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LIGHT2
main.cpp@71:381188d044f4, 2020-05-18 (annotated)
- Committer:
- Lightvalve
- Date:
- Mon May 18 01:47:33 2020 +0000
- Revision:
- 71:381188d044f4
- Parent:
- 70:d049d9b7dc6b
- Child:
- 72:3436ce769b1e
200518_3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 71:381188d044f4 | 1 | //200518-3 |
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 | 12:6f2531038ea4 | 112 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //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 | 65:a2d7c63419c2 | 187 | |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 189 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 191 | |
Lightvalve | 66:a8e6799dbce3 | 192 | float input[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 193 | |
Lightvalve | 66:a8e6799dbce3 | 194 | const float h1[num_input][32] = { |
Lightvalve | 71:381188d044f4 | 195 | {-2.387519598007202f,3.758836269378662f,0.10087299346923828f,-1.1229431629180908f,0.6922420859336853f,-0.7154500484466553f,-0.15680599212646484f,4.780811786651611f,-0.22606176137924194f,-4.3647074699401855f,-0.18877790868282318f,0.4351077377796173f,-0.18402203917503357f,0.17382612824440002f,-0.20103082060813904f,-1.1245293617248535f,0.0004013699945062399f,0.23753002285957336f,-0.34493449330329895f,1.4886819124221802f,-0.3469485938549042f,0.1018887460231781f,-0.31691664457321167f,-0.07546886801719666f,-0.20609299838542938f,0.1750296652317047f,-0.16833457350730896f,1.1893956661224365f,0.5619507431983948f,-0.17902883887290955f,0.15201131999492645f,0.07611003518104553f}, |
Lightvalve | 71:381188d044f4 | 196 | {-1.7749016284942627f,2.7975220680236816f,0.2844829857349396f,-1.141148328781128f,0.5162314176559448f,-0.49613815546035767f,0.22054725885391235f,3.251734733581543f,-0.1290067881345749f,-2.8023927211761475f,-0.27535533905029297f,0.20548781752586365f,0.020206838846206665f,0.09718506783246994f,0.04370078444480896f,-0.7674993872642517f,-0.1540525257587433f,0.059967368841171265f,0.2727026045322418f,1.1572362184524536f,-0.05750657245516777f,-0.11504809558391571f,-0.0905606746673584f,0.2640003263950348f,-0.12323086708784103f,0.2797521650791168f,0.12084531784057617f,1.0019421577453613f,0.04765775799751282f,0.09343862533569336f,-0.13208310306072235f,0.09386715292930603f}, |
Lightvalve | 71:381188d044f4 | 197 | {-0.5164539813995361f,1.5264695882797241f,-0.004022121429443359f,-0.1440647691488266f,0.2536052167415619f,-0.36977875232696533f,0.11401084810495377f,1.5050835609436035f,0.019612671807408333f,-1.3692537546157837f,0.2685096859931946f,0.06199511140584946f,-0.031272560358047485f,0.10478135198354721f,-0.3021453320980072f,-0.41596806049346924f,0.24675573408603668f,-0.25322937965393066f,0.1321346014738083f,0.5626358389854431f,0.1830700933933258f,-0.14585837721824646f,0.1290973722934723f,-0.23490183055400848f,-0.1125480979681015f,0.13848352432250977f,-0.14778463542461395f,0.48468121886253357f,-0.23476767539978027f,0.28840622305870056f,-0.44455161690711975f,-0.18625950813293457f}, |
Lightvalve | 71:381188d044f4 | 198 | {0.32208502292633057f,-0.3156759738922119f,-0.19558930397033691f,-0.19543233513832092f,-0.4100252091884613f,-0.004481551703065634f,0.07631009817123413f,-0.7040706872940063f,0.28171858191490173f,0.4420015215873718f,0.11386692523956299f,0.053605884313583374f,-0.11249050498008728f,0.22857388854026794f,-0.12209486961364746f,0.13978374004364014f,-0.14970941841602325f,-0.22630342841148376f,-0.24627307057380676f,-0.2577669620513916f,-0.2657603621482849f,-0.08376853168010712f,-0.14013314247131348f,-0.277662992477417f,-0.11300056427717209f,0.1348792016506195f,0.12745562195777893f,-0.2508465051651001f,0.057046078145504f,0.1260412633419037f,-0.3105676770210266f,0.16906705498695374f}, |
Lightvalve | 71:381188d044f4 | 199 | {1.4193285703659058f,-2.082980155944824f,0.08011308312416077f,0.4150879383087158f,-0.6734179258346558f,0.15815895795822144f,-0.011050799861550331f,-3.1336023807525635f,-0.21337957680225372f,2.9705564975738525f,-0.2366180717945099f,-0.22752341628074646f,0.20140400528907776f,0.10731269419193268f,-0.2388615608215332f,0.7560790181159973f,-0.3201991021633148f,-0.17562326788902283f,0.10604840517044067f,-1.107373595237732f,0.10273914784193039f,0.22469106316566467f,-0.2337813377380371f,-0.07104292511940002f,-0.13561725616455078f,-0.32632216811180115f,0.038649410009384155f,-1.0993114709854126f,-0.15528695285320282f,-0.15546131134033203f,-0.30099284648895264f,0.025572150945663452f}, |
Lightvalve | 71:381188d044f4 | 200 | {2.7227981090545654f,-5.143029689788818f,0.2906685173511505f,1.5399490594863892f,-0.9622753262519836f,0.37471476197242737f,-0.0957474336028099f,-5.645540237426758f,-0.3353065848350525f,5.616762638092041f,0.26808297634124756f,-1.0108857154846191f,-0.029951006174087524f,-0.07129227370023727f,0.20863232016563416f,0.7699045538902283f,-0.6194054484367371f,-0.30441316962242126f,-0.35358551144599915f,-1.7409311532974243f,0.10042766481637955f,-0.009217172861099243f,0.11990180611610413f,0.3152395784854889f,-0.2418633997440338f,0.19827589392662048f,-0.278697669506073f,-1.2059303522109985f,-0.558561384677887f,-0.0012509822845458984f,-0.734422504901886f,-0.053316205739974976f}, |
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Lightvalve | 65:a2d7c63419c2 | 217 | }; |
Lightvalve | 65:a2d7c63419c2 | 218 | |
Lightvalve | 66:a8e6799dbce3 | 219 | const float h2[32][32] = { |
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Lightvalve | 66:a8e6799dbce3 | 242 | {0.2003176510334015f,-0.27792131900787354f,0.055196613073349f,-0.27959588170051575f,0.18430876731872559f,-0.05316638946533203f,0.16156336665153503f,-0.18850930035114288f,0.09482413530349731f,0.021483391523361206f,0.009039878845214844f,0.1586727499961853f,0.11457142233848572f,0.2876913249492645f,-0.24802550673484802f,0.14089101552963257f,-0.06842575967311859f,-0.10107968747615814f,0.06239110231399536f,-0.2528536915779114f,-0.27538973093032837f,0.15457189083099365f,-0.15549622476100922f,0.20245882868766785f,0.08544808626174927f,0.22650876641273499f,-0.05268847942352295f,0.20387354493141174f,0.24724552035331726f,0.21444126963615417f,0.05186706781387329f,-0.11084021627902985f}, |
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Lightvalve | 65:a2d7c63419c2 | 252 | }; |
Lightvalve | 65:a2d7c63419c2 | 253 | |
Lightvalve | 66:a8e6799dbce3 | 254 | const float h3[32][32] = { |
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Lightvalve | 71:381188d044f4 | 282 | {-0.12546227872371674f,-0.1691795140504837f,-0.23382361233234406f,0.02635406143963337f,-0.574919581413269f,-0.7558233737945557f,-0.28310835361480713f,-0.2529774606227875f,-1.8026366233825684f,-0.5590339303016663f,-0.5826992988586426f,-0.0822070837020874f,-0.07250702381134033f,-0.7671753764152527f,-0.0649729073047638f,0.20225107669830322f,0.060016900300979614f,-0.16779978573322296f,-0.21043500304222107f,-0.4147292971611023f,-0.7762933969497681f,-0.6940494775772095f,-0.26878347992897034f,0.06770160049200058f,-1.1576570272445679f,-0.1066829040646553f,-0.5866940021514893f,-0.012402616441249847f,0.0979994609951973f,-0.000007510185241699219f,-0.08967341482639313f,-0.7776626348495483f}, |
Lightvalve | 66:a8e6799dbce3 | 283 | {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f}, |
Lightvalve | 71:381188d044f4 | 284 | {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.33835604786872864f,0.027385378256440163f,0.06556430459022522f,0.29767414927482605f,0.36594903469085693f,-0.18048140406608582f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.06095482409000397f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.321990042924881f,0.37035757303237915f,0.04131292551755905f,-0.04174882173538208f,-0.11559568345546722f,-0.17430315911769867f,0.21069613099098206f,-0.19532959163188934f,-0.1387111395597458f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f}, |
Lightvalve | 67:c2812cf26c38 | 285 | {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f}, |
Lightvalve | 71:381188d044f4 | 286 | {0.07638216018676758f,0.07996532320976257f,-0.30373215675354004f,-0.2868785560131073f,0.1302153617143631f,0.015181951224803925f,0.2795381247997284f,-0.25668495893478394f,-0.0810365080833435f,0.14579007029533386f,-0.026776641607284546f,0.02524423599243164f,0.11033061146736145f,0.2571842670440674f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.12243823707103729f,0.2692778706550598f,0.13529884815216064f,-0.00019467927631922066f,-0.15799765288829803f,-0.17324526607990265f,0.21758465468883514f,0.1901901364326477f,-0.26031842827796936f,-0.06264235824346542f,-0.1070472002029419f,0.22636333107948303f,-0.2677184045314789f,0.1976069062948227f}, |
Lightvalve | 66:a8e6799dbce3 | 287 | }; |
Lightvalve | 65:a2d7c63419c2 | 288 | |
Lightvalve | 71:381188d044f4 | 289 | const float hout[32] = { 0.3285340666770935f,0.2551562786102295f,-0.012636851519346237f,-0.10438686609268188f,0.027978483587503433f,0.30827778577804565f,0.002162247896194458f,0.12166870385408401f,-0.1348801702260971f,0.03679719194769859f,0.04490549862384796f,-0.21492743492126465f,-0.11106962710618973f,-0.1849307417869568f,0.2356991171836853f,-0.04954531416296959f,0.09851181507110596f,-0.21499931812286377f,-0.04986921697854996f,-0.07776449620723724f,0.014431039802730083f,0.1345127671957016f,-0.2774904668331146f,-0.15596844255924225f,0.15764980018138885f,0.25172343850135803f,-0.05403050407767296f,-0.2695673406124115f,-0.004355378914624453f,-0.3257754445075989f,-0.15538199245929718f,0.08937087655067444f }; |
Lightvalve | 66:a8e6799dbce3 | 290 | |
Lightvalve | 71:381188d044f4 | 291 | const float b1[32] = { 0.4876643419265747f,3.4924867153167725f,-1.7145336866378784f,0.08961353451013565f,1.1386795043945312f,0.5310156345367432f,-0.0994354784488678f,1.122987985610962f,0.5337356925010681f,-2.1464405059814453f,0.5788223743438721f,1.547778606414795f,-0.3425353467464447f,-0.8973348736763f,-1.087764859199524f,0.8930401802062988f,0.6358370184898376f,-0.26377663016319275f,0.21948260068893433f,0.6810890436172485f,-0.3145366907119751f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.855795979499817f,-2.0880801677703857f,-1.0489267110824585f,0.7449505925178528f,0.4248124361038208f,-1.0887231826782227f,1.472203254699707f,-0.4426153898239136f }; |
Lightvalve | 65:a2d7c63419c2 | 292 | |
Lightvalve | 71:381188d044f4 | 293 | const float b2[32] = { -0.41471216082572937f,-0.7642630338668823f,-1.4564176797866821f,-0.564620852470398f,-0.6939148902893066f,-0.10885897278785706f,0.685957133769989f,-0.42037343978881836f,-1.20063054561615f,-1.912178635597229f,-0.017791951075196266f,0.019983429461717606f,-0.22318850457668304f,0.40243294835090637f,-0.151604562997818f,0.0058990237303078175f,-1.798204779624939f,-1.5844906568527222f,-0.08286646753549576f,-0.45091554522514343f,-0.1338617354631424f,-0.0241900272667408f,-0.06385613232851028f,-1.0450503826141357f,0.5254723429679871f,-0.5895631909370422f,0.4369310438632965f,-0.1577368527650833f,-0.6323830485343933f,-0.5159986019134521f,-1.178520679473877f,-1.3576154708862305f }; |
Lightvalve | 65:a2d7c63419c2 | 294 | |
Lightvalve | 71:381188d044f4 | 295 | const float b3[32] = { -1.963319182395935f,-0.5722635984420776f,0.02791612036526203f,-0.04721946641802788f,-0.10820336639881134f,0.5754797458648682f,-0.45353031158447266f,-0.8077852725982666f,-2.4385035037994385f,0.021701503545045853f,-0.5864827632904053f,-0.07983998954296112f,-0.6991575360298157f,-0.5194182991981506f,-1.1428403854370117f,-0.42275309562683105f,-1.3594286441802979f,-1.0192245244979858f,-0.4748340845108032f,-2.2864346504211426f,0.32822495698928833f,0.22720731794834137f,-1.026091456413269f,-0.9584147334098816f,-0.11634186655282974f,-0.47350677847862244f,-0.29931914806365967f,-0.2621769309043884f,-0.1290173977613449f,-2.3236680030822754f,-0.2663120925426483f,0.152870774269104f }; |
Lightvalve | 66:a8e6799dbce3 | 296 | |
Lightvalve | 71:381188d044f4 | 297 | const float bout[1] = { -0.06423281133174896f }; |
Lightvalve | 61:bc8c8270f0ab | 298 | |
Lightvalve | 61:bc8c8270f0ab | 299 | |
GiJeongKim | 0:51c43836c1d7 | 300 | int main() |
GiJeongKim | 0:51c43836c1d7 | 301 | { |
Lightvalve | 66:a8e6799dbce3 | 302 | |
Lightvalve | 65:a2d7c63419c2 | 303 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 304 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 305 | |
jobuuu | 6:df07d3491e3a | 306 | /********************************* |
jobuuu | 1:e04e563be5ce | 307 | *** Initialization |
jobuuu | 6:df07d3491e3a | 308 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 309 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 310 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 311 | |
GiJeongKim | 0:51c43836c1d7 | 312 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 313 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 314 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 315 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 316 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 317 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 318 | |
GiJeongKim | 0:51c43836c1d7 | 319 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 320 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 321 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 322 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 323 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 324 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 325 | |
Lightvalve | 16:903b5a4433b4 | 326 | //rom |
Lightvalve | 19:23b7c1ad8683 | 327 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 328 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 329 | |
GiJeongKim | 0:51c43836c1d7 | 330 | // ADC init |
jobuuu | 5:a4319f79457b | 331 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 332 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 333 | |
GiJeongKim | 0:51c43836c1d7 | 334 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 335 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 336 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 337 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 338 | |
Lightvalve | 11:82d8768d7351 | 339 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 340 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 341 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 342 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 343 | |
Lightvalve | 50:3c630b5eba9f | 344 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 345 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 346 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 347 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 348 | |
GiJeongKim | 0:51c43836c1d7 | 349 | // CAN |
jobuuu | 2:a1c0a37df760 | 350 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 351 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 352 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 353 | |
Lightvalve | 23:59218d4a256d | 354 | //Timer priority |
Lightvalve | 23:59218d4a256d | 355 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 356 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 357 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 358 | |
Lightvalve | 23:59218d4a256d | 359 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 360 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 361 | |
GiJeongKim | 0:51c43836c1d7 | 362 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 363 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 364 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 365 | |
Lightvalve | 11:82d8768d7351 | 366 | //DAC init |
Lightvalve | 58:2eade98630e2 | 367 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 368 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 369 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 370 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 371 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 372 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 373 | } |
Lightvalve | 11:82d8768d7351 | 374 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 375 | |
Lightvalve | 19:23b7c1ad8683 | 376 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 377 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 378 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 379 | else |
Lightvalve | 38:118df027d851 | 380 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 381 | } |
Lightvalve | 61:bc8c8270f0ab | 382 | |
Lightvalve | 61:bc8c8270f0ab | 383 | |
jobuuu | 6:df07d3491e3a | 384 | /************************************ |
jobuuu | 1:e04e563be5ce | 385 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 386 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 387 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 388 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 389 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 390 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 391 | |
Lightvalve | 65:a2d7c63419c2 | 392 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 393 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 394 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 395 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 396 | // } else |
Lightvalve | 65:a2d7c63419c2 | 397 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 398 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 399 | //} |
Lightvalve | 66:a8e6799dbce3 | 400 | |
Lightvalve | 66:a8e6799dbce3 | 401 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 402 | |
Lightvalve | 66:a8e6799dbce3 | 403 | |
Lightvalve | 66:a8e6799dbce3 | 404 | if(NN_Control_Flag == 1) { |
Lightvalve | 66:a8e6799dbce3 | 405 | float output1[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 406 | float output2[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 407 | float output3[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 408 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 409 | |
Lightvalve | 66:a8e6799dbce3 | 410 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 68:328e1be06f5d | 411 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 412 | output1[index2] = output1[index2] |
Lightvalve | 66:a8e6799dbce3 | 413 | + h1[index1][index2] * input[index1]; |
Lightvalve | 66:a8e6799dbce3 | 414 | } |
Lightvalve | 66:a8e6799dbce3 | 415 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 416 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 417 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 418 | } |
Lightvalve | 66:a8e6799dbce3 | 419 | } |
Lightvalve | 65:a2d7c63419c2 | 420 | |
Lightvalve | 66:a8e6799dbce3 | 421 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 422 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 423 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 424 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 425 | } |
Lightvalve | 66:a8e6799dbce3 | 426 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 427 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 428 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 429 | } |
Lightvalve | 66:a8e6799dbce3 | 430 | } |
Lightvalve | 65:a2d7c63419c2 | 431 | |
Lightvalve | 66:a8e6799dbce3 | 432 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 433 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 434 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 435 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 436 | } |
Lightvalve | 66:a8e6799dbce3 | 437 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 438 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 439 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 440 | } |
Lightvalve | 65:a2d7c63419c2 | 441 | } |
Lightvalve | 66:a8e6799dbce3 | 442 | |
Lightvalve | 66:a8e6799dbce3 | 443 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 444 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 445 | output = output + hout[index2] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 446 | } |
Lightvalve | 66:a8e6799dbce3 | 447 | output = output + bout[index2]; |
Lightvalve | 66:a8e6799dbce3 | 448 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 66:a8e6799dbce3 | 449 | } |
Lightvalve | 66:a8e6799dbce3 | 450 | |
Lightvalve | 68:328e1be06f5d | 451 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 66:a8e6799dbce3 | 452 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 453 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 454 | } else { |
Lightvalve | 66:a8e6799dbce3 | 455 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 456 | } |
Lightvalve | 69:3995ffeaa786 | 457 | |
Lightvalve | 69:3995ffeaa786 | 458 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 459 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 460 | } else |
Lightvalve | 69:3995ffeaa786 | 461 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 462 | |
Lightvalve | 65:a2d7c63419c2 | 463 | } |
Lightvalve | 62:b5452adfb2cd | 464 | |
Lightvalve | 69:3995ffeaa786 | 465 | |
Lightvalve | 66:a8e6799dbce3 | 466 | |
GiJeongKim | 0:51c43836c1d7 | 467 | } |
jobuuu | 1:e04e563be5ce | 468 | } |
jobuuu | 1:e04e563be5ce | 469 | |
Lightvalve | 33:91b17819ec30 | 470 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 471 | { |
Lightvalve | 14:8e7590227d22 | 472 | |
Lightvalve | 13:747daba9cf59 | 473 | int i = 0; |
Lightvalve | 48:889798ff9329 | 474 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 475 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 476 | 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 | 477 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 478 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 479 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 480 | } else { |
Lightvalve | 57:f4819de54e7a | 481 | 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 | 482 | } |
Lightvalve | 14:8e7590227d22 | 483 | } else { |
Lightvalve | 50:3c630b5eba9f | 484 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 485 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 486 | } else { |
Lightvalve | 57:f4819de54e7a | 487 | 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 | 488 | } |
Lightvalve | 13:747daba9cf59 | 489 | } |
Lightvalve | 13:747daba9cf59 | 490 | break; |
Lightvalve | 13:747daba9cf59 | 491 | } |
Lightvalve | 13:747daba9cf59 | 492 | } |
Lightvalve | 14:8e7590227d22 | 493 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 494 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 495 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 496 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 497 | } |
Lightvalve | 36:a46e63505ed8 | 498 | |
Lightvalve | 57:f4819de54e7a | 499 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 500 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 501 | |
Lightvalve | 13:747daba9cf59 | 502 | } |
jobuuu | 6:df07d3491e3a | 503 | |
jobuuu | 6:df07d3491e3a | 504 | |
Lightvalve | 30:8d561f16383b | 505 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 506 | { |
Lightvalve | 13:747daba9cf59 | 507 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 508 | |
Lightvalve | 38:118df027d851 | 509 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 510 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 511 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 512 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 513 | } |
Lightvalve | 38:118df027d851 | 514 | |
Lightvalve | 13:747daba9cf59 | 515 | valve_pos_err = REF_VALVE_POS - value; |
Lightvalve | 13:747daba9cf59 | 516 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 517 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 518 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 519 | if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; |
Lightvalve | 13:747daba9cf59 | 520 | if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; |
Lightvalve | 13:747daba9cf59 | 521 | |
Lightvalve | 13:747daba9cf59 | 522 | 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 | 523 | |
Lightvalve | 18:b8adf1582ea3 | 524 | for(i=0; i<24; i++) { |
Lightvalve | 14:8e7590227d22 | 525 | if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { |
Lightvalve | 14:8e7590227d22 | 526 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 527 | 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 | 528 | } else { |
Lightvalve | 48:889798ff9329 | 529 | 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 | 530 | } |
Lightvalve | 13:747daba9cf59 | 531 | break; |
Lightvalve | 13:747daba9cf59 | 532 | } |
Lightvalve | 13:747daba9cf59 | 533 | } |
Lightvalve | 59:f308b1656d9c | 534 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 535 | } |
Lightvalve | 13:747daba9cf59 | 536 | |
Lightvalve | 14:8e7590227d22 | 537 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 538 | 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 | 539 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 540 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 541 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 542 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 543 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 544 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 545 | 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 | 546 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 547 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 548 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 549 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 550 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 551 | }; // mV |
Lightvalve | 13:747daba9cf59 | 552 | |
Lightvalve | 30:8d561f16383b | 553 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 554 | { |
Lightvalve | 30:8d561f16383b | 555 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 556 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 557 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 558 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 559 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 560 | } else { |
Lightvalve | 13:747daba9cf59 | 561 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 562 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 563 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 564 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 565 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 566 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 567 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 568 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 569 | break; |
Lightvalve | 13:747daba9cf59 | 570 | } |
Lightvalve | 13:747daba9cf59 | 571 | } |
Lightvalve | 13:747daba9cf59 | 572 | } |
Lightvalve | 14:8e7590227d22 | 573 | |
Lightvalve | 13:747daba9cf59 | 574 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 575 | } |
jobuuu | 6:df07d3491e3a | 576 | |
Lightvalve | 57:f4819de54e7a | 577 | |
Lightvalve | 57:f4819de54e7a | 578 | |
Lightvalve | 57:f4819de54e7a | 579 | |
Lightvalve | 57:f4819de54e7a | 580 | |
jobuuu | 2:a1c0a37df760 | 581 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 582 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 583 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 584 | |
Lightvalve | 51:b46bed7fec80 | 585 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 586 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 587 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 588 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 589 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 590 | { |
Lightvalve | 19:23b7c1ad8683 | 591 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 592 | |
Lightvalve | 21:e5f1a43ea6f9 | 593 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 594 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 595 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 596 | |
Lightvalve | 57:f4819de54e7a | 597 | //Encoder |
Lightvalve | 57:f4819de54e7a | 598 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 599 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 600 | } |
Lightvalve | 61:bc8c8270f0ab | 601 | |
Lightvalve | 61:bc8c8270f0ab | 602 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 603 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 604 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 605 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 606 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 607 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 608 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 609 | |
Lightvalve | 67:c2812cf26c38 | 610 | |
Lightvalve | 67:c2812cf26c38 | 611 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 612 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 613 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 614 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 615 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 616 | |
Lightvalve | 17:1865016ca2e7 | 617 | |
Lightvalve | 58:2eade98630e2 | 618 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 619 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 620 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 621 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 622 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 623 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 624 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 625 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 626 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 627 | |
Lightvalve | 58:2eade98630e2 | 628 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 629 | 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 | 630 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 631 | 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 | 632 | } |
Lightvalve | 58:2eade98630e2 | 633 | } |
Lightvalve | 61:bc8c8270f0ab | 634 | |
Lightvalve | 58:2eade98630e2 | 635 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 636 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 637 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 638 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 639 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 640 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 641 | // 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 | 642 | // |
Lightvalve | 58:2eade98630e2 | 643 | // |
Lightvalve | 58:2eade98630e2 | 644 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 645 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 646 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 647 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 648 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 649 | |
Lightvalve | 17:1865016ca2e7 | 650 | |
Lightvalve | 21:e5f1a43ea6f9 | 651 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 652 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 653 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 654 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 655 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 656 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 657 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 658 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 659 | |
Lightvalve | 57:f4819de54e7a | 660 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 661 | } |
Lightvalve | 11:82d8768d7351 | 662 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 663 | } |
Lightvalve | 19:23b7c1ad8683 | 664 | |
Lightvalve | 19:23b7c1ad8683 | 665 | |
Lightvalve | 18:b8adf1582ea3 | 666 | int j =0; |
Lightvalve | 54:647072f5307a | 667 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 668 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 669 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 670 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 671 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 672 | |
Lightvalve | 11:82d8768d7351 | 673 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 674 | { |
Lightvalve | 19:23b7c1ad8683 | 675 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 676 | |
Lightvalve | 57:f4819de54e7a | 677 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 678 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 679 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 680 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 681 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 682 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 683 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 684 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 685 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 686 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 687 | } |
Lightvalve | 50:3c630b5eba9f | 688 | |
Lightvalve | 50:3c630b5eba9f | 689 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 690 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 691 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 692 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 693 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 694 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 695 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 696 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 697 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 698 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 699 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 700 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 701 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 702 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 703 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 704 | } else { |
Lightvalve | 58:2eade98630e2 | 705 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 706 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 707 | } |
Lightvalve | 45:35fa6884d0c6 | 708 | |
Lightvalve | 50:3c630b5eba9f | 709 | |
Lightvalve | 57:f4819de54e7a | 710 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 711 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 712 | |
Lightvalve | 57:f4819de54e7a | 713 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 714 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 715 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 716 | } else { |
Lightvalve | 57:f4819de54e7a | 717 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 718 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 719 | } |
Lightvalve | 56:6f50d9d3bfee | 720 | |
Lightvalve | 56:6f50d9d3bfee | 721 | |
Lightvalve | 56:6f50d9d3bfee | 722 | |
Lightvalve | 57:f4819de54e7a | 723 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 724 | |
Lightvalve | 57:f4819de54e7a | 725 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 726 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 727 | break; |
Lightvalve | 13:747daba9cf59 | 728 | } |
Lightvalve | 14:8e7590227d22 | 729 | |
Lightvalve | 14:8e7590227d22 | 730 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 731 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 732 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 733 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 734 | |
Lightvalve | 14:8e7590227d22 | 735 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 736 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 737 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 738 | |
Lightvalve | 59:f308b1656d9c | 739 | TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 740 | |
Lightvalve | 30:8d561f16383b | 741 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 742 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 743 | |
Lightvalve | 16:903b5a4433b4 | 744 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 745 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 746 | } |
Lightvalve | 13:747daba9cf59 | 747 | } else { |
Lightvalve | 58:2eade98630e2 | 748 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 749 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 750 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 751 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 752 | |
Lightvalve | 16:903b5a4433b4 | 753 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 754 | |
Lightvalve | 30:8d561f16383b | 755 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 756 | |
Lightvalve | 13:747daba9cf59 | 757 | } |
Lightvalve | 14:8e7590227d22 | 758 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 759 | break; |
Lightvalve | 19:23b7c1ad8683 | 760 | } |
Lightvalve | 14:8e7590227d22 | 761 | |
Lightvalve | 50:3c630b5eba9f | 762 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 763 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 764 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 765 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 766 | // } |
Lightvalve | 50:3c630b5eba9f | 767 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 768 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 769 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 770 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 771 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 772 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 773 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 774 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 775 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 776 | // } |
Lightvalve | 50:3c630b5eba9f | 777 | // |
Lightvalve | 50:3c630b5eba9f | 778 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 779 | // 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 | 780 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 781 | // |
Lightvalve | 50:3c630b5eba9f | 782 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 783 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 784 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 785 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 786 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 787 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 788 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 789 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 790 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 791 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 792 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 793 | // |
Lightvalve | 50:3c630b5eba9f | 794 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 795 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 796 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 797 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 798 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 799 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 800 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 801 | // |
Lightvalve | 50:3c630b5eba9f | 802 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 803 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 804 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 805 | // } else { |
Lightvalve | 50:3c630b5eba9f | 806 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 807 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 808 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 809 | // } |
Lightvalve | 50:3c630b5eba9f | 810 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 811 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 812 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 813 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 814 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 815 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 816 | // } |
Lightvalve | 50:3c630b5eba9f | 817 | // } else { |
Lightvalve | 50:3c630b5eba9f | 818 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 819 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 820 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 821 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 822 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 823 | // } |
Lightvalve | 50:3c630b5eba9f | 824 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 825 | // |
Lightvalve | 50:3c630b5eba9f | 826 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 827 | // |
Lightvalve | 50:3c630b5eba9f | 828 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 829 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 830 | // |
Lightvalve | 50:3c630b5eba9f | 831 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 832 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 833 | // } |
Lightvalve | 50:3c630b5eba9f | 834 | // } |
Lightvalve | 50:3c630b5eba9f | 835 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 836 | // break; |
Lightvalve | 50:3c630b5eba9f | 837 | // } |
Lightvalve | 14:8e7590227d22 | 838 | |
Lightvalve | 14:8e7590227d22 | 839 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 840 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 841 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 842 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 843 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 844 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 845 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 846 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 847 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 848 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 849 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 850 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 851 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 852 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 853 | } |
Lightvalve | 29:69f3f5445d6d | 854 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 855 | |
Lightvalve | 29:69f3f5445d6d | 856 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 857 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 858 | } else { |
Lightvalve | 29:69f3f5445d6d | 859 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 860 | } |
Lightvalve | 19:23b7c1ad8683 | 861 | |
Lightvalve | 57:f4819de54e7a | 862 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 863 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 864 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 865 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 866 | |
Lightvalve | 59:f308b1656d9c | 867 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 868 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 869 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 870 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 871 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 872 | |
Lightvalve | 59:f308b1656d9c | 873 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 874 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 875 | |
Lightvalve | 34:bb2ca2fc2a8e | 876 | |
Lightvalve | 29:69f3f5445d6d | 877 | } else { |
Lightvalve | 29:69f3f5445d6d | 878 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 879 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 880 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 881 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 882 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 883 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 884 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 885 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 886 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 887 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 888 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 889 | |
Lightvalve | 67:c2812cf26c38 | 890 | |
Lightvalve | 67:c2812cf26c38 | 891 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 892 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 893 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 894 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 895 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 896 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 897 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 898 | |
Lightvalve | 67:c2812cf26c38 | 899 | |
Lightvalve | 29:69f3f5445d6d | 900 | } |
Lightvalve | 29:69f3f5445d6d | 901 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 902 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 903 | 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 | 904 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 905 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 906 | |
Lightvalve | 29:69f3f5445d6d | 907 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 908 | |
Lightvalve | 67:c2812cf26c38 | 909 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 910 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 911 | |
Lightvalve | 67:c2812cf26c38 | 912 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 913 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 914 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 915 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 916 | |
Lightvalve | 67:c2812cf26c38 | 917 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 918 | |
Lightvalve | 67:c2812cf26c38 | 919 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 920 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 921 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 922 | |
Lightvalve | 67:c2812cf26c38 | 923 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 924 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 925 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 926 | |
Lightvalve | 69:3995ffeaa786 | 927 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 928 | 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 | 929 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 930 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 931 | 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 | 932 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 933 | } |
Lightvalve | 67:c2812cf26c38 | 934 | 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 | 935 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 936 | |
Lightvalve | 67:c2812cf26c38 | 937 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 938 | |
Lightvalve | 67:c2812cf26c38 | 939 | |
Lightvalve | 67:c2812cf26c38 | 940 | |
Lightvalve | 67:c2812cf26c38 | 941 | } else { |
Lightvalve | 67:c2812cf26c38 | 942 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 943 | 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 | 944 | |
Lightvalve | 67:c2812cf26c38 | 945 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 946 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 947 | } else { |
Lightvalve | 67:c2812cf26c38 | 948 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 949 | } |
Lightvalve | 67:c2812cf26c38 | 950 | |
Lightvalve | 67:c2812cf26c38 | 951 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 952 | |
Lightvalve | 67:c2812cf26c38 | 953 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 954 | |
Lightvalve | 67:c2812cf26c38 | 955 | } |
Lightvalve | 67:c2812cf26c38 | 956 | |
Lightvalve | 67:c2812cf26c38 | 957 | |
Lightvalve | 67:c2812cf26c38 | 958 | |
Lightvalve | 67:c2812cf26c38 | 959 | |
Lightvalve | 59:f308b1656d9c | 960 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 961 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 962 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 963 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 964 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 965 | |
Lightvalve | 29:69f3f5445d6d | 966 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 967 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 968 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 969 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 970 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 971 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 972 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 973 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 974 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 975 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 976 | } |
Lightvalve | 13:747daba9cf59 | 977 | } |
Lightvalve | 19:23b7c1ad8683 | 978 | |
Lightvalve | 13:747daba9cf59 | 979 | break; |
Lightvalve | 13:747daba9cf59 | 980 | } |
Lightvalve | 14:8e7590227d22 | 981 | |
Lightvalve | 50:3c630b5eba9f | 982 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 983 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 984 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 985 | // else { |
Lightvalve | 50:3c630b5eba9f | 986 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 987 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 988 | // } |
Lightvalve | 50:3c630b5eba9f | 989 | // } |
Lightvalve | 50:3c630b5eba9f | 990 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 991 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 992 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 993 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 994 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 995 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 996 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 997 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 998 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 999 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1000 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1001 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1002 | // } |
Lightvalve | 50:3c630b5eba9f | 1003 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1004 | // } |
Lightvalve | 50:3c630b5eba9f | 1005 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1006 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1007 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1008 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1009 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1010 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1011 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1012 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1013 | // 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 | 1014 | // // 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 | 1015 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1016 | // } |
Lightvalve | 50:3c630b5eba9f | 1017 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1018 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1019 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1020 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1021 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1022 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1023 | // 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 | 1024 | // // 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 | 1025 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1026 | // } |
Lightvalve | 50:3c630b5eba9f | 1027 | // } |
Lightvalve | 50:3c630b5eba9f | 1028 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1029 | // |
Lightvalve | 50:3c630b5eba9f | 1030 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1031 | // |
Lightvalve | 50:3c630b5eba9f | 1032 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1033 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1034 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1035 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1036 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1037 | // } |
Lightvalve | 50:3c630b5eba9f | 1038 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1039 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1040 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1041 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1042 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1043 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1044 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1045 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1046 | // } |
Lightvalve | 50:3c630b5eba9f | 1047 | // |
Lightvalve | 50:3c630b5eba9f | 1048 | // } |
Lightvalve | 50:3c630b5eba9f | 1049 | // break; |
Lightvalve | 50:3c630b5eba9f | 1050 | // } |
Lightvalve | 50:3c630b5eba9f | 1051 | // |
Lightvalve | 50:3c630b5eba9f | 1052 | // } |
Lightvalve | 14:8e7590227d22 | 1053 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1054 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1055 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1056 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1057 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1058 | |
Lightvalve | 14:8e7590227d22 | 1059 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1060 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1061 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1062 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1063 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1064 | |
Lightvalve | 38:118df027d851 | 1065 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1066 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1067 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1068 | |
Lightvalve | 30:8d561f16383b | 1069 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1070 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1071 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1072 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1073 | |
Lightvalve | 30:8d561f16383b | 1074 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1075 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1076 | } |
Lightvalve | 13:747daba9cf59 | 1077 | } else { |
Lightvalve | 57:f4819de54e7a | 1078 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1079 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1080 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1081 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1082 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1083 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1084 | |
Lightvalve | 16:903b5a4433b4 | 1085 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1086 | |
Lightvalve | 30:8d561f16383b | 1087 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1088 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1089 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1090 | } |
Lightvalve | 14:8e7590227d22 | 1091 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1092 | break; |
Lightvalve | 13:747daba9cf59 | 1093 | } |
Lightvalve | 14:8e7590227d22 | 1094 | |
Lightvalve | 50:3c630b5eba9f | 1095 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1096 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1097 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1098 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1099 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1100 | // } |
Lightvalve | 50:3c630b5eba9f | 1101 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1102 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1103 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1104 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1105 | // } |
Lightvalve | 50:3c630b5eba9f | 1106 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1107 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1108 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1109 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1110 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1111 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1112 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1113 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1114 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1115 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1116 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1117 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1118 | // |
Lightvalve | 50:3c630b5eba9f | 1119 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1120 | // |
Lightvalve | 50:3c630b5eba9f | 1121 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1122 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1123 | // } |
Lightvalve | 50:3c630b5eba9f | 1124 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1125 | // break; |
Lightvalve | 50:3c630b5eba9f | 1126 | // } |
Lightvalve | 19:23b7c1ad8683 | 1127 | |
Lightvalve | 50:3c630b5eba9f | 1128 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1129 | // 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 | 1130 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1131 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1132 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1133 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1134 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1135 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1136 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1137 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1138 | // } |
Lightvalve | 50:3c630b5eba9f | 1139 | // break; |
Lightvalve | 50:3c630b5eba9f | 1140 | // } |
Lightvalve | 14:8e7590227d22 | 1141 | |
Lightvalve | 14:8e7590227d22 | 1142 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1143 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1144 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1145 | |
Lightvalve | 14:8e7590227d22 | 1146 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1147 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1148 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1149 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1150 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1151 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1152 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1153 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1154 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1155 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1156 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1157 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1158 | } else { |
Lightvalve | 13:747daba9cf59 | 1159 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1160 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1161 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1162 | } |
Lightvalve | 14:8e7590227d22 | 1163 | |
Lightvalve | 17:1865016ca2e7 | 1164 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1165 | int i; |
Lightvalve | 13:747daba9cf59 | 1166 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1167 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1168 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1169 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1170 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1171 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1172 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1173 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1174 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1175 | } |
Lightvalve | 13:747daba9cf59 | 1176 | } |
Lightvalve | 59:f308b1656d9c | 1177 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1178 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1179 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1180 | } |
Lightvalve | 14:8e7590227d22 | 1181 | |
Lightvalve | 14:8e7590227d22 | 1182 | |
Lightvalve | 13:747daba9cf59 | 1183 | break; |
Lightvalve | 13:747daba9cf59 | 1184 | } |
Lightvalve | 14:8e7590227d22 | 1185 | |
Lightvalve | 14:8e7590227d22 | 1186 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1187 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1188 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1189 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1190 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1191 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1192 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1193 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1194 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1195 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1196 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1197 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1198 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1199 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1200 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1201 | 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 | 1202 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1203 | 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 | 1204 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1205 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1206 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1207 | 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 | 1208 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1209 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1210 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1211 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1212 | |
Lightvalve | 30:8d561f16383b | 1213 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1214 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1215 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1216 | |
Lightvalve | 30:8d561f16383b | 1217 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1218 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1219 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1220 | |
Lightvalve | 30:8d561f16383b | 1221 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1222 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1223 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1224 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1225 | |
Lightvalve | 60:64181f1d3e60 | 1226 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1227 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1228 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1229 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1230 | } else { |
Lightvalve | 13:747daba9cf59 | 1231 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1232 | } |
Lightvalve | 61:bc8c8270f0ab | 1233 | |
Lightvalve | 60:64181f1d3e60 | 1234 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1235 | |
Lightvalve | 13:747daba9cf59 | 1236 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1237 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1238 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1239 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1240 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1241 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1242 | |
Lightvalve | 13:747daba9cf59 | 1243 | } |
Lightvalve | 19:23b7c1ad8683 | 1244 | } else { |
Lightvalve | 14:8e7590227d22 | 1245 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1246 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1247 | 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 | 1248 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1249 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1250 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1251 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1252 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1253 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1254 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1255 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1256 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1257 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1258 | } |
Lightvalve | 14:8e7590227d22 | 1259 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1260 | |
Lightvalve | 30:8d561f16383b | 1261 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1262 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1263 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1264 | |
Lightvalve | 14:8e7590227d22 | 1265 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1266 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1267 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1268 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1269 | } else { |
Lightvalve | 13:747daba9cf59 | 1270 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1271 | } |
Lightvalve | 14:8e7590227d22 | 1272 | |
Lightvalve | 13:747daba9cf59 | 1273 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1274 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1275 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1276 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1277 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1278 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1279 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1280 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1281 | } |
Lightvalve | 13:747daba9cf59 | 1282 | } |
Lightvalve | 14:8e7590227d22 | 1283 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1284 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1285 | 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 | 1286 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1287 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1288 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1289 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1290 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1291 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1292 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1293 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1294 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1295 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1296 | } |
Lightvalve | 14:8e7590227d22 | 1297 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1298 | |
Lightvalve | 30:8d561f16383b | 1299 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1300 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1301 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1302 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1303 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1304 | |
Lightvalve | 14:8e7590227d22 | 1305 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1306 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1307 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1308 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1309 | } else { |
Lightvalve | 60:64181f1d3e60 | 1310 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1311 | } |
Lightvalve | 14:8e7590227d22 | 1312 | |
Lightvalve | 13:747daba9cf59 | 1313 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1314 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1315 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1316 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1317 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1318 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1319 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1320 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1321 | |
Lightvalve | 16:903b5a4433b4 | 1322 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1323 | |
Lightvalve | 60:64181f1d3e60 | 1324 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1325 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1326 | } |
Lightvalve | 13:747daba9cf59 | 1327 | } |
Lightvalve | 14:8e7590227d22 | 1328 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1329 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1330 | 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 | 1331 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1332 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1333 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1334 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1335 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1336 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1337 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1338 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1339 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1340 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1341 | } |
Lightvalve | 14:8e7590227d22 | 1342 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1343 | |
Lightvalve | 30:8d561f16383b | 1344 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1345 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1346 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1347 | |
Lightvalve | 14:8e7590227d22 | 1348 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1349 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1350 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1351 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1352 | } else { |
Lightvalve | 13:747daba9cf59 | 1353 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1354 | } |
Lightvalve | 13:747daba9cf59 | 1355 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1356 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1357 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1358 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1359 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1360 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1361 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1362 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1363 | } |
Lightvalve | 13:747daba9cf59 | 1364 | } |
Lightvalve | 14:8e7590227d22 | 1365 | } else { |
Lightvalve | 30:8d561f16383b | 1366 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1367 | 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 | 1368 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1369 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1370 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1371 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1372 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1373 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1374 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1375 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1376 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1377 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1378 | } |
Lightvalve | 14:8e7590227d22 | 1379 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1380 | |
Lightvalve | 30:8d561f16383b | 1381 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1382 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1383 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1384 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1385 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1386 | |
Lightvalve | 60:64181f1d3e60 | 1387 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1388 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1389 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1390 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1391 | } else { |
Lightvalve | 13:747daba9cf59 | 1392 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1393 | } |
Lightvalve | 14:8e7590227d22 | 1394 | |
Lightvalve | 13:747daba9cf59 | 1395 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1396 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1397 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1398 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1399 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1400 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1401 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1402 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1403 | |
Lightvalve | 59:f308b1656d9c | 1404 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1405 | |
Lightvalve | 57:f4819de54e7a | 1406 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1407 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1408 | } |
Lightvalve | 13:747daba9cf59 | 1409 | } |
Lightvalve | 13:747daba9cf59 | 1410 | } |
Lightvalve | 14:8e7590227d22 | 1411 | } |
Lightvalve | 13:747daba9cf59 | 1412 | break; |
Lightvalve | 13:747daba9cf59 | 1413 | } |
Lightvalve | 14:8e7590227d22 | 1414 | |
Lightvalve | 14:8e7590227d22 | 1415 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1416 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1417 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1418 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1419 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1420 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1421 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1422 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1423 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1424 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1425 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1426 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1427 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1428 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1429 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1430 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1431 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1432 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1433 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1434 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1435 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1436 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1437 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1438 | } |
Lightvalve | 14:8e7590227d22 | 1439 | } else { |
Lightvalve | 30:8d561f16383b | 1440 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1441 | //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 | 1442 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1443 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1444 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1445 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1446 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1447 | |
Lightvalve | 14:8e7590227d22 | 1448 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1449 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1450 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1451 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1452 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1453 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1454 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1455 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1456 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1457 | } |
Lightvalve | 30:8d561f16383b | 1458 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1459 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1460 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1461 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1462 | } |
Lightvalve | 14:8e7590227d22 | 1463 | |
Lightvalve | 14:8e7590227d22 | 1464 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1465 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1466 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1467 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1468 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1469 | } |
Lightvalve | 13:747daba9cf59 | 1470 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1471 | |
Lightvalve | 13:747daba9cf59 | 1472 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1473 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1474 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1475 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1476 | } |
Lightvalve | 14:8e7590227d22 | 1477 | |
Lightvalve | 14:8e7590227d22 | 1478 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1479 | |
Lightvalve | 13:747daba9cf59 | 1480 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1481 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1482 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1483 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1484 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1485 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1486 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1487 | } |
Lightvalve | 13:747daba9cf59 | 1488 | } |
Lightvalve | 13:747daba9cf59 | 1489 | break; |
Lightvalve | 13:747daba9cf59 | 1490 | } |
Lightvalve | 58:2eade98630e2 | 1491 | |
Lightvalve | 57:f4819de54e7a | 1492 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1493 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1494 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1495 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1496 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1497 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1498 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1499 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1500 | } |
Lightvalve | 57:f4819de54e7a | 1501 | break; |
Lightvalve | 57:f4819de54e7a | 1502 | } |
Lightvalve | 58:2eade98630e2 | 1503 | |
Lightvalve | 58:2eade98630e2 | 1504 | |
Lightvalve | 57:f4819de54e7a | 1505 | |
Lightvalve | 57:f4819de54e7a | 1506 | default: |
Lightvalve | 57:f4819de54e7a | 1507 | break; |
Lightvalve | 57:f4819de54e7a | 1508 | } |
Lightvalve | 57:f4819de54e7a | 1509 | |
Lightvalve | 57:f4819de54e7a | 1510 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1511 | |
Lightvalve | 57:f4819de54e7a | 1512 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1513 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1514 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1515 | break; |
Lightvalve | 57:f4819de54e7a | 1516 | } |
Lightvalve | 57:f4819de54e7a | 1517 | |
Lightvalve | 57:f4819de54e7a | 1518 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1519 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1520 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1521 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1522 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1523 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1524 | } else { |
Lightvalve | 67:c2812cf26c38 | 1525 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1526 | } |
Lightvalve | 58:2eade98630e2 | 1527 | |
Lightvalve | 57:f4819de54e7a | 1528 | break; |
Lightvalve | 57:f4819de54e7a | 1529 | } |
Lightvalve | 57:f4819de54e7a | 1530 | |
Lightvalve | 57:f4819de54e7a | 1531 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1532 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1533 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1534 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1535 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1536 | |
Lightvalve | 67:c2812cf26c38 | 1537 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1538 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1539 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1540 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1541 | |
Lightvalve | 67:c2812cf26c38 | 1542 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1543 | |
Lightvalve | 57:f4819de54e7a | 1544 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1545 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1546 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1547 | |
Lightvalve | 57:f4819de54e7a | 1548 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1549 | |
Lightvalve | 57:f4819de54e7a | 1550 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1551 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1552 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1553 | |
Lightvalve | 57:f4819de54e7a | 1554 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1555 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1556 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1557 | |
Lightvalve | 69:3995ffeaa786 | 1558 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1559 | 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 | 1560 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1561 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1562 | 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 | 1563 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1564 | } |
Lightvalve | 57:f4819de54e7a | 1565 | 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 | 1566 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1567 | |
Lightvalve | 57:f4819de54e7a | 1568 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1569 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1570 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1571 | // 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 | 1572 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1573 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1574 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1575 | 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 | 1576 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1577 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1578 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1579 | } |
Lightvalve | 57:f4819de54e7a | 1580 | 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 | 1581 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1582 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1583 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1584 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1585 | |
Lightvalve | 57:f4819de54e7a | 1586 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1587 | |
Lightvalve | 67:c2812cf26c38 | 1588 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1589 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1590 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1591 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1592 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1593 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1594 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1595 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1596 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1597 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1598 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1599 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1600 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1601 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1602 | } |
Lightvalve | 67:c2812cf26c38 | 1603 | } |
Lightvalve | 57:f4819de54e7a | 1604 | |
Lightvalve | 57:f4819de54e7a | 1605 | } else { |
Lightvalve | 57:f4819de54e7a | 1606 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1607 | |
Lightvalve | 57:f4819de54e7a | 1608 | 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 | 1609 | + 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 | 1610 | |
Lightvalve | 57:f4819de54e7a | 1611 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 57:f4819de54e7a | 1612 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1613 | } else { |
Lightvalve | 57:f4819de54e7a | 1614 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1615 | } |
Lightvalve | 57:f4819de54e7a | 1616 | |
Lightvalve | 57:f4819de54e7a | 1617 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1618 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1619 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1620 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1621 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1622 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1623 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1624 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1625 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1626 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1627 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1628 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1629 | } |
Lightvalve | 57:f4819de54e7a | 1630 | } |
Lightvalve | 61:bc8c8270f0ab | 1631 | |
Lightvalve | 57:f4819de54e7a | 1632 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1633 | |
Lightvalve | 67:c2812cf26c38 | 1634 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1635 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1636 | |
Lightvalve | 57:f4819de54e7a | 1637 | } |
Lightvalve | 58:2eade98630e2 | 1638 | |
Lightvalve | 57:f4819de54e7a | 1639 | break; |
Lightvalve | 57:f4819de54e7a | 1640 | } |
Lightvalve | 58:2eade98630e2 | 1641 | |
Lightvalve | 57:f4819de54e7a | 1642 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1643 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1644 | break; |
Lightvalve | 57:f4819de54e7a | 1645 | } |
Lightvalve | 14:8e7590227d22 | 1646 | |
Lightvalve | 12:6f2531038ea4 | 1647 | default: |
Lightvalve | 12:6f2531038ea4 | 1648 | break; |
Lightvalve | 12:6f2531038ea4 | 1649 | } |
Lightvalve | 14:8e7590227d22 | 1650 | |
Lightvalve | 57:f4819de54e7a | 1651 | |
Lightvalve | 57:f4819de54e7a | 1652 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1653 | |
Lightvalve | 57:f4819de54e7a | 1654 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1655 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1656 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1657 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1658 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1659 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1660 | |
Lightvalve | 57:f4819de54e7a | 1661 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1662 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1663 | |
Lightvalve | 57:f4819de54e7a | 1664 | |
Lightvalve | 57:f4819de54e7a | 1665 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1666 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1667 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1668 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1669 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1670 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1671 | |
Lightvalve | 57:f4819de54e7a | 1672 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1673 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1674 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1675 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1676 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1677 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1678 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1679 | } |
Lightvalve | 57:f4819de54e7a | 1680 | |
Lightvalve | 57:f4819de54e7a | 1681 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1682 | |
Lightvalve | 67:c2812cf26c38 | 1683 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1684 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1685 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1686 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1687 | // 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 | 1688 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1689 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1690 | |
Lightvalve | 57:f4819de54e7a | 1691 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1692 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1693 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1694 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1695 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1696 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1697 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1698 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1699 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1700 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1701 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1702 | } |
Lightvalve | 57:f4819de54e7a | 1703 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1704 | } else { |
Lightvalve | 57:f4819de54e7a | 1705 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1706 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1707 | } |
Lightvalve | 57:f4819de54e7a | 1708 | |
Lightvalve | 57:f4819de54e7a | 1709 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1710 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1711 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1712 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1713 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1714 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1715 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1716 | |
Lightvalve | 57:f4819de54e7a | 1717 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1718 | |
Lightvalve | 57:f4819de54e7a | 1719 | } else { |
Lightvalve | 57:f4819de54e7a | 1720 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1721 | } |
Lightvalve | 57:f4819de54e7a | 1722 | |
Lightvalve | 57:f4819de54e7a | 1723 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1724 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1725 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1726 | |
Lightvalve | 57:f4819de54e7a | 1727 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1728 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1729 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1730 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1731 | } |
Lightvalve | 67:c2812cf26c38 | 1732 | |
Lightvalve | 67:c2812cf26c38 | 1733 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1734 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1735 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1736 | |
jobuuu | 7:e9086c72bb22 | 1737 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1738 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1739 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1740 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1741 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1742 | } |
Lightvalve | 67:c2812cf26c38 | 1743 | |
Lightvalve | 49:e7bcfc244d40 | 1744 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1745 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1746 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1747 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1748 | } |
Lightvalve | 49:e7bcfc244d40 | 1749 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1750 | |
Lightvalve | 19:23b7c1ad8683 | 1751 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1752 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1753 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1754 | |
Lightvalve | 30:8d561f16383b | 1755 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1756 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1757 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1758 | } else { |
jobuuu | 2:a1c0a37df760 | 1759 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1760 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1761 | } |
Lightvalve | 13:747daba9cf59 | 1762 | |
jobuuu | 1:e04e563be5ce | 1763 | //pwm |
Lightvalve | 30:8d561f16383b | 1764 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1765 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1766 | |
Lightvalve | 61:bc8c8270f0ab | 1767 | |
Lightvalve | 57:f4819de54e7a | 1768 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1769 | |
Lightvalve | 54:647072f5307a | 1770 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1771 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1772 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1773 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1774 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1775 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1776 | 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 | 1777 | } |
Lightvalve | 57:f4819de54e7a | 1778 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1779 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1780 | 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 | 1781 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1782 | 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 | 1783 | } |
Lightvalve | 52:8ea76864368a | 1784 | } |
Lightvalve | 52:8ea76864368a | 1785 | } |
Lightvalve | 56:6f50d9d3bfee | 1786 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1787 | //valve position |
Lightvalve | 54:647072f5307a | 1788 | double t_value = 0; |
Lightvalve | 67:c2812cf26c38 | 1789 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 67:c2812cf26c38 | 1790 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1791 | } else { |
Lightvalve | 67:c2812cf26c38 | 1792 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1793 | } |
Lightvalve | 67:c2812cf26c38 | 1794 | // if(OPERATING_MODE==5) { |
Lightvalve | 67:c2812cf26c38 | 1795 | // t_value = (double) value; |
Lightvalve | 67:c2812cf26c38 | 1796 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 67:c2812cf26c38 | 1797 | // t_value = cur.sen; |
Lightvalve | 57:f4819de54e7a | 1798 | // } else { |
Lightvalve | 67:c2812cf26c38 | 1799 | // t_value = V_out; |
Lightvalve | 67:c2812cf26c38 | 1800 | // } |
Lightvalve | 67:c2812cf26c38 | 1801 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1802 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1803 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1804 | } |
Lightvalve | 58:2eade98630e2 | 1805 | |
Lightvalve | 58:2eade98630e2 | 1806 | |
Lightvalve | 56:6f50d9d3bfee | 1807 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 56:6f50d9d3bfee | 1808 | //pressure A and B |
Lightvalve | 57:f4819de54e7a | 1809 | CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400 |
Lightvalve | 55:b25725257569 | 1810 | } |
Lightvalve | 58:2eade98630e2 | 1811 | |
Lightvalve | 57:f4819de54e7a | 1812 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1813 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1814 | ; |
Lightvalve | 57:f4819de54e7a | 1815 | } |
Lightvalve | 58:2eade98630e2 | 1816 | |
Lightvalve | 56:6f50d9d3bfee | 1817 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1818 | //PWM |
Lightvalve | 67:c2812cf26c38 | 1819 | CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 54:647072f5307a | 1820 | } |
Lightvalve | 57:f4819de54e7a | 1821 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1822 | // ; |
Lightvalve | 57:f4819de54e7a | 1823 | // } |
Lightvalve | 56:6f50d9d3bfee | 1824 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1825 | //valve position |
Lightvalve | 57:f4819de54e7a | 1826 | CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600 |
Lightvalve | 54:647072f5307a | 1827 | } |
Lightvalve | 20:806196fda269 | 1828 | |
Lightvalve | 54:647072f5307a | 1829 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1830 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1831 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1832 | // } |
Lightvalve | 54:647072f5307a | 1833 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1834 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1835 | //} |
Lightvalve | 52:8ea76864368a | 1836 | |
Lightvalve | 54:647072f5307a | 1837 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1838 | } |
Lightvalve | 54:647072f5307a | 1839 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1840 | |
Lightvalve | 20:806196fda269 | 1841 | } |
Lightvalve | 52:8ea76864368a | 1842 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1843 | |
Lightvalve | 58:2eade98630e2 | 1844 | } |