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LIGHT2
main.cpp
- Committer:
- Lightvalve
- Date:
- 2020-04-14
- Revision:
- 65:a2d7c63419c2
- Parent:
- 64:6f1caa0993d0
- Child:
- 66:a8e6799dbce3
File content as of revision 65:a2d7c63419c2:
#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(); } } const float input[22] = { 0.052414f, 0.066907f, 0.085407f, 0.109023f, 0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f, 0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f, 0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f }; const float h1[22][32] = { { -0.02454003319144249f, 0.13071660697460175f, 0.08675816655158997f, 0.1402530074119568f, -0.24982963502407074f, 0.12202739715576172f, -0.13030944764614105f, -0.11353740841150284f, -0.2542628347873688f, -0.04588286578655243f, -0.14282149076461792f, -0.2201535552740097f, -0.18691661953926086f, 0.30389177799224854f, -0.1729012429714203f, -0.12240276485681534f, -0.11355798691511154f, 0.2349482625722885f, -0.24878336489200592f, 0.07184267044067383f, -0.3221011161804199f, 0.08763179183006287f, -0.27257153391838074f, -0.06490874290466309f, -0.06682667881250381f, 0.1505383551120758f, -0.14478006958961487f, -0.07367490231990814f, 0.23569869995117188f, -0.1539779156446457f, -0.1400003880262375f, 0.051764924079179764f }, { -0.19842876493930817f, 0.18337926268577576f, 0.24467620253562927f, -0.29177823662757874f, -0.08481606096029282f, 0.09983056783676147f, 0.17972804605960846f, -0.07474377751350403f, -0.1711931675672531f, 0.12607872486114502f, -0.21832025051116943f, -0.1755477339029312f, -0.010855759494006634f, 0.2378554791212082f, 0.03758585453033447f, -0.13797838985919952f, -0.15582887828350067f, 0.08006728440523148f, 0.280606746673584f, 0.28338202834129333f, -0.06711727380752563f, -0.09894979000091553f, -0.07788881659507751f, 0.22705963253974915f, -0.0012174372095614672f, 0.240607351064682f, 0.1039358377456665f, 0.18501906096935272f, -0.03155122324824333f, 0.08036407828330994f, -0.20284514129161835f, 0.06699042022228241f }, { 0.14068114757537842f, 0.13828633725643158f, -0.0034593045711517334f, 0.1392701119184494f, 0.01057615876197815f, -0.007689331658184528f, 0.07328304648399353f, -0.14162643253803253f, -0.04415355995297432f, 0.09164466708898544f, 0.24845272302627563f, -0.05588914453983307f, -0.054479751735925674f, 0.24456734955310822f, -0.2598671317100525f, -0.15801946818828583f, 0.2817283868789673f, -0.19191598892211914f, 0.15788163244724274f, 0.28144943714141846f, 0.14735294878482819f, -0.12544888257980347f, 0.11103320121765137f, -0.20203278958797455f, 0.0017974432557821274f, 0.1191059947013855f, -0.12710560858249664f, 0.1702873408794403f, -0.09684925526380539f, 0.2480504810810089f, -0.28676652908325195f, -0.17398564517498016f }, { 0.04844924807548523f, -0.06973694264888763f, -0.1682211458683014f, -0.3513043522834778f, -0.22794683277606964f, 0.08840374648571014f, 0.026485737413167953f, -0.3492684066295624f, 0.1813228577375412f, 0.06481858342885971f, 0.11471711844205856f, 0.1854662299156189f, -0.12381665408611298f, 0.35136616230010986f, -0.10501053929328918f, -0.016016438603401184f, 0.03148011490702629f, -0.17074286937713623f, -0.1689852625131607f, 0.1171770691871643f, -0.23076696693897247f, -0.07204706966876984f, -0.12052477896213531f, -0.23881052434444427f, -0.004284285008907318f, 0.11600598692893982f, 0.10962119698524475f, -0.012203623540699482f, 0.33345603942871094f, 0.1084047257900238f, 0.015447823330760002f, 0.1315833479166031f }, { 0.12315890938043594f, 0.16742177307605743f, 0.0689031183719635f, -0.29923000931739807f, -0.10478553920984268f, 0.0034702986013144255f, -0.06286507844924927f, -0.3965417146682739f, -0.24317654967308044f, 0.2535353899002075f, -0.18702425062656403f, 0.2042631357908249f, 0.14613179862499237f, 0.2476590871810913f, -0.20543844997882843f, 0.15613335371017456f, -0.024847690016031265f, -0.12820857763290405f, 0.13289833068847656f, -0.033144671469926834f, 0.09313736855983734f, 0.19325080513954163f, -0.20106908679008484f, -0.061102136969566345f, -0.028910696506500244f, -0.2806609869003296f, 0.033241331577301025f, -0.26521533727645874f, 0.33587634563446045f, -0.13370811939239502f, 0.21700626611709595f, 0.008141759783029556f }, { 0.3156174421310425f, 0.033245913684368134f, 0.24999621510505676f, 0.14565978944301605f, 0.02309553697705269f, -0.05169738829135895f, -0.15119729936122894f, -0.10350330173969269f, -0.3457512855529785f, 0.03809545189142227f, 0.25342249870300293f, -0.19578632712364197f, -0.05333413928747177f, 0.09492939710617065f, 0.17943906784057617f, -0.21144242584705353f, -0.1867227405309677f, -0.23938390612602234f, -0.2632395327091217f, 0.06656297296285629f, 0.0961865782737732f, -0.00792744755744934f, 0.10312435030937195f, 0.27112916111946106f, -0.12544961273670197f, 0.17053177952766418f, -0.23970040678977966f, 0.16830605268478394f, 0.18481910228729248f, -0.0010759234428405762f, 0.049939122051000595f, -0.059725455939769745f }, { 0.021065108478069305f, -0.17225059866905212f, 0.1334478259086609f, 0.09036531299352646f, 0.22687482833862305f, 0.03710803762078285f, -0.1765347123146057f, 0.0036233423743396997f, -0.17170532047748566f, -0.11777474731206894f, -0.054618652909994125f, -0.17656885087490082f, 0.052830975502729416f, 0.10441931337118149f, -0.14971962571144104f, -0.24781031906604767f, -0.023929525166749954f, -0.04490154981613159f, 0.2847473621368408f, 0.014796234667301178f, -0.14429597556591034f, -0.14511936902999878f, -0.21516084671020508f, -0.20089882612228394f, -0.10562898963689804f, -0.12727710604667664f, -0.09228193759918213f, -0.08893769234418869f, -0.12074583023786545f, -0.028564512729644775f, 0.008117200806736946f, 0.08297917991876602f }, { 0.19532811641693115f, -0.05014912784099579f, 0.13636812567710876f, 0.048916492611169815f, 0.26100409030914307f, -0.17881926894187927f, 0.012918300926685333f, 0.06905974447727203f, 0.16022373735904694f, 0.06287040561437607f, -0.1698886901140213f, -0.3164767324924469f, 0.06106283515691757f, 0.05603136122226715f, 0.04491907358169556f, 0.16258767247200012f, 0.06191227212548256f, -0.2078513652086258f, -0.26503077149391174f, 0.019191648811101913f, -0.06990422308444977f, 0.018576622009277344f, -0.10467308759689331f, -0.023303329944610596f, 0.11910765618085861f, 0.014545410871505737f, -0.2797531187534332f, -0.014093500562012196f, -0.09087783098220825f, 0.003536820411682129f, -0.08422576636075974f, 0.20006318390369415f }, { 0.03522654250264168f, -0.15291047096252441f, 0.11232474446296692f, 0.08317171782255173f, 0.01103570032864809f, -0.23718038201332092f, -0.043577663600444794f, -0.10673496872186661f, -0.08802048116922379f, 0.06057487800717354f, -0.2207462638616562f, 0.21330848336219788f, 0.06867198646068573f, 0.31874582171440125f, 0.19785529375076294f, 0.11854913830757141f, 0.0048002502880990505f, 0.07107115536928177f, 0.1471722573041916f, -0.021459000185132027f, -0.25434109568595886f, -0.01829427480697632f, -0.2427632212638855f, 0.06919881701469421f, -0.2938772141933441f, -0.06733335554599762f, -0.07296852767467499f, 0.21985474228858948f, 0.27857765555381775f, -0.09769320487976074f, -0.2202656865119934f, 0.06659334897994995f }, { -0.18176554143428802f, 0.05808980390429497f, 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-0.057871971279382706f, -0.07429885864257812f, 0.2029605507850647f, -0.19719278812408447f, -0.22302524745464325f, 0.2192145586013794f, -0.13908077776432037f, 0.2019682675600052f, -0.028201768174767494f, 0.08898906409740448f, 0.17976179718971252f, -0.22928372025489807f, 0.3000858724117279f, 0.08501409739255905f }, { -0.09888127446174622f, -0.22750279307365417f, -0.22503364086151123f, -0.0014225258491933346f, -0.012498408555984497f, -0.24329537153244019f, -0.09442851692438126f, 0.08175003528594971f, -0.016126900911331177f, 0.06972584128379822f, 0.05360379442572594f, 0.22432491183280945f, -0.031845152378082275f, -0.2877633273601532f, 0.18349257111549377f, 0.19327174127101898f, -0.09216172993183136f, 0.04617339372634888f, -0.09483018517494202f, -0.07904840260744095f, -0.035641368478536606f, -0.2887636721134186f, -0.06047184765338898f, -0.3070217967033386f, 4.397468364913948e-05f, -0.19100867211818695f, 0.28239238262176514f, -0.2758784890174866f, -0.16326025128364563f, 0.11664235591888428f, -0.03823475539684296f, 0.11660117655992508f }, }; const float hout[32] = { 0.3285340666770935f, 0.2858171761035919f, -0.36366742849349976f, -0.2632009983062744f, -0.25631460547447205f, 0.33468252420425415f, 0.002162247896194458f, 0.1081397533416748f, -0.19566167891025543f, -0.007266071625053883f, 0.1744336485862732f, -0.19491273164749146f, -0.16939763724803925f, 0.1573415994644165f, 0.2356991171836853f, -0.1462659239768982f, 0.09851181507110596f, -0.21499931812286377f, -0.013007339090108871f, -0.26934152841567993f, -0.10125408321619034f, 0.16949352622032166f, -0.2570975124835968f, -0.21437735855579376f, 0.2278641164302826f, 0.2520971894264221f, -0.38587644696235657f, -0.3990364372730255f, 0.24998146295547485f, -0.3257754445075989f, -0.41329723596572876f, -0.26551106572151184f }; const float b1[32] = { 0.6920363306999207f, 0.9509658217430115f, -1.7145336866378784f, 0.4119643270969391f, 1.0741286277770996f, 0.8546265363693237f, -0.07467586547136307f, 0.93145751953125f, 0.5193935036659241f, -0.8871728777885437f, 0.593039333820343f, 1.6031073331832886f, -0.33494266867637634f, -0.8010779023170471f, -1.087764859199524f, 1.1554406881332397f, 0.6632958650588989f, -0.224932461977005f, 0.26702749729156494f, 0.5859951972961426f, -0.31409698724746704f, -1.1118980646133423f, -1.6770726442337036f, -1.2263047695159912f, 2.018333911895752f, -2.0880801677703857f, -1.0489267110824585f, 0.7445360422134399f, 0.4031659960746765f, -1.0887231826782227f, 1.5438745021820068f, -0.4563482999801636f }; const float b2[32] = { -0.10466054826974869f, -0.7642630338668823f, -1.4564176797866821f, -0.528777003288269f, -0.7297643423080444f, 0.2625555098056793f, 0.389851450920105f, -0.33048292994499207f, -1.20063054561615f, -1.912178635597229f, 0.31253743171691895f, 0.6883504390716553f, -0.04988760128617287f, 2.26581072807312f, 0.13501279056072235f, 1.132785677909851f, -1.8237234354019165f, -1.5844906568527222f, 0.26375624537467957f, -0.23789723217487335f, 0.17283980548381805f, 0.3692796230316162f, 0.09335066378116608f, -1.0231001377105713f, 1.2738454341888428f, 1.44853675365448f, 0.9071134924888611f, 8.9274239144288e-05f, -0.6323830485343933f, -0.4208582937717438f, -1.1864360570907593f, -1.3916414976119995f }; const float b3[32] = { -1.963319182395935f, -0.4028509557247162f, 0.3184174597263336f, 0.1579766422510147f, 0.1897633820772171f, 0.866980791091919f, -0.45353031158447266f, -0.6562485098838806f, 0.5865635275840759f, 0.5033581852912903f, -0.14371006190776825f, 0.050810977816581726f, -0.5131177306175232f, 0.5688209533691406f, -1.1428403854370117f, -0.3598397970199585f, -1.3594286441802979f, -1.0192245244979858f, -0.2365882694721222f, 0.5294732451438904f, 1.530857801437378f, 1.2039998769760132f, -1.0573883056640625f, -0.7962622046470642f, 0.7248114347457886f, -0.36519983410835266f, -0.07752024382352829f, 0.767806887626648f, 0.2635451555252075f, -2.3236680030822754f, 0.06150589883327484f, 1.0375205278396606f }; const float bout[1] = { -0.3124803602695465f }; int main() { //F401_init84 myinit(0); //F401_init84 SystemClock_Config_84MHz_internal(); HAL_Init(); SystemClock_Config(); __HAL_RCC_SYSCFG_CLK_ENABLE(); __HAL_RCC_PWR_CLK_ENABLE(); HAL_IncTick(); /********************************* *** Initialization *********************************/ LED = 1; 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; } float output1[32] = { 0.0f }; float output2[32] = { 0.0f }; float output3[32] = { 0.0f }; float output = 0.0f; timer_while ++; // t.reset(); // t.start(); for (int index2 = 0; index2 < 32; index2++) { for (int index1 = 0; index1 < 22; index1++) { output1[index2] = output1[index2] + h1[index1][index2] * input[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[index2] * output3[index1]; } output = output + bout[index2]; output = 1.0f/(1.0f+exp(-output)); } // t.stop(); //printf("NNoutput : %f\n", NNoutput); //printf("time : %f\n", t.read()); //wait(1); //if(timer_while%10000==0) if(LED==1) { LED=0; } else LED = 1; // CAN_TX_PWM((int16_t) (t.read() * 1000000.0f)); //1500 // PWM_out = NNoutput * 24000.0f - 12000.0f; // // // 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); } } 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] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f, -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f, -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f, 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f, 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f, 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f }; // 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(); } // for(int i=0; i<10; i++){ // position_array[i] = position_array[i+1]; // } // position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f; // // for(int i=0; i<5; i++){ // input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f; // } 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; } 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/500); 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 + 2.0f; else pos.ref = pos.ref - 2.0f; // 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); 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; } } 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; vel.ref = 0.0f; // input for position control CONTROL_MODE = MODE_JOINT_CONTROL; alpha_trans = 0.0f; // 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&0b110)>>1) == 0) { //Moog Valve I_REF = valve_pos.ref; } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve V_out = valve_pos.ref; } else { //SW Valve VALVE_POS_CONTROL(valve_pos.ref); V_out = Vout.ref; } break; } case MODE_JOINT_CONTROL: { double torq_ref = 0.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N] // torque feedback torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - 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); } else { float VALVE_POS_RAW_FORCE_FB = 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)); 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; } 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; } 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 + TMR_FREQ_5k / (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) * DT_TMR3; // Moog Valve Current Control Gain double R_model = 539.0f; // 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 * I_ERR + KI_I * 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 * TMR_FREQ_5k); // Unit : mV double V_MAX = 12000.; // 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 * DT_TMR3; } 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 * DT_TMR3; } 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); // Dead Zone Cancellation (Electrical dead-zone) if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140; else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140; else V_out = CUR_PWM_lin; } /******************************************************* *** PWM ********************************************************/ 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) (pres_A.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/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen)); } else if (SENSING_MODE == 1) { CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (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(value>=(float) VALVE_CENTER) { // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); // } else { // t_value = -10000.0f*((double)value - (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), (int16_t) (V_out)); //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) cur.sen); //1500 } if (flag_data_request[3] == LOW) { //PWM CAN_TX_PWM((int16_t) 79); //1500 } //for (i = 0; i < 10000; i++) { // ; // } if (flag_data_request[4] == HIGH) { //valve position CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //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 }