Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

LIGHT2

Dependencies:   FastPWM mbed

main.cpp@145:35f5ec0d7e56, 2020-10-08 (annotated)

Committer:
Lightvalve
Date:
Thu Oct 08 11:33:17 2020 +0000
Revision:
145:35f5ec0d7e56
Parent:
144:fb8c3025963c 
201008-7

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 145:35f5ec0d7e56 1 //201008-7
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 112 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 99:7bbcb3c0fb06 187 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 112:8dcb1600cb90 195 const float h1[num_input][16] = {
Lightvalve 145:35f5ec0d7e56 196 {-1.202144980430603f,1.138988971710205f,0.12903714179992676f,0.4784081280231476f,-2.007096529006958f,1.1101239919662476f,-0.17472904920578003f,1.376711368560791f,-0.6657677292823792f,-1.2683919668197632f,-0.2366894781589508f,-2.119908571243286f,-0.27179795503616333f,-0.2513915002346039f,-0.2571594715118408f,-2.217491626739502f},
Lightvalve 145:35f5ec0d7e56 197 {-1.038386583328247f,0.9783099293708801f,-0.3927857577800751f,0.1331273317337036f,-1.6192518472671509f,0.7398083209991455f,-0.4054011106491089f,0.999164342880249f,-0.3204660713672638f,-0.7893865704536438f,-0.2734762132167816f,-1.7904084920883179f,0.22786423563957214f,-0.6183355450630188f,-0.20967772603034973f,-1.7576642036437988f},
Lightvalve 145:35f5ec0d7e56 198 {-0.8073722124099731f,0.723030686378479f,0.36391180753707886f,-0.25218313932418823f,-0.8648297190666199f,0.646933913230896f,0.2872133255004883f,0.9005036354064941f,-0.26115748286247253f,-0.5288271307945251f,-0.3473871052265167f,-1.568228840827942f,-0.010325154289603233f,0.032464317977428436f,0.05590221285820007f,-1.797452688217163f},
Lightvalve 145:35f5ec0d7e56 199 {-0.30040138959884644f,-0.03466230630874634f,0.39742106199264526f,0.37627866864204407f,-0.06165529042482376f,-0.24948622286319733f,-0.11584559082984924f,0.6195026636123657f,0.0672391802072525f,0.11928713321685791f,0.09644106775522232f,-0.6219649910926819f,-0.1723935604095459f,0.1230471059679985f,-0.2961459457874298f,-1.0144660472869873f},
Lightvalve 145:35f5ec0d7e56 200 {0.9413514733314514f,-0.9783564209938049f,-0.0051451027393341064f,0.2973308861255646f,1.2383958101272583f,-1.0510715246200562f,0.1294034719467163f,-0.8967423439025879f,0.22686034440994263f,1.0535863637924194f,0.3483673930168152f,0.28839874267578125f,-0.07595616579055786f,0.475301057100296f,-0.3865056037902832f,-0.2590292990207672f},
Lightvalve 145:35f5ec0d7e56 201 {2.2739834785461426f,-3.384673595428467f,0.21773302555084229f,0.2994205355644226f,3.3027589321136475f,-3.102123737335205f,0.16514194011688232f,-3.0555598735809326f,0.3947591781616211f,2.9011330604553223f,-0.2471718192100525f,2.413551092147827f,-0.27255699038505554f,0.875239372253418f,-0.4132833778858185f,1.5249680280685425f},
Lightvalve 145:35f5ec0d7e56 202 {-0.0025823377072811127f,0.5788406729698181f,-0.2501986622810364f,-0.6869844198226929f,0.013595464639365673f,0.958987295627594f,0.06014183163642883f,-0.6783658266067505f,0.2335476279258728f,-0.15955637395381927f,0.14809231460094452f,0.49601414799690247f,-0.17972350120544434f,-0.01836634986102581f,-0.15618428587913513f,1.9472782611846924f},
Lightvalve 145:35f5ec0d7e56 203 {-0.5333747863769531f,0.6159882545471191f,-0.26619744300842285f,-0.10663940757513046f,-0.6672677397727966f,0.7491434812545776f,-0.17925891280174255f,0.45909467339515686f,-0.061611875891685486f,-0.5273573398590088f,0.10323914140462875f,-0.1594064086675644f,0.3640030324459076f,0.04273512586951256f,0.04303058981895447f,0.4016958773136139f},
Lightvalve 145:35f5ec0d7e56 204 {-0.06486926227807999f,0.5101504325866699f,0.10248100757598877f,-0.6076595187187195f,-0.22489143908023834f,0.28914013504981995f,-0.07246989011764526f,-0.32467958331108093f,-0.3318542540073395f,0.43399131298065186f,-0.29930150508880615f,0.8827233910560608f,0.2215290069580078f,0.17675165832042694f,-0.30555272102355957f,1.0407618284225464f},
Lightvalve 145:35f5ec0d7e56 205 {0.0067978473380208015f,-0.538397490978241f,0.18462657928466797f,-0.3743363916873932f,0.18972061574459076f,-0.09740876406431198f,-0.2990540862083435f,-0.5601083636283875f,-0.039114855229854584f,0.16344060003757477f,-0.010178256779909134f,0.4692024886608124f,0.36460021138191223f,-0.18887411057949066f,0.3484981060028076f,1.2080103158950806f},
Lightvalve 145:35f5ec0d7e56 206 {0.5042862892150879f,-0.23018865287303925f,0.37182438373565674f,0.0031008694786578417f,-0.13351543247699738f,-0.37750890851020813f,-0.20339298248291016f,-0.5399224162101746f,-0.4469622075557709f,0.7113228440284729f,0.34657230973243713f,0.5766669511795044f,-0.07425376027822495f,0.058319900184869766f,0.26688337326049805f,0.7508887648582458f},
Lightvalve 145:35f5ec0d7e56 207 {-0.36814379692077637f,-0.5277806520462036f,-0.40320003032684326f,-0.26136666536331177f,-0.2674432694911957f,-0.26984360814094543f,0.1533789038658142f,0.007386255543678999f,-0.17324255406856537f,0.6930100321769714f,-0.41594198346138f,0.6991134881973267f,0.13697238266468048f,0.04665316268801689f,0.10493969917297363f,0.6447699666023254f},
Lightvalve 145:35f5ec0d7e56 208 {-0.10107079893350601f,-0.23446384072303772f,0.19847965240478516f,-0.11969888210296631f,-0.07624413073062897f,0.021741967648267746f,-0.2404318004846573f,-0.14804726839065552f,-0.20712880790233612f,0.17828989028930664f,-0.11077233403921127f,0.1089673861861229f,0.08429888635873795f,0.060614317655563354f,-0.22268100082874298f,0.13039818406105042f},
Lightvalve 145:35f5ec0d7e56 209 {-0.22510682046413422f,-0.12380469590425491f,0.4127817749977112f,-0.3654475212097168f,-0.4933675229549408f,-0.36989352107048035f,-0.32001304626464844f,-0.5990984439849854f,-0.17157448828220367f,0.11538881808519363f,-0.19669756293296814f,0.046649251133203506f,-0.32045069336891174f,-0.04418804123997688f,0.0479682981967926f,0.4848869740962982f},
Lightvalve 145:35f5ec0d7e56 210 {0.08632653206586838f,0.06087305769324303f,0.20282304286956787f,-0.21891111135482788f,0.13672329485416412f,-0.18774953484535217f,0.04202890396118164f,0.043800003826618195f,0.25277137756347656f,0.3155035078525543f,-0.2811494767665863f,-0.37795940041542053f,0.09589854627847672f,-0.07150355726480484f,0.0668090283870697f,0.3614422380924225f},
Lightvalve 145:35f5ec0d7e56 211 {-0.14654578268527985f,-0.3255223035812378f,-0.40439701080322266f,-0.3830048739910126f,-0.2781727612018585f,-0.08479150384664536f,-0.15568238496780396f,-0.3112363815307617f,0.14826036989688873f,0.26614072918891907f,-0.47562071681022644f,-0.1283193975687027f,-0.2787332534790039f,-0.02893819846212864f,-0.08245879411697388f,0.2619592249393463f},
Lightvalve 145:35f5ec0d7e56 212 {-0.1407018005847931f,-0.28579166531562805f,0.16706281900405884f,-0.21144752204418182f,-0.025171607732772827f,-0.4996216595172882f,-0.041414469480514526f,-0.4635230600833893f,-0.10190882533788681f,0.5193468332290649f,-0.3552822470664978f,0.2423761785030365f,0.10444391518831253f,0.3413086235523224f,0.29427415132522583f,-0.02577020600438118f},
Lightvalve 65:a2d7c63419c2 213 };
Lightvalve 65:a2d7c63419c2 214
Lightvalve 112:8dcb1600cb90 215 const float h2[16][16] = {
Lightvalve 145:35f5ec0d7e56 216 {-0.42087849974632263f,0.4165714979171753f,-0.06966331601142883f,-0.40978044271469116f,-0.21907491981983185f,0.19977861642837524f,-0.09562018513679504f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-5.7234206199646f,-0.3770526647567749f,-2.265185832977295f,-1.3839008808135986f,-0.46374428272247314f,-0.3703479766845703f},
Lightvalve 145:35f5ec0d7e56 217 {0.10605034232139587f,-0.8491718769073486f,0.057057321071624756f,-0.11637905985116959f,-1.471933126449585f,-2.3849689960479736f,-0.678670346736908f,-0.4641587734222412f,-0.33757925033569336f,0.2895788848400116f,-3.7726151943206787f,-0.825717568397522f,-0.4287202060222626f,1.856231927871704f,-0.3886423408985138f,-0.8368627429008484f},
Lightvalve 112:8dcb1600cb90 218 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 145:35f5ec0d7e56 219 {0.01821889728307724f,-0.19988501071929932f,-0.2894435524940491f,0.5687466859817505f,0.08946844935417175f,0.4089488089084625f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.1993970274925232f,0.28493621945381165f,-0.5520196557044983f,-0.30905404686927795f,0.2588307857513428f,0.06752173602581024f},
Lightvalve 145:35f5ec0d7e56 220 {-0.4842865467071533f,0.5623611807823181f,-0.25313520431518555f,-0.015972860157489777f,-2.685121536254883f,-0.8270378112792969f,-0.6444149613380432f,-0.27048569917678833f,-0.024399548768997192f,-0.39465832710266113f,-1.3381013870239258f,-0.9601086378097534f,-0.23603275418281555f,-7.192060947418213f,-0.6448869705200195f,-0.5070762038230896f},
Lightvalve 145:35f5ec0d7e56 221 {0.26964879035949707f,-0.20627757906913757f,-0.3519742488861084f,0.08445581048727036f,-0.5232159495353699f,-1.5471696853637695f,-0.7417458295822144f,-0.18649421632289886f,-0.23047015070915222f,0.3579089343547821f,-1.5071357488632202f,-0.45861613750457764f,-1.9862370491027832f,0.5577003955841064f,-0.024327976629137993f,-0.8124467134475708f},
Lightvalve 112:8dcb1600cb90 222 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 145:35f5ec0d7e56 223 {-0.0016780151054263115f,-0.17736129462718964f,0.33083590865135193f,-0.8090094327926636f,-2.097384214401245f,-2.0368118286132812f,-0.572920560836792f,-0.4613488018512726f,0.2600560486316681f,-0.37898191809654236f,-2.721445083618164f,-0.653968334197998f,-0.1349858194589615f,1.660499930381775f,-0.22006866335868835f,0.04596048220992088f},
Lightvalve 145:35f5ec0d7e56 224 {-0.31423863768577576f,0.341561883687973f,-0.11379697918891907f,-0.23742690682411194f,0.041274964809417725f,-0.35426101088523865f,-0.256329745054245f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.4106711745262146f,-0.4447551667690277f,-0.518744945526123f,-0.4609438180923462f,-0.48924964666366577f,-0.37356749176979065f},
Lightvalve 145:35f5ec0d7e56 225 {-0.6705074906349182f,0.2682148516178131f,-0.13502129912376404f,0.3107656240463257f,1.292205572128296f,0.2772318422794342f,-0.14059102535247803f,-0.5952746868133545f,-0.13619378209114075f,0.16938945651054382f,1.6001759767532349f,-0.28879669308662415f,0.11340539157390594f,-0.8598341345787048f,-0.3627699911594391f,-0.8332610130310059f},
Lightvalve 145:35f5ec0d7e56 226 {-0.2734835743904114f,-0.006139871198683977f,0.0457797646522522f,-0.3544529974460602f,-0.03321319818496704f,-0.43699121475219727f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.21864968538284302f,0.3545852601528168f,-0.3647043704986572f,0.4158240258693695f,-0.39413556456565857f,-0.280180960893631f},
Lightvalve 145:35f5ec0d7e56 227 {0.21503236889839172f,-0.006975529715418816f,0.3954955041408539f,-0.002965252147987485f,0.37924548983573914f,-4.352310657501221f,-0.5501192808151245f,-0.28764215111732483f,0.3487861454486847f,-0.32520344853401184f,-4.292383193969727f,-0.7163788676261902f,-1.6283358335494995f,-0.7420485615730286f,0.006725164595991373f,0.05786462873220444f},
Lightvalve 145:35f5ec0d7e56 228 {-0.2682988941669464f,-0.21874792873859406f,-0.15798500180244446f,0.3955790102481842f,-0.37393757700920105f,0.34758031368255615f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.11641307920217514f,-0.2837170362472534f,0.41839322447776794f,-0.010468282736837864f,-0.12172400951385498f,0.1040443703532219f},
Lightvalve 145:35f5ec0d7e56 229 {-0.4393233060836792f,0.42088809609413147f,-0.2018718123435974f,0.3200990855693817f,0.07545611262321472f,0.3041123151779175f,-0.4151543378829956f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.2655569314956665f,-0.6807448267936707f,-0.15791945159435272f,-0.13821366429328918f,-0.524168848991394f,-0.4587186574935913f},
Lightvalve 112:8dcb1600cb90 230 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 145:35f5ec0d7e56 231 {-0.5081422328948975f,-0.06909644603729248f,0.12081471085548401f,-0.5307455062866211f,0.6937620639801025f,-1.7394471168518066f,-0.112851083278656f,0.14146126806735992f,-0.3893685042858124f,-0.02222958207130432f,-3.628293752670288f,-0.5519410967826843f,-1.8406803607940674f,-0.49850648641586304f,-0.041028495877981186f,-0.20542386174201965f},
Lightvalve 65:a2d7c63419c2 232 };
Lightvalve 65:a2d7c63419c2 233
Lightvalve 112:8dcb1600cb90 234 const float h3[16][16] = {
Lightvalve 145:35f5ec0d7e56 235 {-0.36079341173171997f,-0.4983029067516327f,0.5477026700973511f,-0.3543650507926941f,-0.13606339693069458f,-0.08796219527721405f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,-0.07875661551952362f,0.1948052942752838f,0.3429747223854065f,-0.7145496606826782f,0.30580008029937744f},
Lightvalve 145:35f5ec0d7e56 236 {0.047732532024383545f,0.44144171476364136f,-0.03628820925951004f,-0.28411877155303955f,-0.46656039357185364f,0.25812917947769165f,-0.3198729455471039f,0.06247803568840027f,0.18673597276210785f,-0.1780138611793518f,0.2920512855052948f,-0.27276602387428284f,-0.02848001755774021f,0.5977586507797241f,-0.2459808588027954f,-0.48939114809036255f},
Lightvalve 115:f41863b95e6f 237 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 145:35f5ec0d7e56 238 {-0.30922991037368774f,0.021412329748272896f,0.13412728905677795f,-0.3774894177913666f,-0.41859447956085205f,0.27175024151802063f,0.20021501183509827f,0.07002416253089905f,-0.28385472297668457f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.2204446941614151f,0.2754747271537781f,0.3391396701335907f,-0.3910892903804779f},
Lightvalve 145:35f5ec0d7e56 239 {-0.39607733488082886f,-0.21291382610797882f,1.3589930534362793f,0.022423356771469116f,0.6434191465377808f,-0.27518749237060547f,0.03828391432762146f,0.8088476061820984f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.2748071551322937f,1.2419054508209229f,0.28642505407333374f,0.10066504031419754f,-0.34874701499938965f},
Lightvalve 145:35f5ec0d7e56 240 {-0.37449589371681213f,0.3277108669281006f,-1.8050578832626343f,-0.01751975156366825f,0.043049342930316925f,1.43709397315979f,-0.18732719123363495f,0.22384825348854065f,-0.7361441850662231f,-0.46488797664642334f,-0.21090413630008698f,-0.17663529515266418f,-0.20991544425487518f,0.9128029346466064f,0.5134555697441101f,-0.9794425964355469f},
Lightvalve 145:35f5ec0d7e56 241 {0.4110594093799591f,0.17092753946781158f,-0.2997543513774872f,0.2397543042898178f,0.10350155830383301f,-0.11353641003370285f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.02873902954161167f,0.09196598082780838f,0.3126353323459625f,-0.3646398186683655f},
Lightvalve 145:35f5ec0d7e56 242 {-0.40892091393470764f,0.043769627809524536f,-0.1879284828901291f,0.25968697667121887f,0.5609180331230164f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.26103636622428894f,-0.1559126079082489f,-0.14134526252746582f,-0.2452119141817093f,-0.46458858251571655f,-0.16402840614318848f,0.07994696497917175f,-0.19317680597305298f},
Lightvalve 115:f41863b95e6f 243 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 125:2397bee14630 244 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 145:35f5ec0d7e56 245 {0.15459725260734558f,0.2284596711397171f,-0.14678864181041718f,-0.2826405167579651f,-3.0918989181518555f,0.1449601799249649f,-0.08742031455039978f,-0.9357023239135742f,-0.13340064883232117f,-0.2220277339220047f,0.0040720803663134575f,0.17651532590389252f,-0.8968222737312317f,0.21969160437583923f,0.5914236307144165f,-0.8322000503540039f},
Lightvalve 145:35f5ec0d7e56 246 {-0.408692330121994f,-0.050453294068574905f,-0.15351682901382446f,0.0922636091709137f,-0.35955044627189636f,0.12949898838996887f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,-0.05215730890631676f,-0.6658473014831543f,0.16470779478549957f,-0.23339450359344482f,-0.040699247270822525f},
Lightvalve 145:35f5ec0d7e56 247 {-0.2991822361946106f,0.32027140259742737f,-0.5629739761352539f,-0.05932474136352539f,-1.0874625444412231f,1.0245612859725952f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.22929511964321136f,0.19547978043556213f,0.5248737335205078f,0.36124154925346375f,0.27143019437789917f},
Lightvalve 145:35f5ec0d7e56 248 {-0.2675279378890991f,-0.39045897126197815f,-0.05424119159579277f,-0.13007770478725433f,1.437944769859314f,-1.7302147150039673f,-0.3452095687389374f,-1.4223114252090454f,-0.745403528213501f,-0.7274325489997864f,-0.49066221714019775f,-1.6464046239852905f,0.8509430885314941f,-0.8237955570220947f,0.001911899889819324f,0.6988413333892822f},
Lightvalve 145:35f5ec0d7e56 249 {-0.015470266342163086f,-0.529937207698822f,0.35546091198921204f,0.348036527633667f,0.1403835117816925f,-0.4197324514389038f,0.05196094512939453f,-0.008358269929885864f,-0.40752580761909485f,-0.38441595435142517f,0.13179203867912292f,-0.11511552333831787f,0.34031230211257935f,-0.04929199069738388f,-0.09811098128557205f,-0.19937199354171753f},
Lightvalve 145:35f5ec0d7e56 250 {0.1863725483417511f,0.18601037561893463f,-0.15775355696678162f,-0.46877092123031616f,0.44797858595848083f,0.024585137143731117f,0.04860696196556091f,0.17769548296928406f,-0.0749552771449089f,0.3378079831600189f,-0.5061431527137756f,0.19592127203941345f,0.3813547194004059f,0.09455892443656921f,-0.05183706805109978f,-0.012699469923973083f},
Lightvalve 66:a8e6799dbce3 251 };
Lightvalve 65:a2d7c63419c2 252
Lightvalve 145:35f5ec0d7e56 253 const float hout[16] = { 0.45773375034332275f,0.6764231324195862f,0.41992294788360596f,-0.06468239426612854f,0.17464998364448547f,0.24689403176307678f,0.04647764563560486f,0.2595721483230591f,0.08323294669389725f,0.11144406348466873f,0.14762791991233826f,-0.36595073342323303f,-0.6349490880966187f,0.21191029250621796f,0.6433769464492798f,-0.2769685387611389f };
Lightvalve 66:a8e6799dbce3 254
Lightvalve 145:35f5ec0d7e56 255 const float b1[16] = { 0.3696094751358032f,1.7992044687271118f,-1.7145336866378784f,0.18997706472873688f,0.9549577832221985f,1.690210223197937f,-0.058932315558195114f,1.68743896484375f,0.44077587127685547f,-1.493913173675537f,0.5701789855957031f,1.6503576040267944f,-0.37873172760009766f,-0.894616961479187f,-1.087764859199524f,1.5419913530349731f };
Lightvalve 87:471334725012 256
Lightvalve 145:35f5ec0d7e56 257 const float b2[16] = { -0.2885071039199829f,-1.014089822769165f,-1.4564176797866821f,-0.7668818831443787f,-0.5584616661071777f,-0.49620234966278076f,0.03875614330172539f,-0.4831103980541229f,-1.20063054561615f,-1.912178635597229f,-0.32878178358078003f,0.04990300163626671f,-0.5751988887786865f,2.2356293201446533f,-0.2019418329000473f,0.697745680809021f };
Lightvalve 65:a2d7c63419c2 258
Lightvalve 145:35f5ec0d7e56 259 const float b3[16] = { -1.963319182395935f,-0.5902930498123169f,0.1656760722398758f,-0.26326483488082886f,-2.454986333847046f,-0.20164278149604797f,-0.6144739985466003f,-0.6377184391021729f,-0.11426637321710587f,-0.05030348151922226f,-0.26522213220596313f,2.0851621627807617f,-1.2783746719360352f,1.249510407447815f,-1.4266045093536377f,-0.08144649863243103f };
Lightvalve 87:471334725012 260
Lightvalve 145:35f5ec0d7e56 261 const float bout[1] = { 0.05578257516026497f };
Lightvalve 65:a2d7c63419c2 262
Lightvalve 66:a8e6799dbce3 263
Lightvalve 87:471334725012 264 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 265 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 266
GiJeongKim 0:51c43836c1d7 267 int main()
GiJeongKim 0:51c43836c1d7 268 {
Lightvalve 66:a8e6799dbce3 269
Lightvalve 65:a2d7c63419c2 270 HAL_Init();
Lightvalve 65:a2d7c63419c2 271 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 272
jobuuu 6:df07d3491e3a 273 /*********************************
jobuuu 1:e04e563be5ce 274 *** Initialization
jobuuu 6:df07d3491e3a 275 *********************************/
Lightvalve 69:3995ffeaa786 276 LED = 0;
Lightvalve 61:bc8c8270f0ab 277 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 278
GiJeongKim 0:51c43836c1d7 279 // i2c init
Lightvalve 8:5d2eebdad025 280 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 281 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 282 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 283 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 284 make_delay();
jobuuu 2:a1c0a37df760 285
GiJeongKim 0:51c43836c1d7 286 // // spi init
Lightvalve 16:903b5a4433b4 287 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 288 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 289 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 290 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 291 make_delay();
Lightvalve 21:e5f1a43ea6f9 292
Lightvalve 16:903b5a4433b4 293 //rom
Lightvalve 19:23b7c1ad8683 294 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 295 make_delay();
Lightvalve 13:747daba9cf59 296
GiJeongKim 0:51c43836c1d7 297 // ADC init
jobuuu 5:a4319f79457b 298 Init_ADC();
Lightvalve 11:82d8768d7351 299 make_delay();
jobuuu 2:a1c0a37df760 300
GiJeongKim 0:51c43836c1d7 301 // Pwm init
GiJeongKim 0:51c43836c1d7 302 Init_PWM();
GiJeongKim 0:51c43836c1d7 303 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 304 make_delay();
Lightvalve 13:747daba9cf59 305
Lightvalve 11:82d8768d7351 306 // TMR3 init
Lightvalve 11:82d8768d7351 307 Init_TMR3();
Lightvalve 11:82d8768d7351 308 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 309 make_delay();
Lightvalve 21:e5f1a43ea6f9 310
Lightvalve 50:3c630b5eba9f 311 // TMR2 init
Lightvalve 56:6f50d9d3bfee 312 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 313 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 314 // make_delay();
Lightvalve 21:e5f1a43ea6f9 315
GiJeongKim 0:51c43836c1d7 316 // CAN
jobuuu 2:a1c0a37df760 317 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 318 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 34:bb2ca2fc2a8e 320
Lightvalve 23:59218d4a256d 321 //Timer priority
Lightvalve 23:59218d4a256d 322 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 323 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 324 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 325
Lightvalve 23:59218d4a256d 326 //can.reset();
Lightvalve 19:23b7c1ad8683 327 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 328
GiJeongKim 0:51c43836c1d7 329 // spi _ enc
GiJeongKim 0:51c43836c1d7 330 spi_enc_set_init();
Lightvalve 11:82d8768d7351 331 make_delay();
Lightvalve 13:747daba9cf59 332
Lightvalve 11:82d8768d7351 333 //DAC init
Lightvalve 58:2eade98630e2 334 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 335 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 336 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 337 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 338 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 339 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 340 }
Lightvalve 11:82d8768d7351 341 make_delay();
Lightvalve 13:747daba9cf59 342
Lightvalve 19:23b7c1ad8683 343 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 344 if(i%2==0)
Lightvalve 38:118df027d851 345 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 346 else
Lightvalve 38:118df027d851 347 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 348 }
Lightvalve 61:bc8c8270f0ab 349
Lightvalve 61:bc8c8270f0ab 350
jobuuu 6:df07d3491e3a 351 /************************************
jobuuu 1:e04e563be5ce 352 *** Program is operating!
jobuuu 6:df07d3491e3a 353 *************************************/
GiJeongKim 0:51c43836c1d7 354 while(1) {
Lightvalve 66:a8e6799dbce3 355 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 356 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 357 //i2c
Lightvalve 66:a8e6799dbce3 358
Lightvalve 65:a2d7c63419c2 359 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 360 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 361 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 362 // LED=0;
Lightvalve 65:a2d7c63419c2 363 // } else
Lightvalve 65:a2d7c63419c2 364 // LED = 1;
Lightvalve 65:a2d7c63419c2 365 timer_while = 0;
Lightvalve 66:a8e6799dbce3 366 //}
Lightvalve 66:a8e6799dbce3 367
Lightvalve 66:a8e6799dbce3 368 timer_while ++;
Lightvalve 66:a8e6799dbce3 369
Lightvalve 87:471334725012 370 //LED = 0;
Lightvalve 87:471334725012 371
Lightvalve 73:f80dc3970c99 372 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 373 LED = 0;
Lightvalve 73:f80dc3970c99 374 }
Lightvalve 66:a8e6799dbce3 375
Lightvalve 73:f80dc3970c99 376 else if(NN_Control_Flag == 1) {
Lightvalve 117:7141c0517b82 377
Lightvalve 117:7141c0517b82 378 int ind = 0;
Lightvalve 117:7141c0517b82 379 for(int i=0; i<numpast_u; i++) {
Lightvalve 118:af86e883dcb4 380 input_NN[ind] = u_past[time_interval*i];
Lightvalve 117:7141c0517b82 381 ind = ind + 1;
Lightvalve 117:7141c0517b82 382 }
Lightvalve 117:7141c0517b82 383
Lightvalve 117:7141c0517b82 384 for(int i=0; i<numpast_x; i++) {
Lightvalve 118:af86e883dcb4 385 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 117:7141c0517b82 386 ind = ind + 1;
Lightvalve 117:7141c0517b82 387 }
Lightvalve 117:7141c0517b82 388 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 117:7141c0517b82 389 ind = ind + 1;
Lightvalve 121:89396c37b03e 390
Lightvalve 122:dcb3ce3056a0 391 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 122:dcb3ce3056a0 392 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 393 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 394 // }
Lightvalve 117:7141c0517b82 395
Lightvalve 117:7141c0517b82 396 for(int i=0; i<numpast_f; i++) {
Lightvalve 118:af86e883dcb4 397 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 398 ind = ind + 1;
Lightvalve 117:7141c0517b82 399 }
Lightvalve 117:7141c0517b82 400 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 401 ind = ind + 1;
Lightvalve 117:7141c0517b82 402 for(int i=0; i<numfuture_f; i++) {
Lightvalve 145:35f5ec0d7e56 403 input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve 145:35f5ec0d7e56 404 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve 117:7141c0517b82 405 ind = ind + 1;
Lightvalve 117:7141c0517b82 406 }
Lightvalve 117:7141c0517b82 407
Lightvalve 112:8dcb1600cb90 408 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 409 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 410 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 411 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 412
Lightvalve 112:8dcb1600cb90 413 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 414 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 415 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 416 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 417 }
Lightvalve 66:a8e6799dbce3 418 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 419 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 420 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 421 }
Lightvalve 66:a8e6799dbce3 422 }
Lightvalve 65:a2d7c63419c2 423
Lightvalve 112:8dcb1600cb90 424 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 425 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 426 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 427 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 66:a8e6799dbce3 429 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 430 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 431 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 432 }
Lightvalve 66:a8e6799dbce3 433 }
Lightvalve 65:a2d7c63419c2 434
Lightvalve 112:8dcb1600cb90 435 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 436 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 437 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 438 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 439 }
Lightvalve 66:a8e6799dbce3 440 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 441 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 442 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 443 }
Lightvalve 65:a2d7c63419c2 444 }
Lightvalve 66:a8e6799dbce3 445
Lightvalve 66:a8e6799dbce3 446 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 447 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 448 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 449 }
Lightvalve 66:a8e6799dbce3 450 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 451
Lightvalve 66:a8e6799dbce3 452 }
Lightvalve 73:f80dc3970c99 453 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 454 output_normalized = output;
Lightvalve 68:328e1be06f5d 455 output = output * 20000.0f - 10000.0f;
Lightvalve 101:50159049a518 456
Lightvalve 66:a8e6799dbce3 457 if(output>=0) {
Lightvalve 66:a8e6799dbce3 458 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 459 } else {
Lightvalve 66:a8e6799dbce3 460 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 461 }
Lightvalve 87:471334725012 462
Lightvalve 88:d6e591bece22 463 // // torque feedback
Lightvalve 88:d6e591bece22 464 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 465 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 466 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 467 //
Lightvalve 88:d6e591bece22 468 //
Lightvalve 88:d6e591bece22 469 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 470 //
Lightvalve 88:d6e591bece22 471 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 472 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 473 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 474 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 475 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 476 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 477 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 478 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 479 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 480 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 481 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 482 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 483 // }
Lightvalve 88:d6e591bece22 484 // }
Lightvalve 87:471334725012 485
Lightvalve 69:3995ffeaa786 486
Lightvalve 69:3995ffeaa786 487 if(LED==1) {
Lightvalve 69:3995ffeaa786 488 LED=0;
Lightvalve 69:3995ffeaa786 489 } else
Lightvalve 69:3995ffeaa786 490 LED = 1;
Lightvalve 69:3995ffeaa786 491
Lightvalve 65:a2d7c63419c2 492 }
Lightvalve 62:b5452adfb2cd 493
Lightvalve 87:471334725012 494 //LED = 1;
Lightvalve 69:3995ffeaa786 495
Lightvalve 66:a8e6799dbce3 496
GiJeongKim 0:51c43836c1d7 497 }
jobuuu 1:e04e563be5ce 498 }
jobuuu 1:e04e563be5ce 499
Lightvalve 33:91b17819ec30 500 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 501 {
Lightvalve 14:8e7590227d22 502
Lightvalve 13:747daba9cf59 503 int i = 0;
Lightvalve 48:889798ff9329 504 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 505 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 506 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 507 if(i==0) {
Lightvalve 50:3c630b5eba9f 508 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 509 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 510 } else {
Lightvalve 57:f4819de54e7a 511 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 512 }
Lightvalve 14:8e7590227d22 513 } else {
Lightvalve 50:3c630b5eba9f 514 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 515 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 516 } else {
Lightvalve 57:f4819de54e7a 517 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]);
Lightvalve 38:118df027d851 518 }
Lightvalve 13:747daba9cf59 519 }
Lightvalve 13:747daba9cf59 520 break;
Lightvalve 13:747daba9cf59 521 }
Lightvalve 13:747daba9cf59 522 }
Lightvalve 14:8e7590227d22 523 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 524 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 525 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 526 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 527 }
Lightvalve 36:a46e63505ed8 528
Lightvalve 57:f4819de54e7a 529 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 530 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 531
Lightvalve 13:747daba9cf59 532 }
jobuuu 6:df07d3491e3a 533
jobuuu 6:df07d3491e3a 534
Lightvalve 30:8d561f16383b 535 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 536 {
Lightvalve 13:747daba9cf59 537 int i = 0;
Lightvalve 13:747daba9cf59 538
Lightvalve 38:118df027d851 539 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 540 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 541 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 542 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 543 }
Lightvalve 38:118df027d851 544
Lightvalve 89:a7b45368ea0f 545 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 546 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 547 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 548 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 549 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 550 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 551
Lightvalve 13:747daba9cf59 552 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;
Lightvalve 14:8e7590227d22 553
Lightvalve 18:b8adf1582ea3 554 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 555 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 556 if(i==0) {
Lightvalve 48:889798ff9329 557 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]);
Lightvalve 14:8e7590227d22 558 } else {
Lightvalve 48:889798ff9329 559 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];
Lightvalve 13:747daba9cf59 560 }
Lightvalve 13:747daba9cf59 561 break;
Lightvalve 13:747daba9cf59 562 }
Lightvalve 13:747daba9cf59 563 }
Lightvalve 59:f308b1656d9c 564 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 565 }
Lightvalve 13:747daba9cf59 566
Lightvalve 14:8e7590227d22 567 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 568 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,
Lightvalve 34:bb2ca2fc2a8e 569 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 570 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 571 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 572 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 573 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 574 }; // duty
Lightvalve 67:c2812cf26c38 575 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,
Lightvalve 67:c2812cf26c38 576 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 577 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 578 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 579 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 580 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 581 }; // mV
Lightvalve 13:747daba9cf59 582
Lightvalve 30:8d561f16383b 583 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 584 {
Lightvalve 30:8d561f16383b 585 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 586 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 587 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 588 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 589 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 590 } else {
Lightvalve 13:747daba9cf59 591 int idx = 0;
Lightvalve 13:747daba9cf59 592 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 593 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 594 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 595 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 596 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 597 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 598 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 599 break;
Lightvalve 13:747daba9cf59 600 }
Lightvalve 13:747daba9cf59 601 }
Lightvalve 13:747daba9cf59 602 }
Lightvalve 14:8e7590227d22 603
Lightvalve 13:747daba9cf59 604 return PWM_duty;
Lightvalve 13:747daba9cf59 605 }
jobuuu 6:df07d3491e3a 606
Lightvalve 57:f4819de54e7a 607
Lightvalve 57:f4819de54e7a 608
Lightvalve 57:f4819de54e7a 609
Lightvalve 57:f4819de54e7a 610
jobuuu 2:a1c0a37df760 611 /*******************************************************************************
jobuuu 2:a1c0a37df760 612 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 613 *******************************************************************************/
jobuuu 2:a1c0a37df760 614
Lightvalve 51:b46bed7fec80 615 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 616 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 617 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 618 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 619 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 620 {
Lightvalve 19:23b7c1ad8683 621 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 622
Lightvalve 21:e5f1a43ea6f9 623 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 624 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 625 ********************************************************/
Lightvalve 13:747daba9cf59 626
Lightvalve 57:f4819de54e7a 627 //Encoder
Lightvalve 57:f4819de54e7a 628 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 629 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 630 }
Lightvalve 61:bc8c8270f0ab 631
Lightvalve 61:bc8c8270f0ab 632 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 633 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 634 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 635 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 636 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 637 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 638 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 639
Lightvalve 67:c2812cf26c38 640
Lightvalve 67:c2812cf26c38 641 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 642 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 643 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 644 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 645 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 646
Lightvalve 17:1865016ca2e7 647
Lightvalve 58:2eade98630e2 648 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 649 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 650 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 651 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 652 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 653 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 654 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 655 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 656 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 657
Lightvalve 58:2eade98630e2 658 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 659 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 660 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 661 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 662 }
Lightvalve 58:2eade98630e2 663 }
Lightvalve 61:bc8c8270f0ab 664
Lightvalve 58:2eade98630e2 665 // //Pressure sensor A
Lightvalve 58:2eade98630e2 666 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 667 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 668 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 669 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 670 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 671 // 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.
Lightvalve 58:2eade98630e2 672 //
Lightvalve 58:2eade98630e2 673 //
Lightvalve 58:2eade98630e2 674 // //Pressure sensor B
Lightvalve 58:2eade98630e2 675 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 676 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 677 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 678 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 679
Lightvalve 17:1865016ca2e7 680
Lightvalve 21:e5f1a43ea6f9 681 //Current
Lightvalve 21:e5f1a43ea6f9 682 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 683 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 684 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 685 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 686 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 687 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 688 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 689
Lightvalve 57:f4819de54e7a 690 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 691 }
Lightvalve 11:82d8768d7351 692 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 693 }
Lightvalve 19:23b7c1ad8683 694
Lightvalve 19:23b7c1ad8683 695
Lightvalve 18:b8adf1582ea3 696 int j =0;
Lightvalve 54:647072f5307a 697 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 698 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 699 int cnt_trans = 0;
Lightvalve 48:889798ff9329 700 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 701 int can_rest =0;
Lightvalve 48:889798ff9329 702
Lightvalve 11:82d8768d7351 703 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 704 {
Lightvalve 19:23b7c1ad8683 705 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 706
Lightvalve 57:f4819de54e7a 707 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 708 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 709 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 710 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 711 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 712 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 713 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 714 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 715 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 716 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 717 }
Lightvalve 50:3c630b5eba9f 718
Lightvalve 50:3c630b5eba9f 719 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 720 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 721 cnt_trans++;
Lightvalve 46:2694daea349b 722 torq.err_sum = 0;
Lightvalve 48:889798ff9329 723 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 724 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 725 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 726 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 727 cnt_trans++;
Lightvalve 46:2694daea349b 728 torq.err_sum = 0;
Lightvalve 48:889798ff9329 729 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 730 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 731 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 732 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 733 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 734 } else {
Lightvalve 58:2eade98630e2 735 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 736 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 737 }
Lightvalve 45:35fa6884d0c6 738
Lightvalve 50:3c630b5eba9f 739
Lightvalve 57:f4819de54e7a 740 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 741 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 742
Lightvalve 57:f4819de54e7a 743 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 744 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 745 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 746 } else {
Lightvalve 57:f4819de54e7a 747 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 748 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 749 }
Lightvalve 56:6f50d9d3bfee 750
Lightvalve 56:6f50d9d3bfee 751
Lightvalve 56:6f50d9d3bfee 752
Lightvalve 57:f4819de54e7a 753 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 754
Lightvalve 57:f4819de54e7a 755 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 756 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 757 break;
Lightvalve 13:747daba9cf59 758 }
Lightvalve 14:8e7590227d22 759
Lightvalve 14:8e7590227d22 760 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 761 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 762 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 763 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 764
Lightvalve 14:8e7590227d22 765 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 766 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 767 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 768
Lightvalve 84:c355d3e52bf1 769 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 770
Lightvalve 30:8d561f16383b 771 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 772 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 773
Lightvalve 16:903b5a4433b4 774 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 775 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 776 }
Lightvalve 13:747daba9cf59 777 } else {
Lightvalve 58:2eade98630e2 778 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 779 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 780 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 781 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 782
Lightvalve 16:903b5a4433b4 783 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 784
Lightvalve 30:8d561f16383b 785 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 786
Lightvalve 13:747daba9cf59 787 }
Lightvalve 14:8e7590227d22 788 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 789 break;
Lightvalve 19:23b7c1ad8683 790 }
Lightvalve 14:8e7590227d22 791
Lightvalve 50:3c630b5eba9f 792 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 793 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 794 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 795 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 796 // }
Lightvalve 50:3c630b5eba9f 797 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 798 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 799 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 800 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 801 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 802 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 803 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 804 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 805 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 806 // }
Lightvalve 50:3c630b5eba9f 807 //
Lightvalve 50:3c630b5eba9f 808 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 809 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 810 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 811 //
Lightvalve 50:3c630b5eba9f 812 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 813 // V_out = 0;
Lightvalve 50:3c630b5eba9f 814 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 815 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 816 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 817 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 818 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 819 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 820 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 821 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 822 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 823 //
Lightvalve 50:3c630b5eba9f 824 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 825 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 826 // // | / | / |/
Lightvalve 50:3c630b5eba9f 827 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 828 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 829 // // /| / | / |
Lightvalve 50:3c630b5eba9f 830 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 831 //
Lightvalve 50:3c630b5eba9f 832 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 833 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 834 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 835 // } else {
Lightvalve 50:3c630b5eba9f 836 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 837 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 838 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 839 // }
Lightvalve 50:3c630b5eba9f 840 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 841 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 842 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 843 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 844 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 845 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 846 // }
Lightvalve 50:3c630b5eba9f 847 // } else {
Lightvalve 50:3c630b5eba9f 848 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 849 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 850 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 851 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 852 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 853 // }
Lightvalve 50:3c630b5eba9f 854 // V_out = 0;
Lightvalve 50:3c630b5eba9f 855 //
Lightvalve 50:3c630b5eba9f 856 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 857 //
Lightvalve 50:3c630b5eba9f 858 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 859 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 860 //
Lightvalve 50:3c630b5eba9f 861 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 862 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 863 // }
Lightvalve 50:3c630b5eba9f 864 // }
Lightvalve 50:3c630b5eba9f 865 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 866 // break;
Lightvalve 50:3c630b5eba9f 867 // }
Lightvalve 14:8e7590227d22 868
Lightvalve 14:8e7590227d22 869 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 870 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 871 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 872 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 873 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 874 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 875 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 876 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 877 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 878 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 879 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 880 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 881 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 882 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 883 }
Lightvalve 29:69f3f5445d6d 884 cnt_findhome++;
Lightvalve 14:8e7590227d22 885
Lightvalve 29:69f3f5445d6d 886 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 887 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 888 } else {
Lightvalve 29:69f3f5445d6d 889 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 890 }
Lightvalve 19:23b7c1ad8683 891
Lightvalve 57:f4819de54e7a 892 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 893 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 894 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 895 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 896
Lightvalve 59:f308b1656d9c 897 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 898 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 899 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 900 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 901 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 902
Lightvalve 59:f308b1656d9c 903 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 904 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 905
Lightvalve 34:bb2ca2fc2a8e 906
Lightvalve 29:69f3f5445d6d 907 } else {
Lightvalve 29:69f3f5445d6d 908 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 909 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 910 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 911 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 912 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 913 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 914 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 915 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 916 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 917 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 918 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 919
Lightvalve 67:c2812cf26c38 920
Lightvalve 67:c2812cf26c38 921 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 922 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 923 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 924 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 925 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 926 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 927 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 928
Lightvalve 67:c2812cf26c38 929
Lightvalve 29:69f3f5445d6d 930 }
Lightvalve 29:69f3f5445d6d 931 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 932 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 933 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;
Lightvalve 67:c2812cf26c38 934 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 935 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 936
Lightvalve 29:69f3f5445d6d 937 // input for position control
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 940 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 941
Lightvalve 67:c2812cf26c38 942 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 943 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 944 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 945 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 946
Lightvalve 67:c2812cf26c38 947 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 948
Lightvalve 67:c2812cf26c38 949 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 950 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 951 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 952
Lightvalve 67:c2812cf26c38 953 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 954 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 955 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 956
Lightvalve 69:3995ffeaa786 957 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 958 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
Lightvalve 67:c2812cf26c38 959 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 960 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 961 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
Lightvalve 67:c2812cf26c38 962 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 963 }
Lightvalve 67:c2812cf26c38 964 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))));
Lightvalve 67:c2812cf26c38 965 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 966
Lightvalve 67:c2812cf26c38 967 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 968
Lightvalve 67:c2812cf26c38 969
Lightvalve 67:c2812cf26c38 970
Lightvalve 67:c2812cf26c38 971 } else {
Lightvalve 67:c2812cf26c38 972 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 973 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));
Lightvalve 67:c2812cf26c38 974
Lightvalve 67:c2812cf26c38 975 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 976 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 977 } else {
Lightvalve 67:c2812cf26c38 978 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 979 }
Lightvalve 67:c2812cf26c38 980
Lightvalve 67:c2812cf26c38 981 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 982
Lightvalve 67:c2812cf26c38 983 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 984
Lightvalve 67:c2812cf26c38 985 }
Lightvalve 67:c2812cf26c38 986
Lightvalve 67:c2812cf26c38 987
Lightvalve 67:c2812cf26c38 988
Lightvalve 67:c2812cf26c38 989
Lightvalve 59:f308b1656d9c 990 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 991 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 992 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 993 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 994 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 995
Lightvalve 29:69f3f5445d6d 996 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 997 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 998 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 999 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1000 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1001 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1002 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1003 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1004 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1005 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1006 }
Lightvalve 13:747daba9cf59 1007 }
Lightvalve 19:23b7c1ad8683 1008
Lightvalve 13:747daba9cf59 1009 break;
Lightvalve 13:747daba9cf59 1010 }
Lightvalve 14:8e7590227d22 1011
Lightvalve 50:3c630b5eba9f 1012 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1013 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1014 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1015 // else {
Lightvalve 50:3c630b5eba9f 1016 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1017 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1018 // }
Lightvalve 50:3c630b5eba9f 1019 // }
Lightvalve 50:3c630b5eba9f 1020 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1021 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1022 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1023 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1024 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1025 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1026 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1027 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1028 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1029 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1030 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1031 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1032 // }
Lightvalve 50:3c630b5eba9f 1033 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1034 // }
Lightvalve 50:3c630b5eba9f 1035 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1036 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1037 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1038 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1039 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1040 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1041 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1042 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1043 // 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
Lightvalve 50:3c630b5eba9f 1044 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1045 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1046 // }
Lightvalve 50:3c630b5eba9f 1047 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1048 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1049 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1050 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1051 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1052 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1053 // 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);
Lightvalve 50:3c630b5eba9f 1054 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1055 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1056 // }
Lightvalve 50:3c630b5eba9f 1057 // }
Lightvalve 50:3c630b5eba9f 1058 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1059 //
Lightvalve 50:3c630b5eba9f 1060 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1061 //
Lightvalve 50:3c630b5eba9f 1062 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1063 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1064 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1065 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1066 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1067 // }
Lightvalve 50:3c630b5eba9f 1068 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1069 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1070 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1071 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1072 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1073 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1074 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1075 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1076 // }
Lightvalve 50:3c630b5eba9f 1077 //
Lightvalve 50:3c630b5eba9f 1078 // }
Lightvalve 50:3c630b5eba9f 1079 // break;
Lightvalve 50:3c630b5eba9f 1080 // }
Lightvalve 50:3c630b5eba9f 1081 //
Lightvalve 50:3c630b5eba9f 1082 // }
Lightvalve 14:8e7590227d22 1083 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1084 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1085 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1086 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1087 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1088
Lightvalve 14:8e7590227d22 1089 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1090 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1091 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1092 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1093 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1094
Lightvalve 38:118df027d851 1095 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1096 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1097 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1098
Lightvalve 30:8d561f16383b 1099 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1100 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1101 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1102 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1103
Lightvalve 30:8d561f16383b 1104 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1105 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1106 }
Lightvalve 13:747daba9cf59 1107 } else {
Lightvalve 57:f4819de54e7a 1108 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1109 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1110 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1111 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1112 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1113 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1114
Lightvalve 16:903b5a4433b4 1115 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1116
Lightvalve 30:8d561f16383b 1117 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1118 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1119 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1120 }
Lightvalve 14:8e7590227d22 1121 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1122 break;
Lightvalve 13:747daba9cf59 1123 }
Lightvalve 14:8e7590227d22 1124
Lightvalve 50:3c630b5eba9f 1125 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1126 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1127 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1128 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1129 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1130 // }
Lightvalve 50:3c630b5eba9f 1131 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1132 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1133 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1134 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1135 // }
Lightvalve 50:3c630b5eba9f 1136 // } else {
Lightvalve 50:3c630b5eba9f 1137 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1138 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1139 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1140 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1141 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1142 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1143 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1144 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1145 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1146 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1147 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1148 //
Lightvalve 50:3c630b5eba9f 1149 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1150 //
Lightvalve 50:3c630b5eba9f 1151 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1152 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1153 // }
Lightvalve 50:3c630b5eba9f 1154 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1155 // break;
Lightvalve 50:3c630b5eba9f 1156 // }
Lightvalve 19:23b7c1ad8683 1157
Lightvalve 50:3c630b5eba9f 1158 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1159 // 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);
Lightvalve 50:3c630b5eba9f 1160 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1161 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1162 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1163 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1164 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1165 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1166 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1167 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1168 // }
Lightvalve 50:3c630b5eba9f 1169 // break;
Lightvalve 50:3c630b5eba9f 1170 // }
Lightvalve 14:8e7590227d22 1171
Lightvalve 14:8e7590227d22 1172 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1173 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1174 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1175
Lightvalve 14:8e7590227d22 1176 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1177 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1178 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1179 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1180 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1181 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1182 data_num = 0;
Lightvalve 14:8e7590227d22 1183 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1184 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1185 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1186 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1187 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1188 } else {
Lightvalve 13:747daba9cf59 1189 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1190 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1191 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1192 }
Lightvalve 14:8e7590227d22 1193
Lightvalve 17:1865016ca2e7 1194 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1195 int i;
Lightvalve 13:747daba9cf59 1196 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1197 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1198 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1199 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1200 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1201 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1202 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1203 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1204 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1205 }
Lightvalve 13:747daba9cf59 1206 }
Lightvalve 59:f308b1656d9c 1207 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1208 ID_index = 0;
Lightvalve 57:f4819de54e7a 1209 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1210 }
Lightvalve 14:8e7590227d22 1211
Lightvalve 14:8e7590227d22 1212
Lightvalve 13:747daba9cf59 1213 break;
Lightvalve 13:747daba9cf59 1214 }
Lightvalve 14:8e7590227d22 1215
Lightvalve 14:8e7590227d22 1216 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1217 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1218 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1219 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1220 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1221 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1222 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1223 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1224 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1225 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1226 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1227 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1228 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1229 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1230 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1231 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;
Lightvalve 30:8d561f16383b 1232 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1233 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;
Lightvalve 13:747daba9cf59 1234 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1235 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1236 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1237 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;
Lightvalve 13:747daba9cf59 1238 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1239 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1240 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1241 data_num = 0;
Lightvalve 14:8e7590227d22 1242
Lightvalve 30:8d561f16383b 1243 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1244 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1245 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1246
Lightvalve 30:8d561f16383b 1247 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1248 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1249 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1250
Lightvalve 30:8d561f16383b 1251 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1252 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1253 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1254 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1255
Lightvalve 60:64181f1d3e60 1256 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1257 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1258 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1259 DZ_case = -1;
Lightvalve 14:8e7590227d22 1260 } else {
Lightvalve 13:747daba9cf59 1261 DZ_case = 0;
Lightvalve 13:747daba9cf59 1262 }
Lightvalve 61:bc8c8270f0ab 1263
Lightvalve 60:64181f1d3e60 1264 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1265
Lightvalve 13:747daba9cf59 1266 first_check = 1;
Lightvalve 13:747daba9cf59 1267 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1268 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1269 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1270 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1271 DZ_index = 1;
Lightvalve 14:8e7590227d22 1272
Lightvalve 13:747daba9cf59 1273 }
Lightvalve 19:23b7c1ad8683 1274 } else {
Lightvalve 14:8e7590227d22 1275 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1276 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1277 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;
Lightvalve 60:64181f1d3e60 1278 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1279 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1280 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1281 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1282 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1283 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1284 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1285 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1286 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1287 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1288 }
Lightvalve 14:8e7590227d22 1289 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1290
Lightvalve 30:8d561f16383b 1291 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1292 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1293 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1294
Lightvalve 14:8e7590227d22 1295 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1296 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1297 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1298 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1299 } else {
Lightvalve 13:747daba9cf59 1300 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1301 }
Lightvalve 14:8e7590227d22 1302
Lightvalve 13:747daba9cf59 1303 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1304 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1305 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1306 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1307 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1308 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1309 DZ_index = 1;
Lightvalve 13:747daba9cf59 1310 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1311 }
Lightvalve 13:747daba9cf59 1312 }
Lightvalve 14:8e7590227d22 1313 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1314 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1315 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;
Lightvalve 60:64181f1d3e60 1316 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1317 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1318 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1319 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1320 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1321 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1322 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1323 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1324 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1325 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1326 }
Lightvalve 14:8e7590227d22 1327 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1328
Lightvalve 30:8d561f16383b 1329 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1330 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1331 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1332 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1333 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1334
Lightvalve 14:8e7590227d22 1335 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1336 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1337 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1338 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1339 } else {
Lightvalve 60:64181f1d3e60 1340 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1341 }
Lightvalve 14:8e7590227d22 1342
Lightvalve 13:747daba9cf59 1343 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1344 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1345 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1346 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1347 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1348 first_check = 0;
Lightvalve 33:91b17819ec30 1349 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1350 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1351
Lightvalve 16:903b5a4433b4 1352 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1353
Lightvalve 60:64181f1d3e60 1354 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1355 DZ_index = 1;
Lightvalve 13:747daba9cf59 1356 }
Lightvalve 13:747daba9cf59 1357 }
Lightvalve 14:8e7590227d22 1358 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1359 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1360 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;
Lightvalve 60:64181f1d3e60 1361 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1362 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1363 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1364 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1365 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1366 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1367 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1368 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1369 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1370 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1371 }
Lightvalve 14:8e7590227d22 1372 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1373
Lightvalve 30:8d561f16383b 1374 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1375 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1376 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1377
Lightvalve 14:8e7590227d22 1378 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1379 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1380 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1381 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1382 } else {
Lightvalve 13:747daba9cf59 1383 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1384 }
Lightvalve 13:747daba9cf59 1385 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1386 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1387 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1388 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1389 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1390 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1391 DZ_index = 1;
Lightvalve 13:747daba9cf59 1392 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1393 }
Lightvalve 13:747daba9cf59 1394 }
Lightvalve 14:8e7590227d22 1395 } else {
Lightvalve 30:8d561f16383b 1396 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1397 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;
Lightvalve 60:64181f1d3e60 1398 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1399 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1400 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1401 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1402 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1403 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1404 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1405 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1406 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1407 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1408 }
Lightvalve 14:8e7590227d22 1409 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1410
Lightvalve 30:8d561f16383b 1411 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1412 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1413 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1414 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1415 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1416
Lightvalve 60:64181f1d3e60 1417 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1418 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1419 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1420 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1421 } else {
Lightvalve 13:747daba9cf59 1422 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1423 }
Lightvalve 14:8e7590227d22 1424
Lightvalve 13:747daba9cf59 1425 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1426 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1427 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1428 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1429 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1430 first_check = 0;
Lightvalve 33:91b17819ec30 1431 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1432 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1433
Lightvalve 59:f308b1656d9c 1434 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1435
Lightvalve 57:f4819de54e7a 1436 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1437 DZ_index = 1;
Lightvalve 13:747daba9cf59 1438 }
Lightvalve 13:747daba9cf59 1439 }
Lightvalve 13:747daba9cf59 1440 }
Lightvalve 14:8e7590227d22 1441 }
Lightvalve 13:747daba9cf59 1442 break;
Lightvalve 13:747daba9cf59 1443 }
Lightvalve 14:8e7590227d22 1444
Lightvalve 14:8e7590227d22 1445 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1446 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1447 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1448 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1449 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1450 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1451 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1452 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1453 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1454 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1455 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1456 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1457 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1458 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1459 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1460 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1461 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1462 first_check = 1;
Lightvalve 13:747daba9cf59 1463 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1464 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1465 ID_index = 0;
Lightvalve 13:747daba9cf59 1466 max_check = 0;
Lightvalve 13:747daba9cf59 1467 min_check = 0;
Lightvalve 13:747daba9cf59 1468 }
Lightvalve 14:8e7590227d22 1469 } else {
Lightvalve 30:8d561f16383b 1470 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1471 //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;
Lightvalve 59:f308b1656d9c 1472 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1473 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1474 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1475 data_num = 0;
Lightvalve 57:f4819de54e7a 1476 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1477
Lightvalve 14:8e7590227d22 1478 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1479 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1480 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1481 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1482 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1483 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1484 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1485 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1486 one_period_end = 1;
Lightvalve 13:747daba9cf59 1487 }
Lightvalve 30:8d561f16383b 1488 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1489 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1490 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1491 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1492 }
Lightvalve 14:8e7590227d22 1493
Lightvalve 14:8e7590227d22 1494 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1495 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1496 max_check = 1;
Lightvalve 14:8e7590227d22 1497 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1498 min_check = 1;
Lightvalve 13:747daba9cf59 1499 }
Lightvalve 13:747daba9cf59 1500 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1501
Lightvalve 13:747daba9cf59 1502 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1503 one_period_end = 0;
Lightvalve 13:747daba9cf59 1504 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1505 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1506 }
Lightvalve 14:8e7590227d22 1507
Lightvalve 14:8e7590227d22 1508 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1509
Lightvalve 13:747daba9cf59 1510 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1511 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1512 ID_index = 0;
Lightvalve 13:747daba9cf59 1513 first_check = 0;
Lightvalve 13:747daba9cf59 1514 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1515 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1516 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1517 }
Lightvalve 13:747daba9cf59 1518 }
Lightvalve 13:747daba9cf59 1519 break;
Lightvalve 13:747daba9cf59 1520 }
Lightvalve 58:2eade98630e2 1521
Lightvalve 57:f4819de54e7a 1522 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1523 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1524 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1525 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1526 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1527 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1528 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1529 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1530 }
Lightvalve 57:f4819de54e7a 1531 break;
Lightvalve 57:f4819de54e7a 1532 }
Lightvalve 58:2eade98630e2 1533
Lightvalve 58:2eade98630e2 1534
Lightvalve 57:f4819de54e7a 1535
Lightvalve 57:f4819de54e7a 1536 default:
Lightvalve 57:f4819de54e7a 1537 break;
Lightvalve 57:f4819de54e7a 1538 }
Lightvalve 57:f4819de54e7a 1539
Lightvalve 57:f4819de54e7a 1540 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1541
Lightvalve 57:f4819de54e7a 1542 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1543 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1544 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1545 break;
Lightvalve 57:f4819de54e7a 1546 }
Lightvalve 57:f4819de54e7a 1547
Lightvalve 57:f4819de54e7a 1548 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1549 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1550 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1551 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1552 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1553 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1554 } else {
Lightvalve 67:c2812cf26c38 1555 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1556 }
Lightvalve 58:2eade98630e2 1557
Lightvalve 57:f4819de54e7a 1558 break;
Lightvalve 57:f4819de54e7a 1559 }
Lightvalve 57:f4819de54e7a 1560
Lightvalve 57:f4819de54e7a 1561 case MODE_JOINT_CONTROL: {
Lightvalve 137:ccf70b9b1705 1562
Lightvalve 138:a843f32ced33 1563
Lightvalve 57:f4819de54e7a 1564 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1565 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1566 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1567 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1568
Lightvalve 67:c2812cf26c38 1569 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1570 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1571 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1572 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1573
Lightvalve 139:15621998925b 1574 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 1575 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 1576
Lightvalve 57:f4819de54e7a 1577 // torque feedback
Lightvalve 67:c2812cf26c38 1578 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1579 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1580
Lightvalve 57:f4819de54e7a 1581 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1582
Lightvalve 57:f4819de54e7a 1583 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1584 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1585 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1586
Lightvalve 57:f4819de54e7a 1587 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1588 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1589 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1590
Lightvalve 69:3995ffeaa786 1591 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1592 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
Lightvalve 57:f4819de54e7a 1593 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1594 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1595 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
Lightvalve 57:f4819de54e7a 1596 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1597 }
Lightvalve 57:f4819de54e7a 1598 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))));
Lightvalve 57:f4819de54e7a 1599 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1600
Lightvalve 57:f4819de54e7a 1601 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1602 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1603 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1604 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1605 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1606 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1607 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1608 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.
Lightvalve 57:f4819de54e7a 1609 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1610 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1611 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1612 }
Lightvalve 57:f4819de54e7a 1613 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))));
Lightvalve 57:f4819de54e7a 1614 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1615 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1616 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1617 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1618
Lightvalve 57:f4819de54e7a 1619 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1620
Lightvalve 67:c2812cf26c38 1621 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1622 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1623 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1624 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1625 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1626 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1627 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1628 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1629 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1630 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1631 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1632 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1633 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1634 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1635 }
Lightvalve 67:c2812cf26c38 1636 }
Lightvalve 57:f4819de54e7a 1637
Lightvalve 57:f4819de54e7a 1638 } else {
Lightvalve 57:f4819de54e7a 1639 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1640 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1641 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1642
Lightvalve 57:f4819de54e7a 1643 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1644 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1645
Lightvalve 72:3436ce769b1e 1646 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;
Lightvalve 72:3436ce769b1e 1647
Lightvalve 72:3436ce769b1e 1648 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1649
Lightvalve 72:3436ce769b1e 1650
Lightvalve 72:3436ce769b1e 1651 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1652 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1653 } else {
Lightvalve 72:3436ce769b1e 1654 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1655 }
Lightvalve 57:f4819de54e7a 1656
Lightvalve 57:f4819de54e7a 1657 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 1658 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1659 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1660 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1661 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1662 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1663 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1664 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1665 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1666 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1667 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1668 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1669 }
Lightvalve 57:f4819de54e7a 1670 }
Lightvalve 61:bc8c8270f0ab 1671
Lightvalve 57:f4819de54e7a 1672 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1673
Lightvalve 67:c2812cf26c38 1674 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1675 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1676
Lightvalve 57:f4819de54e7a 1677 }
Lightvalve 72:3436ce769b1e 1678
Lightvalve 72:3436ce769b1e 1679 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1680
Lightvalve 133:22ab22818e01 1681
Lightvalve 57:f4819de54e7a 1682 break;
Lightvalve 57:f4819de54e7a 1683 }
Lightvalve 58:2eade98630e2 1684
Lightvalve 57:f4819de54e7a 1685 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1686 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1687 break;
Lightvalve 57:f4819de54e7a 1688 }
Lightvalve 138:a843f32ced33 1689
Lightvalve 138:a843f32ced33 1690 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 138:a843f32ced33 1691
Lightvalve 138:a843f32ced33 1692
Lightvalve 139:15621998925b 1693 float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 1694 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 138:a843f32ced33 1695
Lightvalve 139:15621998925b 1696 // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 1697 // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 138:a843f32ced33 1698 V = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 138:a843f32ced33 1699
Lightvalve 138:a843f32ced33 1700
Lightvalve 139:15621998925b 1701 float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 138:a843f32ced33 1702
Lightvalve 138:a843f32ced33 1703 float g3_prime = 0.0f;
Lightvalve 138:a843f32ced33 1704 if (torq.sen > Amm*(Ps-Pt)*0.000001f){
Lightvalve 138:a843f32ced33 1705 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 1706 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 1707 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 1708 } else {
Lightvalve 138:a843f32ced33 1709 if ((value-VALVE_CENTER) > 0) {
Lightvalve 138:a843f32ced33 1710 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 1711 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 1712 } else {
Lightvalve 138:a843f32ced33 1713 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 1714 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 1715 }
Lightvalve 138:a843f32ced33 1716 }
Lightvalve 138:a843f32ced33 1717 float tau = 0.01f;
Lightvalve 142:43026242815a 1718 float K_valve = 0.0004f;
Lightvalve 138:a843f32ced33 1719
Lightvalve 138:a843f32ced33 1720 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 1721 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 1722 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 1723 } else {
Lightvalve 138:a843f32ced33 1724 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 1725 }
Lightvalve 138:a843f32ced33 1726 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 1727 float g4 = K_valve/tau;
Lightvalve 138:a843f32ced33 1728
Lightvalve 139:15621998925b 1729 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 138:a843f32ced33 1730
Lightvalve 138:a843f32ced33 1731 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 1732 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 1733 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 138:a843f32ced33 1734
Lightvalve 138:a843f32ced33 1735 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 1736 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 138:a843f32ced33 1737
Lightvalve 142:43026242815a 1738 float k3 = 20000.0f; //2000
Lightvalve 142:43026242815a 1739 float k4 = 10.0f;
Lightvalve 142:43026242815a 1740 float rho3 = 3.2f;
Lightvalve 142:43026242815a 1741 float rho4 = 25000000.0f;
Lightvalve 139:15621998925b 1742 float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 1743 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 1744 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 139:15621998925b 1745
Lightvalve 139:15621998925b 1746 if (x_4_des > 0) {
Lightvalve 139:15621998925b 1747 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 1748 } else {
Lightvalve 139:15621998925b 1749 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 1750 }
Lightvalve 139:15621998925b 1751
Lightvalve 139:15621998925b 1752
Lightvalve 138:a843f32ced33 1753 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 1754 x_4_des_old = x_4_des;
Lightvalve 138:a843f32ced33 1755
Lightvalve 139:15621998925b 1756 V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
Lightvalve 138:a843f32ced33 1757
Lightvalve 142:43026242815a 1758 float rho_gamma = 50000.0f;//5000
Lightvalve 139:15621998925b 1759 float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des));
Lightvalve 138:a843f32ced33 1760 gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 1761 break;
Lightvalve 138:a843f32ced33 1762 }
Lightvalve 14:8e7590227d22 1763
Lightvalve 12:6f2531038ea4 1764 default:
Lightvalve 12:6f2531038ea4 1765 break;
Lightvalve 12:6f2531038ea4 1766 }
Lightvalve 14:8e7590227d22 1767
Lightvalve 57:f4819de54e7a 1768
Lightvalve 57:f4819de54e7a 1769 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1770
Lightvalve 57:f4819de54e7a 1771 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1772 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1773 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1774 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1775 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1776 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1777
Lightvalve 57:f4819de54e7a 1778 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1779 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1780
Lightvalve 57:f4819de54e7a 1781
Lightvalve 57:f4819de54e7a 1782 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1783 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1784 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1785 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1786 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1787 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1788
Lightvalve 57:f4819de54e7a 1789 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1790 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1791 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1792 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1793 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1794 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1795 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1796 }
Lightvalve 57:f4819de54e7a 1797
Lightvalve 57:f4819de54e7a 1798 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1799
Lightvalve 67:c2812cf26c38 1800 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1801 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1802 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1803 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1804 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 67:c2812cf26c38 1805 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1806 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1807
Lightvalve 57:f4819de54e7a 1808 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1809 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1810 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1811 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1812 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1813 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1814 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1815 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1816 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1817 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1818 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1819 }
Lightvalve 57:f4819de54e7a 1820 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1821 } else {
Lightvalve 57:f4819de54e7a 1822 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1823 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1824 }
Lightvalve 57:f4819de54e7a 1825
Lightvalve 57:f4819de54e7a 1826 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1827 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1828 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1829 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1830 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1831 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1832 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1833
Lightvalve 57:f4819de54e7a 1834 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1835
Lightvalve 57:f4819de54e7a 1836 } else {
Lightvalve 57:f4819de54e7a 1837 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1838 }
Lightvalve 57:f4819de54e7a 1839
Lightvalve 57:f4819de54e7a 1840 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1841 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1842 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1843
Lightvalve 57:f4819de54e7a 1844 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1845 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1846 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1847 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1848 }
Lightvalve 89:a7b45368ea0f 1849 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1850 // Output Voltage Linearization
Lightvalve 135:79885a39c161 1851 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 1852 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1853
Lightvalve 89:a7b45368ea0f 1854 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 1855 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 1856 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 1857 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 1858
Lightvalve 135:79885a39c161 1859 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 1860 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 1861 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 1862 }
Lightvalve 67:c2812cf26c38 1863
Lightvalve 67:c2812cf26c38 1864 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1865 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1866 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1867
jobuuu 7:e9086c72bb22 1868 /*******************************************************
jobuuu 7:e9086c72bb22 1869 *** PWM
jobuuu 7:e9086c72bb22 1870 ********************************************************/
Lightvalve 67:c2812cf26c38 1871 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1872 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1873 }
Lightvalve 67:c2812cf26c38 1874
Lightvalve 49:e7bcfc244d40 1875 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1876 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1877 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1878 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1879 }
Lightvalve 49:e7bcfc244d40 1880 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1881
Lightvalve 19:23b7c1ad8683 1882 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1883 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1884 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1885
Lightvalve 30:8d561f16383b 1886 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1887 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1888 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1889 } else {
jobuuu 2:a1c0a37df760 1890 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1891 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1892 }
Lightvalve 13:747daba9cf59 1893
jobuuu 1:e04e563be5ce 1894 //pwm
Lightvalve 30:8d561f16383b 1895 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1896 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1897
Lightvalve 61:bc8c8270f0ab 1898
Lightvalve 57:f4819de54e7a 1899 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1900
Lightvalve 54:647072f5307a 1901 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1902 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1903 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1904 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1905 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1906 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1907 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));
Lightvalve 54:647072f5307a 1908 }
Lightvalve 57:f4819de54e7a 1909 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1910 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1911 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)));
Lightvalve 54:647072f5307a 1912 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1913 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));
Lightvalve 54:647072f5307a 1914 }
Lightvalve 52:8ea76864368a 1915 }
Lightvalve 52:8ea76864368a 1916 }
Lightvalve 56:6f50d9d3bfee 1917 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1918 //valve position
Lightvalve 54:647072f5307a 1919 double t_value = 0;
Lightvalve 97:d71c57e3515e 1920 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1921 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1922 } else {
Lightvalve 97:d71c57e3515e 1923 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1924 }
Lightvalve 97:d71c57e3515e 1925 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1926 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1927 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1928 // } else {
Lightvalve 97:d71c57e3515e 1929 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1930 // }
Lightvalve 97:d71c57e3515e 1931 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1932 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1933 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1934 // } else {
Lightvalve 97:d71c57e3515e 1935 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1936 // }
Lightvalve 67:c2812cf26c38 1937 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1938 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1939 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1940 }
Lightvalve 58:2eade98630e2 1941
Lightvalve 58:2eade98630e2 1942
Lightvalve 131:d08121ac87ba 1943 if (flag_data_request[2] == LOW) {
Lightvalve 89:a7b45368ea0f 1944 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1945 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1946 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 1947 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1948 } else {
Lightvalve 131:d08121ac87ba 1949 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1950 }
Lightvalve 139:15621998925b 1951 CAN_TX_PRES((int16_t) (t_value), (int16_t) (torq.ref)); // 1400
Lightvalve 55:b25725257569 1952 }
Lightvalve 58:2eade98630e2 1953
Lightvalve 57:f4819de54e7a 1954 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1955 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1956 ;
Lightvalve 57:f4819de54e7a 1957 }
Lightvalve 58:2eade98630e2 1958
Lightvalve 139:15621998925b 1959 if (flag_data_request[3] == LOW) {
Lightvalve 54:647072f5307a 1960 //PWM
Lightvalve 73:f80dc3970c99 1961 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 139:15621998925b 1962 CAN_TX_PWM((int16_t) gamma_hat); //1500
Lightvalve 54:647072f5307a 1963 }
Lightvalve 57:f4819de54e7a 1964 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1965 // ;
Lightvalve 57:f4819de54e7a 1966 // }
Lightvalve 56:6f50d9d3bfee 1967 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1968 //valve position
Lightvalve 73:f80dc3970c99 1969 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
Lightvalve 54:647072f5307a 1970 }
Lightvalve 20:806196fda269 1971
Lightvalve 54:647072f5307a 1972 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1973 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1974 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1975 // }
Lightvalve 54:647072f5307a 1976 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1977 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1978 //}
Lightvalve 52:8ea76864368a 1979
Lightvalve 54:647072f5307a 1980 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1981 }
Lightvalve 54:647072f5307a 1982 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1983
Lightvalve 20:806196fda269 1984 }
Lightvalve 52:8ea76864368a 1985 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1986
Lightvalve 58:2eade98630e2 1987 }