0.1671123206615448f,-0.915375828742981f,-5.958273887634277f,-0.25852420926094055f,-0.19622765481472015f,-0.5959848761558533f}, {0.07563930749893188f,-0.0864691436290741f,-0.2677825689315796f,0.1497999131679535f,-0.2632053792476654f,-0.12118913233280182f,-0.09772239625453949f,0.2470131814479828f,-0.2551872134208679f,-0.2740214169025421f,0.2979947626590729f,-0.24627932906150818f,-0.23258495330810547f,-0.1546318233013153f,0.06802645325660706f,-0.048776447772979736f,0.20131775736808777f,0.013118326663970947f,0.0808630883693695f,0.2585393488407135f,-0.03326711058616638f,0.21529874205589294f,0.1718432903289795f,0.20571765303611755f,-0.19813477993011475f,0.12758469581604004f,0.2959180772304535f,-0.20305807888507843f,0.17249789834022522f,-0.09959287941455841f,-0.07189898192882538f,0.007399916648864746f}, {0.10931676626205444f,0.2396949827671051f,0.12925085425376892f,-0.01787710189819336f,-0.24292315542697906f,0.3472025692462921f,-0.061815500259399414f,0.04091137647628784f,0.02530604414641857f,-0.15699732303619385f,0.08972057700157166f,-0.21529507637023926f,-0.003787398338317871f,0.11138246953487396f,0.2971965968608856f,0.25175121426582336f,-0.2889891266822815f,-0.13035915791988373f,0.16576141119003296f,-0.08304506540298462f,0.2269316464662552f,-0.02478071115911007f,-0.24418936669826508f,0.17769834399223328f,0.09729842841625214f,-0.18302330374717712f,0.09057381749153137f,-0.11329806596040726f,-0.27729424834251404f,-0.29547566175460815f,-0.25800079107284546f,0.24402263760566711f}, {-0.21155381202697754f,0.2344333678483963f,-0.11083728075027466f,-0.07515879720449448f,-0.24436597526073456f,0.24922843277454376f,-0.07957221567630768f,0.2444917857646942f,-0.06740403920412064f,-0.3908107876777649f,-0.08268874883651733f,-0.16911420226097107f,-0.14109313488006592f,-0.19962483644485474f,0.25543639063835144f,-0.1192857176065445f,-0.18917083740234375f,0.011466026306152344f,-0.1457211822271347f,1.2433693408966064f,-0.6359422206878662f,-0.05451154336333275f,-0.43905946612358093f,0.07587800174951553f,-0.09243731945753098f,-0.2910519242286682f,-0.30795249342918396f,-0.15448087453842163f,0.2007913440465927f,-0.09532724320888519f,0.1903160959482193f,-0.17850658297538757f}, {-0.01093912124633789f,-0.23583689332008362f,0.28153905272483826f,0.2877257764339447f,-0.09393629431724548f,-0.16016851365566254f,0.036741942167282104f,-0.0059101879596710205f,-0.24633634090423584f,-0.27182313799858093f,-0.09341099858283997f,-0.08139897882938385f,0.19774547219276428f,-0.07352342456579208f,0.0685860812664032f,-0.29903873801231384f,0.1317853033542633f,0.20550194382667542f,-0.12251400947570801f,-0.28424710035324097f,0.3848814070224762f,0.23287765681743622f,-0.13296714425086975f,0.12564969062805176f,0.03227102756500244f,0.23886635899543762f,-0.2778390347957611f,0.07971428334712982f,0.30006521940231323f,0.17161712050437927f,-0.017215043306350708f,-0.05991865694522858f}, {-0.20420776307582855f,0.1970202624797821f,0.23591408133506775f,-0.282694011926651f,0.09019026160240173f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.15246456861495972f,-0.1270071268081665f,0.20025727152824402f,0.13077861070632935f,-0.2238168716430664f,-0.20709244906902313f,-0.0045506954193115234f,-0.16448761522769928f,0.28163614869117737f,0.1971360743045807f,0.30405697226524353f,-0.28959211707115173f,-0.2255709171295166f,0.15360668301582336f,0.24163606762886047f,0.19554737210273743f,-0.1804599016904831f,0.07604315876960754f,-0.1459394246339798f,-0.14081311225891113f,-0.29656586050987244f,0.19529584050178528f,-0.05168652534484863f,-0.03415781259536743f}, {0.27550336718559265f,-0.14170598983764648f,-0.21542268991470337f,-0.2159879207611084f,0.06500789523124695f,-0.21155211329460144f,-0.01575431227684021f,0.0617731511592865f,0.13126209378242493f,-0.04922589659690857f,-0.23877641558647156f,-0.06292802095413208f,0.01433342695236206f,0.14592674374580383f,-0.23886999487876892f,0.08878573775291443f,0.1853090226650238f,-0.05102238059043884f,-0.13667166233062744f,-0.24401302635669708f,0.25155118107795715f,-0.20339438319206238f,0.03535670042037964f,0.048473477363586426f,-0.13871997594833374f,-0.15382859110832214f,-0.13837768137454987f,0.26085415482521057f,0.2491457164287567f,0.157204270362854f,0.14108964800834656f,0.12518465518951416f}, {-0.023678362369537354f,0.10718413442373276f,-0.11106162518262863f,0.03261740133166313f,0.7505680322647095f,1.8547022342681885f,0.0393199622631073f,0.196751207113266f,-0.5477072596549988f,0.1380854845046997f,0.17463752627372742f,-0.18227161467075348f,-0.21699568629264832f,1.7181025743484497f,0.080221027135849f,-0.2471318244934082f,0.026521950960159302f,0.28880444169044495f,0.12187030166387558f,0.09355135262012482f,-1.9615761041641235f,1.6861095428466797f,-0.13907940685749054f,1.6709332466125488f,1.3718711137771606f,-0.25962090492248535f,-0.048154279589653015f,0.13366582989692688f,0.20044700801372528f,-0.2912617325782776f,-0.36651310324668884f,-0.3246639370918274f}, {0.2680447995662689f,0.07803436368703842f,-0.33230334520339966f,-0.12301055341959f,0.20123933255672455f,0.15509077906608582f,0.1912839114665985f,-0.17794576287269592f,0.21471050381660461f,-0.42769309878349304f,-0.1697758287191391f,0.2547462284564972f,0.23492363095283508f,0.09335631132125854f,0.23152390122413635f,-0.07731422781944275f,0.21101722121238708f,-0.15284278988838196f,0.16705089807510376f,0.26208364963531494f,-0.2598481774330139f,0.23348818719387054f,0.10326316207647324f,-0.007689699064940214f,-0.33606287837028503f,0.18312275409698486f,-0.2860839068889618f,0.23368696868419647f,0.20084302127361298f,-0.1739533692598343f,-0.2870524227619171f,-0.5192359685897827f}, {0.10771462321281433f,0.1270637810230255f,-0.1647956818342209f,-0.00161704421043396f,0.10816431045532227f,0.2870021462440491f,-0.2502448558807373f,-0.05063694715499878f,-0.3594309389591217f,-0.11501708626747131f,0.24353471398353577f,0.11519002914428711f,-0.1879904866218567f,0.15870530903339386f,-0.0055807530879974365f,0.05870962142944336f,-0.0561012327671051f,-0.1419317126274109f,-0.24982497096061707f,-0.05947013199329376f,-0.24957935512065887f,-0.1813870370388031f,0.2986377775669098f,-0.2888573110103607f,-0.05148295313119888f,-0.03866580128669739f,0.09892630577087402f,0.0782579630613327f,0.1267586350440979f,0.024399906396865845f,-0.264041006565094f,-0.037910252809524536f}, {0.07240793108940125f,-0.09170996397733688f,-0.14505232870578766f,-0.053374651819467545f,-0.658711314201355f,-0.10549570620059967f,0.13629931211471558f,-0.09019742906093597f,-0.1938302218914032f,-0.5070444345474243f,1.66953706741333f,-0.14320503175258636f,-0.2966681718826294f,-3.1772098541259766f,0.13272255659103394f,-0.0684008002281189f,-0.13351139426231384f,0.2471931278705597f,-0.20474937558174133f,-0.8178657293319702f,-2.774273633956909f,0.6019763946533203f,-0.3944188356399536f,0.03710608556866646f,-1.4770007133483887f,-0.1976800560951233f,-0.2847767174243927f,-0.6150438189506531f,-6.260859489440918f,-0.29330405592918396f,-0.23151017725467682f,-0.5887906551361084f}, {-0.27890223264694214f,0.05230454355478287f,0.07206738740205765f,-0.04263317584991455f,-0.25333350896835327f,0.504993736743927f,-0.2505151033401489f,-0.2674597501754761f,-0.47767990827560425f,-0.14600594341754913f,0.013446113094687462f,-0.07277435064315796f,0.03277324140071869f,2.5876827239990234f,-0.02410009503364563f,0.10129088163375854f,0.22686699032783508f,-0.30486053228378296f,0.04798652231693268f,2.278043746948242f,1.0424480438232422f,1.2805545330047607f,1.8002673387527466f,0.07415677607059479f,-1.3298735618591309f,-0.025903940200805664f,-0.28139907121658325f,1.6960034370422363f,0.3366817235946655f,0.06508117914199829f,-0.046485792845487595f,-0.46422702074050903f}, {0.3047083914279938f,-0.03478870168328285f,-0.31399640440940857f,-0.46390554308891296f,0.8314900398254395f,-0.8813135027885437f,-0.19172990322113037f,-0.25786101818084717f,-0.3914889991283417f,-0.39462733268737793f,-2.442657709121704f,-0.19591398537158966f,-0.02178271859884262f,-1.103205919265747f,0.062144935131073f,-0.28920799493789673f,0.03473195433616638f,-0.0016761720180511475f,-0.022964872419834137f,0.19444526731967926f,-0.2662124037742615f,-0.5487847328186035f,0.635075032711029f,-0.5369395613670349f,-2.4792630672454834f,-0.031148135662078857f,-0.42681699991226196f,-0.21734437346458435f,0.47011297941207886f,0.017086774110794067f,-0.3874939978122711f,-0.7230278849601746f}, {-0.06136500835418701f,-0.11579577624797821f,-0.23311558365821838f,-0.020844489336013794f,0.161813884973526f,0.22929790616035461f,0.11958792805671692f,-0.0384809672832489f,-0.10647237300872803f,-0.09010881185531616f,0.22322741150856018f,-0.1071339100599289f,0.05349445343017578f,-0.23458370566368103f,0.040097206830978394f,0.08616101741790771f,-0.15468145906925201f,-0.21275553107261658f,-0.21210846304893494f,-0.23840199410915375f,0.12352427840232849f,0.282552570104599f,0.14114680886268616f,0.09007054567337036f,-0.05948364734649658f,0.12031787633895874f,-0.184563547372818f,0.07786750793457031f,-0.2169322669506073f,-0.24735762178897858f,-0.0892629474401474f,-0.11765947937965393f}, {0.1169951856136322f,0.06741076707839966f,0.014288008213043213f,-0.1894388198852539f,0.2306886613368988f,0.08970087766647339f,0.29362860321998596f,0.2666439712047577f,-0.1488228738307953f,0.22382596135139465f,-0.1313140094280243f,0.02602824568748474f,0.029441386461257935f,-0.1546926349401474f,0.10762849450111389f,0.06951633095741272f,0.0639207661151886f,0.27696695923805237f,-0.2749756872653961f,0.2684275209903717f,-0.240950807929039f,-0.08405844867229462f,0.26762983202934265f,0.09600964188575745f,-0.20394444465637207f,0.012219250202178955f,-0.09225042164325714f,-0.12637756764888763f,-0.21354423463344574f,-0.29393887519836426f,-0.056166648864746094f,0.002250969409942627f}, {-0.16101892292499542f,0.06696435809135437f,0.26537272334098816f,0.1479843109846115f,-0.2242569625377655f,-0.053583625704050064f,0.1589156985282898f,-0.17396175861358643f,0.37550482153892517f,-0.11376987397670746f,0.1600557565689087f,-0.04377517104148865f,-0.09824483096599579f,0.1516924351453781f,-0.2592318058013916f,0.1978430449962616f,0.18047624826431274f,0.2863751947879791f,-0.14926907420158386f,-0.020159127190709114f,-0.2319703847169876f,0.2950485050678253f,0.11709466576576233f,0.052847862243652344f,0.07797201722860336f,-0.28873488306999207f,-0.0885566771030426f,0.10704673826694489f,0.1417195200920105f,0.18439257144927979f,0.17250561714172363f,0.1665608286857605f}, {0.261911004781723f,-0.3176020383834839f,-0.2993849217891693f,-0.020901648327708244f,0.07265925407409668f,0.05493569374084473f,-0.06670857965946198f,-0.030254334211349487f,-0.27800214290618896f,0.1197996437549591f,0.01667046546936035f,-0.2924177646636963f,0.19257885217666626f,-0.12945030629634857f,-0.20773646235466003f,-0.10781967639923096f,-0.15712574124336243f,0.16112294793128967f,0.2308736890554428f,0.1891860067844391f,0.19934561848640442f,0.12752988934516907f,-0.3001303970813751f,0.14906415343284607f,0.15298481285572052f,0.0025720298290252686f,-0.08662007004022598f,-0.2160625010728836f,0.07990133762359619f,0.21125611662864685f,-0.05751854181289673f,-0.22727590799331665f}, {0.14277681708335876f,-0.22490602731704712f,-0.12726007401943207f,-0.42030400037765503f,0.20782996714115143f,0.2448883354663849f,0.019111700356006622f,-0.27022814750671387f,-0.3137964606285095f,-0.5325716733932495f,0.4688595235347748f,-0.06780175864696503f,-0.012149747461080551f,-0.8579206466674805f,-0.03100520372390747f,-0.2484396994113922f,0.06366744637489319f,-0.2764144539833069f,-0.17595352232456207f,-4.539931774139404f,-1.2181315422058105f,-0.7025606036186218f,0.18499690294265747f,-2.0580246448516846f,-0.8635657429695129f,-0.19159743189811707f,0.09667953848838806f,-1.6010671854019165f,-0.5878825783729553f,-0.10488687455654144f,-0.21563708782196045f,-0.4012915790081024f}, {0.29069945216178894f,-0.23835359513759613f,0.019009560346603394f,-0.3101773262023926f,0.08094556629657745f,0.4867933690547943f,0.045349299907684326f,-0.17138783633708954f,-0.15565530955791473f,0.028545528650283813f,0.06247439607977867f,-0.15074089169502258f,-0.12367650121450424f,0.5676716566085815f,0.09875330328941345f,0.08164769411087036f,0.2294725477695465f,0.10683679580688477f,-0.2660449147224426f,-2.039048433303833f,0.03961683437228203f,-1.2069050073623657f,0.07650692760944366f,-0.06192683055996895f,1.2374696731567383f,0.023651927709579468f,-0.1729920208454132f,0.9045249223709106f,2.3691043853759766f,0.19045329093933105f,0.02994692325592041f,-0.18855193257331848f}, {0.1991647183895111f,0.12534403800964355f,-0.04112154245376587f,0.23123982548713684f,-0.21285423636436462f,-0.3036925792694092f,-0.1610087752342224f,-0.031804412603378296f,0.10274738073348999f,-0.25018924474716187f,0.15975651144981384f,-0.057292819023132324f,0.1464652419090271f,0.07486087828874588f,0.2151305377483368f,0.2952744662761688f,-0.21319252252578735f,0.04970458149909973f,0.10210192203521729f,0.3050673305988312f,0.17994479835033417f,-0.1354530304670334f,0.11948524415493011f,0.25299301743507385f,-0.1290144920349121f,-0.07015113532543182f,-0.287551611661911f,-0.013056962750852108f,-0.07337476313114166f,-0.24420931935310364f,0.015819430351257324f,-0.10595546662807465f}, {0.12202468514442444f,0.07173976302146912f,-0.1529812067747116f,-0.32928192615509033f,-1.26026451587677f,0.45393869280815125f,-0.06113804876804352f,-0.11568751931190491f,0.14328739047050476f,-0.4286489188671112f,-0.5239210724830627f,-0.2677242159843445f,-0.1910165250301361f,-0.10426744818687439f,-0.06735922396183014f,0.05864924192428589f,-0.25733181834220886f,-0.17565661668777466f,-0.2020667940378189f,0.34168994426727295f,-1.2064822912216187f,-1.7672605514526367f,1.36196768283844f,0.12996606528759003f,0.5254408717155457f,0.1795230209827423f,-0.07115722447633743f,1.235336422920227f,0.8705478310585022f,0.2425754964351654f,-0.24597720801830292f,-0.3168700039386749f}, {-0.3055141270160675f,-0.37025368213653564f,-0.2570105791091919f,-0.28799059987068176f,2.1990153789520264f,1.9909683465957642f,-0.02506551705300808f,0.21086838841438293f,-0.13314402103424072f,-0.1871376931667328f,3.5611414909362793f,-0.2251071184873581f,-0.04889250546693802f,1.3976774215698242f,-0.023131370544433594f,0.036719828844070435f,0.16260939836502075f,0.05286213755607605f,-0.5795933604240417f,2.669797420501709f,-1.6068437099456787f,2.3834950923919678f,0.30881643295288086f,-1.4734541177749634f,2.258124351501465f,-0.02825927734375f,-0.26516997814178467f,-0.04457907751202583f,-0.024771209806203842f,0.1865309774875641f,-0.01921023800969124f,-0.6702004075050354f}, {0.1782623827457428f,-0.026351384818553925f,-0.3747944235801697f,-0.08319886028766632f,3.533717393875122f,4.328557014465332f,-0.2435605823993683f,0.1475539207458496f,0.025589682161808014f,-0.03295828402042389f,1.7149003744125366f,-0.3404330313205719f,-0.1308632791042328f,1.097597360610962f,-0.2527656555175781f,-0.3049176335334778f,0.032145023345947266f,-0.25376296043395996f,-0.14232207834720612f,3.50776743888855f,-2.714210271835327f,3.7476253509521484f,0.7952617406845093f,1.3267099857330322f,4.521520614624023f,0.10029953718185425f,0.04925177991390228f,-2.8905584812164307f,-0.32973912358283997f,0.1616479754447937f,-0.29789191484451294f,-0.3274631202220917f}, {-0.17396044731140137f,-0.2607307434082031f,-0.37442970275878906f,-0.1504080593585968f,-0.5517067909240723f,0.3904034495353699f,-0.19791308045387268f,-0.1761629432439804f,-0.5457683205604553f,-0.41835588216781616f,0.02551310509443283f,-0.09120076149702072f,0.03180402144789696f,-1.2284140586853027f,-0.19851773977279663f,-0.10762731730937958f,0.14198419451713562f,0.10370296239852905f,-0.21910421550273895f,0.19357416033744812f,-0.65964674949646f,-0.4373531937599182f,-0.13841554522514343f,-0.6138013005256653f,0.33498063683509827f,-0.2665709853172302f,0.12106312811374664f,1.2782642841339111f,0.007469606585800648f,-0.1200934648513794f,-0.3044823408126831f,-0.6283084154129028f}, {-0.12546227872371674f,-0.11745328456163406f,-0.08090300858020782f,0.13386331498622894f,-0.16280891001224518f,-0.18336640298366547f,-0.28310835361480713f,-0.020981580018997192f,-0.023204101249575615f,-0.17055284976959229f,-0.19499319791793823f,0.046816736459732056f,0.007104986347258091f,-0.07070930302143097f,-0.0649729073047638f,0.2468220293521881f,0.060016900300979614f,-0.16779978573322296f,0.12332537770271301f,0.08381820470094681f,-0.1978035569190979f,0.17698994278907776f,-0.07028178125619888f,0.22389158606529236f,-0.009615994058549404f,0.020356476306915283f,-0.27862221002578735f,0.2068529725074768f,0.17547117173671722f,-0.000007510185241699219f,0.094448983669281f,-0.08219978213310242f}, {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f}, {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.13894453644752502f,0.06556430459022522f,0.29767414927482605f,0.24966773390769958f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.17675906419754028f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.23596063256263733f,0.1602974534034729f,-0.04174882173538208f,-0.11559568345546722f,-0.06235519051551819f,0.21069613099098206f,-0.19532959163188934f,-0.2486409693956375f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f}, {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f}, {0.07638216018676758f,0.04616179317235947f,-0.30373215675354004f,-0.2751946747303009f,0.1340966373682022f,0.01097033079713583f,0.2795381247997284f,-0.25668495893478394f,-0.07686448842287064f,0.1293344497680664f,-0.026776641607284546f,0.02524423599243164f,0.11443233489990234f,0.25297898054122925f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.12613025307655334f,0.2402655929327011f,0.13941913843154907f,-0.004356549121439457f,-0.07152838259935379f,-0.17324526607990265f,0.21346649527549744f,0.1901901364326477f,-0.2669743597507477f,-0.05845380201935768f,-0.1184912696480751f,0.22636333107948303f,-0.2677184045314789f,0.21909776329994202f}, }; const float hout[32] = { 0.3285340666770935f,0.25870564579963684f,0.03776342421770096f,0.06725049018859863f,-0.21825526654720306f,0.35804110765457153f,-0.04461168497800827f,0.1081397533416748f,0.037183117121458054f,-0.008614410646259785f,0.12002820521593094f,-0.003981246147304773f,-0.26713624596595764f,0.28248944878578186f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.21499931812286377f,-0.03580344095826149f,-0.1374368965625763f,-0.12608776986598969f,0.1837618350982666f,-0.1301817148923874f,-0.49001407623291016f,-0.48075732588768005f,0.2520971894264221f,-0.31842729449272156f,-0.15572193264961243f,0.31753382086753845f,-0.3257754445075989f,-0.3120265603065491f,-0.04173896089196205f }; const float b1[32] = { 0.3551841974258423f,0.9786349534988403f,-1.7145336866378784f,0.2763219475746155f,1.3354568481445312f,0.7740563750267029f,-0.16881683468818665f,0.7929821610450745f,0.56871098279953f,-0.8986605405807495f,0.4776100814342499f,1.9517571926116943f,-0.3425353467464447f,-0.9469848275184631f,-1.087764859199524f,0.4520208537578583f,0.41588568687438965f,-0.26377663016319275f,0.40227654576301575f,0.6212478280067444f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.634275436401367f,-2.0880801677703857f,-1.0489267110824585f,0.44429782032966614f,0.30386778712272644f,-1.0887231826782227f,1.7199881076812744f,-0.9669684767723083f }; const float b2[32] = { -0.10466054826974869f,-0.7642630338668823f,-1.4564176797866821f,-0.11269745230674744f,-0.6939148902893066f,-0.0057946075685322285f,-0.05243372917175293f,-0.3439226448535919f,-1.20063054561615f,-1.912178635597229f,-0.09700105339288712f,-0.010395381599664688f,-0.23364043235778809f,1.3295199871063232f,-1.1657012701034546f,0.9396796226501465f,-1.798204779624939f,-1.5844906568527222f,-0.08487662672996521f,-0.3300638198852539f,0.9276247620582581f,1.2210673093795776f,-0.11915376782417297f,-2.0086669921875f,1.3576284646987915f,2.5212371349334717f,0.19898387789726257f,-0.27680566906929016f,-0.6323830485343933f,-0.4208582937717438f,-1.178520679473877f,-1.3601188659667969f }; const float b3[32] = { -1.963319182395935f,-0.5019412040710449f,-0.12102010101079941f,-0.24010568857192993f,-0.8947718739509583f,1.849918246269226f,-0.5956371426582336f,-0.6562485098838806f,0.17471393942832947f,0.023095685988664627f,-0.34858959913253784f,-0.20818130671977997f,-0.8580005764961243f,1.1294649839401245f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0192245244979858f,-0.6699862480163574f,0.45595577359199524f,1.2976267337799072f,1.4488216638565063f,-0.436857670545578f,-1.3260130882263184f,-0.905806839466095f,-0.36519983410835266f,-0.2862483263015747f,1.5683238506317139f,-1.5232442617416382f,-2.3236680030822754f,-0.21377499401569366f,0.24173149466514587f }; const float bout[1] = { -0.2365100234746933f }; int main() { HAL_Init(); SystemClock_Config(); /********************************* *** Initialization *********************************/ LED = 0; pc.baud(9600); // i2c init i2c.frequency(400 * 1000); // 0.4 mHz wait_ms(2); // Power Up wait look_for_hardware_i2c(); // Hardware present init_as5510(i2c_slave_addr1); make_delay(); // // spi init //eeprom.format(8,3); //eeprom.frequency(5000000); //5M enc.format(8,0); enc.frequency(5000000); //5M make_delay(); //rom ROM_CALL_DATA(); make_delay(); // ADC init Init_ADC(); make_delay(); // Pwm init Init_PWM(); TIM4->CR1 ^= TIM_CR1_UDIS; make_delay(); // TMR3 init Init_TMR3(); TIM3->CR1 ^= TIM_CR1_UDIS; make_delay(); // TMR2 init // Init_TMR2(); // TIM2->CR1 ^= TIM_CR1_UDIS; // make_delay(); // CAN can.attach(&CAN_RX_HANDLER); CAN_ID_INIT(); make_delay(); //Timer priority NVIC_SetPriority(TIM3_IRQn, 2); //NVIC_SetPriority(TIM2_IRQn, 3); NVIC_SetPriority(TIM4_IRQn, 3); //can.reset(); can.filter(msg.id, 0xFFFFF000, CANStandard); // spi _ enc spi_enc_set_init(); make_delay(); //DAC init if (SENSING_MODE == 0) { dac_1 = TORQUE_VREF / 3.3f; dac_2 = 0.0f; } else if (SENSING_MODE == 1) { dac_1 = PRES_A_VREF / 3.3f; dac_2 = PRES_B_VREF / 3.3f; } make_delay(); for (int i=0; i<50; i++) { if(i%2==0) ID_index_array[i] = - i * 0.5f; else ID_index_array[i] = (i+1) * 0.5f; } /************************************ *** Program is operating! *************************************/ while(1) { // if(timer_while==1000 && OPERATING_MODE==5) { //if(timer_while==1000) { //i2c read_field(i2c_slave_addr1); if(DIR_VALVE_ENC < 0) value = 1023 - value; // if(LED==1) { // LED=0; // } else // LED = 1; timer_while = 0; //} timer_while ++; if(NN_Control_Flag == 0) { LED = 0; } else if(NN_Control_Flag == 1) { float output1[32] = { 0.0f }; float output2[32] = { 0.0f }; float output3[32] = { 0.0f }; float output = 0.0f; for (int index2 = 0; index2 < 32; index2++) { for (int index1 = 0; index1 < num_input; index1++) { output1[index2] = output1[index2] + h1[index1][index2] * input_NN[index1]; } output1[index2] = output1[index2] + b1[index2]; if (output1[index2] < 0) { output1[index2] = 0; } } for (int index2 = 0; index2 < 32; index2++) { for (int index1 = 0; index1 < 32; index1++) { output2[index2] = output2[index2] + h2[index1][index2] * output1[index1]; } output2[index2] = output2[index2] + b2[index2]; if (output2[index2] < 0) { output2[index2] = 0; } } for (int index2 = 0; index2 < 32; index2++) { for (int index1 = 0; index1 < 32; index1++) { output3[index2] = output3[index2] + h3[index1][index2] * output2[index1]; } output3[index2] = output3[index2] + b3[index2]; if (output3[index2] < 0) { output3[index2] = 0; } } for (int index2 = 0; index2 < 1; index2++) { for (int index1 = 0; index1 < 32; index1++) { output = output + hout[index1] * output3[index1]; } output = output + bout[index2]; } output = 1.0f/(1.0f+exp(-output)); output = output * 20000.0f - 10000.0f; if(output>=0) { valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } else { valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } if(LED==1) { LED=0; } else LED = 1; } } } float DDV_JOINT_POS_FF(float REF_JOINT_VEL) { int i = 0; float Ref_Valve_Pos_FF = 0.0f; for(i=0; i<VALVE_POS_NUM; i++) { if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { if(i==0) { if(JOINT_VEL[i+1] == JOINT_VEL[i]) { Ref_Valve_Pos_FF = (float) VALVE_CENTER; } else { Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; } } else { if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { Ref_Valve_Pos_FF = (float) VALVE_CENTER; } else { Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]); } } break; } } if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; } Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); return Ref_Valve_Pos_FF; } void VALVE_POS_CONTROL(float REF_VALVE_POS) { int i = 0; if(REF_VALVE_POS > VALVE_MAX_POS) { REF_VALVE_POS = VALVE_MAX_POS; } else if(REF_VALVE_POS < VALVE_MIN_POS) { REF_VALVE_POS = VALVE_MIN_POS; } valve_pos_err = REF_VALVE_POS - value; valve_pos_err_diff = valve_pos_err - valve_pos_err_old; valve_pos_err_old = valve_pos_err; valve_pos_err_sum += valve_pos_err; if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff; for(i=0; i<24; i++) { if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { if(i==0) { VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); } else { VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1]; } break; } } Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; } #define LT_MAX_IDX 57 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f, -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f }; // duty float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f }; // mV float PWM_duty_byLT(float Ref_V) { float PWM_duty = 0.0f; if(Ref_V<LT_Voltage_Output[0]) { PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; } else { int idx = 0; for(idx=0; idx<LT_MAX_IDX-1; idx++) { float ini_x = LT_Voltage_Output[idx]; float fin_x = LT_Voltage_Output[idx+1]; float ini_y = LT_PWM_duty[idx]; float fin_y = LT_PWM_duty[idx+1]; if(Ref_V>=ini_x && Ref_V<fin_x) { PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; break; } } } return PWM_duty; } /******************************************************************************* TIMER INTERRUPT *******************************************************************************/ float FREQ_TMR4 = (float)FREQ_20k; float DT_TMR4 = (float)DT_20k; long CNT_TMR4 = 0; int TMR4_FREQ_10k = (int)FREQ_10k; extern "C" void TIM4_IRQHandler(void) { if (TIM4->SR & TIM_SR_UIF ) { /******************************************************* *** Sensor Read & Data Handling ********************************************************/ //Encoder if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { ENC_UPDATE(); } ADC1->CR2 |= 0x40000000; if (SENSING_MODE == 0) { // Torque Sensing (0~210)bar ============================================= float pres_A_new = (((float) ADC1->DR) - 2047.5f); double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; // float pres_A_new = ((float)ADC1->DR); // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 } else if (SENSING_MODE == 1) { // Pressure Sensing (0~210)bar ============================================= float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N } } // //Pressure sensor A // ADC1->CR2 |= 0x40000000; // adc _ 12bit // //while((ADC1->SR & 0b10)); // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); // float pres_A_new = ((float)ADC1->DR); // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. // // // //Pressure sensor B // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); // float pres_B_new = ((float)ADC2->DR); // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; //Current //ADC3->CR2 |= 0x40000000; // adc _ 12bit //int raw_cur = ADC3->DR; //while((ADC3->SR & 0b10)); float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); //cur.sen = raw_cur; CNT_TMR4++; } TIM4->SR = 0x0; // reset the status register } int j =0; float FREQ_TMR3 = (float)FREQ_5k; float DT_TMR3 = (float)DT_5k; int cnt_trans = 0; double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; int can_rest =0; extern "C" void TIM3_IRQHandler(void) { if (TIM3->SR & TIM_SR_UIF ) { if (((OPERATING_MODE&0b110)>>1) == 0) { K_v = 0.4f; // Moog (LPM >> mA) , 100bar mV_PER_mA = 500.0f; // 5000mV/10mA mV_PER_pulse = 0.5f; // 5000mV/10000pulse mA_PER_pulse = 0.001f; // 10mA/10000pulse } else if (((OPERATING_MODE&0b110)>>1) == 1) { K_v = 0.5f; // KNR (LPM >> mA) , 100bar mV_PER_mA = 166.6666f; // 5000mV/30mA mV_PER_pulse = 0.5f; // 5000mV/10000pulse mA_PER_pulse = 0.003f; // 30mA/10000pulse } if(MODE_POS_FT_TRANS == 1) { alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; cnt_trans++; torq.err_sum = 0; if((float)cnt_trans * DT_TMR3 > 3.0f) MODE_POS_FT_TRANS = 2; } else if(MODE_POS_FT_TRANS == 3) { alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; cnt_trans++; torq.err_sum = 0; if((float) cnt_trans * DT_TMR3 > 3.0f ) MODE_POS_FT_TRANS = 0; } else if(MODE_POS_FT_TRANS == 2) { alpha_trans = 1.0f; cnt_trans = 0; } else { alpha_trans = 0.0f; cnt_trans = 0; } int UTILITY_MODE = 0; int CONTROL_MODE = 0; if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { UTILITY_MODE = CONTROL_UTILITY_MODE; CONTROL_MODE = MODE_NO_ACT; } else { CONTROL_MODE = CONTROL_UTILITY_MODE; UTILITY_MODE = MODE_NO_ACT; } // UTILITY MODE ------------------------------------------------------------ switch (UTILITY_MODE) { case MODE_NO_ACT: { break; } case MODE_TORQUE_SENSOR_NULLING: { // DAC Voltage reference set if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { CUR_TORQUE_sum += torq.sen; if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; CUR_TORQUE_sum = 0; TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean); if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); dac_1 = TORQUE_VREF / 3.3f; } } else { CONTROL_UTILITY_MODE = MODE_NO_ACT; TMR3_COUNT_TORQUE_NULL = 0; CUR_TORQUE_sum = 0; CUR_TORQUE_mean = 0; ROM_RESET_DATA(); dac_1 = TORQUE_VREF / 3.3f; } TMR3_COUNT_TORQUE_NULL++; break; } // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { // if (TMR3_COUNT_DEADZONE == 0) { // if (pos_plus_end == pos_minus_end) need_enc_init = true; // else temp_time = 0; // } // if (need_enc_init) { // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_plus_end = pos.sen; // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_minus_end = pos.sen; // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; // temp_time = TMR_FREQ_5k; // } // // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; // // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { // V_out = 0; // CUR_VELOCITY_sum += CUR_VELOCITY; // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; // else DZ_temp_cnt2 = DZ_end; // CUR_VELOCITY_sum = 0; // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; // // // Position of Dead Zone // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) // // | / | / |/ // // | ______/ ___|___/ ______/| // // |/ / | / | // // /| / | / | // // 0V 0V 0V // // if (DZ_temp_cnt2 < DZ_end) { // if (TMR3_COUNT_DEADZONE % 20 != 0) { // CUR_VELOCITY_sum += CUR_VELOCITY; // } else { // V_out -= DZ_dir; // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; // CUR_VELOCITY_sum = 0; // } // if (DZ_temp_cnt == 5) { // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; // else VALVE_DEADZONE_PLUS = (int16_t) V_out; // DZ_dir = -DZ_dir; // DZ_temp_cnt = 0; // DZ_temp_cnt2++; // } // } else { // TMR3_COUNT_DEADZONE = -1; // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { // VALVE_DEADZONE_PLUS = VALVE_CENTER; // VALVE_DEADZONE_MINUS = VALVE_CENTER; // } // V_out = 0; // // ROM_RESET_DATA(); // // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); // // CONTROL_MODE = MODE_NO_ACT; // DZ_temp_cnt2 = 0; // } // } // TMR3_COUNT_DEADZONE++; // break; // } case MODE_FIND_HOME: { if (FINDHOME_STAGE == FINDHOME_INIT) { cnt_findhome = 0; cnt_vel_findhome = 0; //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO pos.ref = pos.sen; vel.ref = 0.0f; FINDHOME_STAGE = FINDHOME_GOTOLIMIT; } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { int cnt_check_enc = (TMR_FREQ_5k/20); if(cnt_findhome%cnt_check_enc == 0) { FINDHOME_POSITION = pos.sen; FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; FINDHOME_POSITION_OLD = FINDHOME_POSITION; } cnt_findhome++; if (abs(FINDHOME_VELOCITY) <= 1) { cnt_vel_findhome = cnt_vel_findhome + 1; } else { cnt_vel_findhome = 0; } if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec //REFERENCE_MODE = MODE_REF_NO_ACT; if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; else pos.ref = pos.ref - 12.0f; // pos.err = pos.ref_home_pos - pos.sen; // float VALVE_POS_RAW_POS_FB = 0.0f; // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; // VALVE_POS_CONTROL(valve_pos.ref); CONTROL_MODE = MODE_JOINT_CONTROL; alpha_trans = 0.0f; } else { ENC_SET(HOMEPOS_OFFSET); // ENC_SET_ZERO(); INIT_REF_POS = HOMEPOS_OFFSET; REF_POSITION = 0; REF_VELOCITY = 0; FINDHOME_POSITION = 0; FINDHOME_POSITION_OLD = 0; FINDHOME_VELOCITY = 0; cnt_findhome = 0; cnt_vel_findhome = 0; FINDHOME_STAGE = FINDHOME_ZEROPOSE; cnt_findhome = 0; pos.ref = 0.0f; vel.ref = 0.0f; pos.ref_home_pos = 0.0f; vel.ref_home_pos = 0.0f; //FINDHOME_STAGE = FINDHOME_INIT; //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; } } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { int T_move = 2*TMR_FREQ_5k; pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; //pos.ref = 0.0f; vel.ref = 0.0f; // input for position control // CONTROL_MODE = MODE_JOINT_CONTROL; alpha_trans = 0.0f; double torq_ref = 0.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { double I_REF_POS = 0.0f; double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback double I_REF_VC = 0.0f; // I_REF for velocity compensation double temp_vel_pos = 0.0f; double temp_vel_torq = 0.0f; double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } else if ((OPERATING_MODE & 0x01) == 1) { temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); I_REF = I_REF_POS; } else { float VALVE_POS_RAW_FORCE_FB = 0.0f; VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); if (VALVE_POS_RAW_FORCE_FB >= 0) { valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; } else { valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; } VALVE_POS_CONTROL(valve_pos.ref); V_out = (float) Vout.ref; } // pos.err = pos.ref - (float)pos.sen; // float VALVE_POS_RAW_POS_FB = 0.0f; // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; // VALVE_POS_CONTROL(valve_pos.ref); cnt_findhome++; if (cnt_findhome >= T_move) { //REFERENCE_MODE = MODE_REF_DIRECT; cnt_findhome = 0; pos.ref = 0.0f; vel.ref = 0.0f; pos.ref_home_pos = 0.0f; vel.ref_home_pos = 0.0f; FINDHOME_STAGE = FINDHOME_INIT; CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; } } break; } // case MODE_VALVE_GAIN_SETTING: { // if (TMR3_COUNT_FLOWRATE == 0) { // if (pos_plus_end == pos_minus_end) need_enc_init = true; // else { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); // } // } // if (need_enc_init) { // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_plus_end = pos.sen; // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_minus_end = pos.sen; // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { // need_enc_init = false; // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; // } // temp_time = TMR_FREQ_5k; // } // TMR3_COUNT_FLOWRATE++; // if (TMR3_COUNT_FLOWRATE > temp_time) { // if (flag_flowrate % 2 == 0) { // (+) // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); // V_out = VALVE_VOLTAGE; // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { // fl_temp_cnt++; // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec // fl_temp_cnt2++; // } // } else if (flag_flowrate % 2 == 1) { // (-) // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); // V_out = VALVE_VOLTAGE; // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { // fl_temp_cnt++; // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec // fl_temp_cnt2++; // } // } // if (fl_temp_cnt2 == 100) { // // ROM_RESET_DATA(); // // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); // cur_vel_sum = 0; // fl_temp_cnt = 0; // fl_temp_cnt2 = 0; // flag_flowrate++; // } // if (flag_flowrate == 10) { // V_out = 0; // flag_flowrate = 0; // TMR3_COUNT_FLOWRATE = 0; // valve_gain_repeat_cnt++; // if (valve_gain_repeat_cnt >= 1) { // CONTROL_MODE = MODE_NO_ACT; // valve_gain_repeat_cnt = 0; // } // // } // break; // } // // } case MODE_PRESSURE_SENSOR_NULLING: { // DAC Voltage reference set if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { CUR_PRES_A_sum += pres_A.sen; CUR_PRES_B_sum += pres_B.sen; if (TMR3_COUNT_PRES_NULL % 10 == 0) { CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; float VREF_NullingGain = 0.0003f; PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; dac_1 = PRES_A_VREF / 3.3f; dac_2 = PRES_B_VREF / 3.3f; } } else { CONTROL_UTILITY_MODE = MODE_NO_ACT; TMR3_COUNT_PRES_NULL = 0; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; CUR_PRES_A_mean = 0; CUR_PRES_B_mean = 0; ROM_RESET_DATA(); dac_1 = PRES_A_VREF / 3.3f; dac_2 = PRES_B_VREF / 3.3f; //pc.printf("nulling end"); } TMR3_COUNT_PRES_NULL++; break; } // case MODE_PRESSURE_SENSOR_CALIB: { // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { // CUR_PRES_A_sum += CUR_PRES_A; // } // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { // CUR_PRES_B_sum += CUR_PRES_B; // } // } else { // CONTROL_MODE = MODE_NO_ACT; // TMR3_COUNT_PRES_CALIB = 0; // V_out = 0; // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); // CUR_PRES_A_sum = 0; // CUR_PRES_B_sum = 0; // CUR_PRES_A_mean = 0; // CUR_PRES_B_mean = 0; // // ROM_RESET_DATA(); // // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); // } // TMR3_COUNT_PRES_CALIB++; // break; // } // case MODE_ROTARY_FRICTION_TUNING: { // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f); // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // TMR3_COUNT_ROTARY_FRIC_TUNE++; // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; // V_out = 0.0f; // CONTROL_MODE = MODE_NO_ACT; // } // break; // } case MODE_DDV_POS_VS_PWM_ID: { CONTROL_MODE = MODE_VALVE_OPEN_LOOP; VALVE_ID_timer = VALVE_ID_timer + 1; if(VALVE_ID_timer < TMR_FREQ_5k*1) { Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { Vout.ref = 1000.0f*(ID_index_array[ID_index]); } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { VALVE_POS_TMP = 0; data_num = 0; } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { data_num = data_num + 1; VALVE_POS_TMP = VALVE_POS_TMP + value; } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { Vout.ref = 0.0f; } else { VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; VALVE_ID_timer = 0; ID_index= ID_index +1; } if(ID_index>=25) { int i; VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; for(i=0; i<25; i++) { VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { VALVE_MAX_POS = VALVE_POS_AVG[i]; VALVE_POS_AVG_OLD = VALVE_MAX_POS; } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { VALVE_MIN_POS = VALVE_POS_AVG[i]; VALVE_POS_AVG_OLD = VALVE_MIN_POS; } } ROM_RESET_DATA(); ID_index = 0; CONTROL_UTILITY_MODE = MODE_NO_ACT; } break; } case MODE_DDV_DEADZONE_AND_CENTER: { CONTROL_MODE = MODE_VALVE_OPEN_LOOP; VALVE_DZ_timer = VALVE_DZ_timer + 1; if(first_check == 0) { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; pos_plus_end = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; pos_minus_end = pos.sen; } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; data_num = data_num + 1; VALVE_POS_TMP = VALVE_POS_TMP + value; } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; DDV_POS_AVG = VALVE_POS_TMP / data_num; START_POS = pos.sen; VALVE_POS_TMP = 0; data_num = 0; } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>200) { DZ_case = 1; } else if((FINAL_POS - START_POS)<-200) { DZ_case = -1; } else { DZ_case = 0; } CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); first_check = 1; DZ_DIRECTION = 1; VALVE_DZ_timer = 0; Ref_Valve_Pos_Old = DDV_POS_AVG; DZ_NUM = 1; DZ_index = 1; } } else { if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref >= VALVE_MAX_POS) { valve_pos.ref = VALVE_MAX_POS; } VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1 * DZ_case; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1 * DZ_case; } else { DZ_DIRECTION = 1 * DZ_case; } VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { FIRST_DZ = valve_pos.ref; DZ_NUM = 2; Ref_Valve_Pos_Old = FIRST_DZ; DZ_index = 1; DZ_DIRECTION = 1; } } } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref >= VALVE_MAX_POS) { valve_pos.ref = VALVE_MAX_POS; } VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = 0.0f; } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1 * DZ_case; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1 * DZ_case; } else { DZ_DIRECTION = -1 * DZ_case; } VALVE_DZ_timer = 0; DZ_index= DZ_index * 2; if(DZ_index >= 128) { SECOND_DZ = valve_pos.ref; VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); first_check = 0; VALVE_DEADZONE_MINUS = (float) FIRST_DZ; VALVE_DEADZONE_PLUS = (float) SECOND_DZ; ROM_RESET_DATA(); CONTROL_UTILITY_MODE = MODE_NO_ACT; DZ_index = 1; } } } else if(DZ_case == 0 && DZ_NUM ==1) { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref >= VALVE_MAX_POS) { valve_pos.ref = VALVE_MAX_POS; } VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1; } else { DZ_DIRECTION = 1; } VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { FIRST_DZ = valve_pos.ref; DZ_NUM = 2; Ref_Valve_Pos_Old = FIRST_DZ; DZ_index = 1; DZ_DIRECTION = 1; } } } else { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref > VALVE_MAX_POS) { valve_pos.ref = VALVE_MAX_POS - 1; } VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = 0.0f; } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1; } else { DZ_DIRECTION = 1; } VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { SECOND_DZ = valve_pos.ref; VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); first_check = 0; VALVE_DEADZONE_MINUS = (float) FIRST_DZ; VALVE_DEADZONE_PLUS = (float) SECOND_DZ; ROM_RESET_DATA(); CONTROL_UTILITY_MODE = MODE_NO_ACT; DZ_index = 1; } } } } break; } case MODE_DDV_POS_VS_FLOWRATE: { CONTROL_MODE = MODE_VALVE_OPEN_LOOP; VALVE_FR_timer = VALVE_FR_timer + 1; if(first_check == 0) { if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; pos_plus_end = pos.sen; // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; pos_minus_end = pos.sen; first_check = 1; VALVE_FR_timer = 0; valve_pos.ref = (float) VALVE_CENTER; ID_index = 0; max_check = 0; min_check = 0; } } else { if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { data_num = 0; valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; VALVE_POS_CONTROL(valve_pos.ref); START_POS = pos.sen; } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; VALVE_POS_CONTROL(valve_pos.ref); data_num = data_num + 1; if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { FINAL_POS = pos.sen; one_period_end = 1; } } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { FINAL_POS = pos.sen; one_period_end = 1; V_out = 0.0f; } if(one_period_end == 1) { if(valve_pos.ref > VALVE_MAX_POS) { max_check = 1; } else if(valve_pos.ref < VALVE_MIN_POS) { min_check = 1; } JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec VALVE_FR_timer = 0; one_period_end = 0; ID_index= ID_index +1; V_out = 0.0f; } if(max_check == 1 && min_check == 1) { VALVE_POS_NUM = ID_index; ROM_RESET_DATA(); ID_index = 0; first_check = 0; VALVE_FR_timer = 0; CONTROL_UTILITY_MODE = MODE_NO_ACT; // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); } } break; } case MODE_SYSTEM_ID: { freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); CONTROL_MODE = MODE_VALVE_OPEN_LOOP; cnt_sysid++; if (freq_sysid_Iref >= 300) { cnt_sysid = 0; CONTROL_UTILITY_MODE = MODE_NO_ACT; } break; } default: break; } // CONTROL MODE ------------------------------------------------------------ switch (CONTROL_MODE) { case MODE_NO_ACT: { V_out = 0.0f; break; } case MODE_VALVE_POSITION_CONTROL: { if (OPERATING_MODE == 5) { //SW Valve VALVE_POS_CONTROL(valve_pos.ref); V_out = Vout.ref; } else if (CURRENT_CONTROL_MODE == 0) { //PWM V_out = valve_pos.ref; } else { I_REF = valve_pos.ref * 0.001f; } break; } case MODE_JOINT_CONTROL: { double torq_ref = 0.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] //K & D Low Pass Filter float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] // torque feedback torq.err = torq_ref - torq.sen; //[N] torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { double I_REF_POS = 0.0f; double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback double I_REF_VC = 0.0f; // I_REF for velocity compensation double temp_vel_pos = 0.0f; double temp_vel_torq = 0.0f; double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } else if ((OPERATING_MODE & 0x01) == 1) { temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); // velocity compensation for torque control if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s // L feedforward velocity } else if ((OPERATING_MODE & 0x01) == 1) { I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive. // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s // L feedforward velocity } if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); // L velocity(rad/s or mm/s) >> I_ref(mA) // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); // Anti-windup for FT if (I_GAIN_JOINT_TORQUE != 0) { double I_MAX = 10.0f; // Maximum Current : 10mV double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); if (I_REF > I_MAX) { double I_rem = I_REF - I_MAX; I_rem = Ka*I_rem; I_REF = I_MAX; torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; } else if (I_REF < -I_MAX) { double I_rem = I_REF - (-I_MAX); I_rem = Ka*I_rem; I_REF = -I_MAX; torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; } } } else { float VALVE_POS_RAW_FORCE_FB = 0.0f; float VALVE_POS_RAW_FORCE_FF = 0.0f; float VALVE_POS_RAW = 0.0f; VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; if (VALVE_POS_RAW >= 0) { valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; } else { valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; } if(I_GAIN_JOINT_TORQUE != 0) { double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; if(valve_pos.ref>VALVE_MAX_POS) { double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; valve_pos_rem = valve_pos_rem * Ka; valve_pos.ref = VALVE_MAX_POS; torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; } else if(valve_pos.ref < VALVE_MIN_POS) { double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; valve_pos_rem = valve_pos_rem * Ka; valve_pos.ref = VALVE_MIN_POS; torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; } } VALVE_POS_CONTROL(valve_pos.ref); // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); V_out = (float) Vout.ref; } torq_ref_past = torq_ref; break; } case MODE_VALVE_OPEN_LOOP: { V_out = (float) Vout.ref; break; } default: break; } if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve //////////////////////////////////////////////////////////////////////////// //////////////////////////// CURRENT CONTROL ////////////////////////////// //////////////////////////////////////////////////////////////////////////// if (CURRENT_CONTROL_MODE) { double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; I_ERR = I_REF_fil - cur.sen; I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; // Moog Valve Current Control Gain double R_model = 500.0f; // ohm double L_model = 1.2f; double w0 = 2.0f * 3.14f * 150.0f; double KP_I = 0.1f * L_model*w0; double KI_I = 0.1f * R_model*w0; // KNR Valve Current Control Gain if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve R_model = 163.0f; // ohm L_model = 1.0f; w0 = 2.0f * 3.14f * 80.0f; KP_I = 1.0f * L_model*w0; KI_I = 0.08f * R_model*w0; } double FF_gain = 1.0f; VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV I_REF_fil_diff = I_REF_fil - I_REF_fil_old; I_REF_fil_old = I_REF_fil; // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV double Ka = 3.0f / KP_I; if (VALVE_PWM_RAW > V_MAX) { V_rem = VALVE_PWM_RAW - V_MAX; V_rem = Ka*V_rem; VALVE_PWM_RAW = V_MAX; I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; } else if (VALVE_PWM_RAW < -V_MAX) { V_rem = VALVE_PWM_RAW - (-V_MAX); V_rem = Ka*V_rem; VALVE_PWM_RAW = -V_MAX; I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; } Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; } else { VALVE_PWM_RAW = I_REF * mV_PER_mA; Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; } //////////////////////////////////////////////////////////////////////////// ///////////////// Dead Zone Cancellation & Linearization ////////////////// //////////////////////////////////////////////////////////////////////////// // Dead Zone Cancellation (Mechanical Valve dead-zone) if (FLAG_VALVE_DEADZONE) { if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV } else { VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; } // Output Voltage Linearization double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 // Dead Zone Cancellation (Electrical dead-zone) if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); else V_out = (float) (CUR_PWM_lin); } // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); // else V_out = V_out; /******************************************************* *** PWM ********************************************************/ if(DIR_VALVE<0){ V_out = -V_out; } if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { V_out = VALVE_VOLTAGE_LIMIT*1000.0f; } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; } PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV // Saturation of output voltage to 12.0V if(PWM_out > 1.0f) PWM_out=1.0f; else if (PWM_out < -1.0f) PWM_out=-1.0f; if (PWM_out>0.0f) { dtc_v=0.0f; dtc_w=PWM_out; } else { dtc_v=-PWM_out; dtc_w=0.0f; } //pwm TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { // Position, Velocity, and Torque (ID:1200) if (flag_data_request[0] == HIGH) { if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator if (SENSING_MODE == 0) { CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); } else if (SENSING_MODE == 1) { CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); } } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator if (SENSING_MODE == 0) { CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); } else if (SENSING_MODE == 1) { CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); } } } if (flag_data_request[1] == HIGH) { //valve position double t_value = 0; if(valve_pos.ref>=(float) VALVE_CENTER) { t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } // if(OPERATING_MODE==5) { // t_value = (double) value; // } else if(CURRENT_CONTROL_MODE==1) { // t_value = cur.sen; // } else { // t_value = V_out; // } CAN_TX_TORQUE((int16_t) (t_value)); //1300 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 } if (flag_data_request[2] == HIGH) { //pressure A and B CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400 } //If it doesn't rest, below can can not work. for (can_rest = 0; can_rest < 10000; can_rest++) { ; } if (flag_data_request[3] == HIGH) { //PWM //CAN_TX_PWM((int16_t) value); //1500 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 } //for (i = 0; i < 10000; i++) { // ; // } if (flag_data_request[4] == HIGH) { //valve position CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 } // Others : Reference position, Reference FT, PWM, Current (ID:1300) // if (flag_data_request[1] == HIGH) { // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); // } //if (flag_delay_test == 1){ //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); //} TMR2_COUNT_CAN_TX = 0; } TMR2_COUNT_CAN_TX++; } TIM3->SR = 0x0; // reset the status register }