Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

LIGHT2

Dependencies:   FastPWM mbed

setting.h@89:a7b45368ea0f, 2020-07-28 (annotated)

Committer:
Lightvalve
Date:
Tue Jul 28 00:43:11 2020 +0000
Revision:
89:a7b45368ea0f
Parent:
87:471334725012
Child:
92:c7eda9710d76
200728-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3
GiJeongKim 0:51c43836c1d7 4 // pwm
jobuuu 2:a1c0a37df760 5 #define PIN_V PB_7
jobuuu 2:a1c0a37df760 6 #define PIN_W PB_6
jobuuu 2:a1c0a37df760 7 //#define PWM_ARR 0x465 // loop 80k, pwm 40k
jobuuu 2:a1c0a37df760 8 //#define PWM_ARR 0x8CA // loop 40k, pwm 20k
Lightvalve 51:b46bed7fec80 9 #define PWM_ARR 0x1194 // loop 20k, pwm 10k
Lightvalve 51:b46bed7fec80 10 //#define PWM_ARR 0x2328 // loop 10k, pwm 5k
Lightvalve 11:82d8768d7351 11 #define TMR3_COUNT 0x4650 // loop 5k
Lightvalve 23:59218d4a256d 12 #define TMR2_COUNT 0x2710 // loop 500hz with prescale 18
jobuuu 2:a1c0a37df760 13
Lightvalve 30:8d561f16383b 14 #define FREQ_500 500.0f
Lightvalve 30:8d561f16383b 15 #define FREQ_1k 1000.0f
Lightvalve 30:8d561f16383b 16 #define FREQ_5k 5000.0f
Lightvalve 30:8d561f16383b 17 #define FREQ_10k 10000.0f
Lightvalve 30:8d561f16383b 18 #define FREQ_20k 20000.0f
Lightvalve 30:8d561f16383b 19 #define FREQ_40k 40000.0f
Lightvalve 30:8d561f16383b 20 #define DT_500 0.002f
Lightvalve 30:8d561f16383b 21 #define DT_1k 0.0005f
Lightvalve 30:8d561f16383b 22 #define DT_5k 0.0002f
Lightvalve 30:8d561f16383b 23 #define DT_10k 0.0001f
Lightvalve 30:8d561f16383b 24 #define DT_20k 0.00005f
Lightvalve 30:8d561f16383b 25 #define DT_40k 0.000025f
jobuuu 5:a4319f79457b 26
jobuuu 7:e9086c72bb22 27 extern DigitalOut check;
jobuuu 7:e9086c72bb22 28 extern DigitalOut check_2;
jobuuu 7:e9086c72bb22 29 extern AnalogOut dac_1;
jobuuu 7:e9086c72bb22 30 extern AnalogOut dac_2;
jobuuu 7:e9086c72bb22 31
Lightvalve 30:8d561f16383b 32 extern float dtc_v;
Lightvalve 30:8d561f16383b 33 extern float dtc_w;
GiJeongKim 0:51c43836c1d7 34
GiJeongKim 0:51c43836c1d7 35 // I2C
GiJeongKim 0:51c43836c1d7 36 extern I2C i2c; // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 37 extern const int i2c_slave_addr1;
GiJeongKim 0:51c43836c1d7 38 extern unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 39
GiJeongKim 0:51c43836c1d7 40 // SPI
Lightvalve 16:903b5a4433b4 41 //extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 42 //extern DigitalOut eeprom_cs;
GiJeongKim 0:51c43836c1d7 43 extern SPI enc;
GiJeongKim 0:51c43836c1d7 44 extern DigitalOut enc_cs;
GiJeongKim 0:51c43836c1d7 45
GiJeongKim 0:51c43836c1d7 46 // UART
jobuuu 7:e9086c72bb22 47 extern Serial pc; //Serial pc(PA_9,PA_10); _ UART
jobuuu 7:e9086c72bb22 48
jobuuu 7:e9086c72bb22 49 // CAN
jobuuu 7:e9086c72bb22 50 extern CAN can;
jobuuu 7:e9086c72bb22 51 extern CANMessage msg;
jobuuu 7:e9086c72bb22 52
jobuuu 7:e9086c72bb22 53 // Board Information
jobuuu 7:e9086c72bb22 54
jobuuu 7:e9086c72bb22 55
jobuuu 7:e9086c72bb22 56 // User Function
jobuuu 7:e9086c72bb22 57
jobuuu 7:e9086c72bb22 58 void CurrentControl();
jobuuu 7:e9086c72bb22 59 void ValveControl(unsigned int ControlMode);
Lightvalve 11:82d8768d7351 60
Lightvalve 11:82d8768d7351 61
Lightvalve 11:82d8768d7351 62 /*******************************************************************************
Lightvalve 11:82d8768d7351 63 * COMMON Settings
Lightvalve 11:82d8768d7351 64 ******************************************************************************/
Lightvalve 11:82d8768d7351 65 #define LATEST_VERSION 19032
Lightvalve 11:82d8768d7351 66
Lightvalve 11:82d8768d7351 67
Lightvalve 11:82d8768d7351 68
Lightvalve 11:82d8768d7351 69 /*******************************************************************************
Lightvalve 11:82d8768d7351 70 * COMMON CONSTANTS
Lightvalve 11:82d8768d7351 71 ******************************************************************************/
Lightvalve 30:8d561f16383b 72 #define RAD_30 0.523598775598299f
Lightvalve 30:8d561f16383b 73 #define RAD_60 1.047197551196598f
Lightvalve 30:8d561f16383b 74 #define RAD_120 2.094395102393195f
Lightvalve 30:8d561f16383b 75 #define RAD_180 3.141592653589793f
Lightvalve 30:8d561f16383b 76 #define RAD_240 4.188790204786391f
Lightvalve 30:8d561f16383b 77 #define RAD_300 5.235987755982989f
Lightvalve 30:8d561f16383b 78 #define RAD_360 6.283185307179586f
Lightvalve 11:82d8768d7351 79
Lightvalve 11:82d8768d7351 80 #define SYSFREQ 200000000
Lightvalve 11:82d8768d7351 81 #define PBCLK 100000000
Lightvalve 11:82d8768d7351 82
Lightvalve 11:82d8768d7351 83 //#define TMR_FREQ_10k 10000
Lightvalve 11:82d8768d7351 84 #define TMR_FREQ_5k 5000
Lightvalve 11:82d8768d7351 85
Lightvalve 11:82d8768d7351 86 #define FALSE 0
Lightvalve 11:82d8768d7351 87 #define TRUE 1
Lightvalve 11:82d8768d7351 88 #define OUTPUT 0
Lightvalve 11:82d8768d7351 89 #define INPUT 1
Lightvalve 11:82d8768d7351 90 #define LOW 0
Lightvalve 11:82d8768d7351 91 #define HIGH 1
Lightvalve 11:82d8768d7351 92 #define DIGITAL 0
Lightvalve 11:82d8768d7351 93 #define ANALOG 1
Lightvalve 11:82d8768d7351 94
Lightvalve 30:8d561f16383b 95 #define PI 3.141592653589793f
Lightvalve 30:8d561f16383b 96 #define D2R 0.017453292519943f
Lightvalve 30:8d561f16383b 97 #define R2D 57.295779513082323f
Lightvalve 11:82d8768d7351 98
Lightvalve 11:82d8768d7351 99
Lightvalve 11:82d8768d7351 100 /*******************************************************************************
Lightvalve 11:82d8768d7351 101 * HEADER INCLUDE
Lightvalve 11:82d8768d7351 102 ******************************************************************************/
Lightvalve 11:82d8768d7351 103
Lightvalve 11:82d8768d7351 104 /*******************************************************************************
Lightvalve 11:82d8768d7351 105 * VARIABLE
Lightvalve 11:82d8768d7351 106 ******************************************************************************/
Lightvalve 11:82d8768d7351 107
Lightvalve 11:82d8768d7351 108 // Board Information
Lightvalve 11:82d8768d7351 109 extern uint8_t BNO;
Lightvalve 11:82d8768d7351 110 extern uint8_t CONTROL_MODE;
Lightvalve 11:82d8768d7351 111 extern uint8_t OPERATING_MODE;
Lightvalve 52:8ea76864368a 112 extern uint8_t SENSING_MODE;
Lightvalve 57:f4819de54e7a 113 extern uint8_t CONTROL_UTILITY_MODE;
Lightvalve 52:8ea76864368a 114 extern uint8_t CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 115 extern uint8_t FLAG_VALVE_DEADZONE;
Lightvalve 11:82d8768d7351 116 extern uint8_t REFERENCE_MODE;
Lightvalve 54:647072f5307a 117 extern int16_t CAN_FREQ;
Lightvalve 17:1865016ca2e7 118 extern int16_t DIR_JOINT_ENC;
Lightvalve 17:1865016ca2e7 119 extern int16_t DIR_VALVE;
Lightvalve 17:1865016ca2e7 120 extern int16_t DIR_VALVE_ENC;
Lightvalve 11:82d8768d7351 121
Lightvalve 30:8d561f16383b 122 extern float SUPPLY_VOLTAGE;
Lightvalve 30:8d561f16383b 123 extern float VALVE_VOLTAGE_LIMIT;
Lightvalve 11:82d8768d7351 124
Lightvalve 30:8d561f16383b 125 extern float P_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 126 extern float I_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 127 extern float D_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 128 extern float P_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 129 extern float I_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 130 extern float D_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 131 extern float P_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 132 extern float I_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 133 extern float D_GAIN_JOINT_TORQUE;
Lightvalve 72:3436ce769b1e 134 extern float P_GAIN_JOINT_TORQUE_FF;
Lightvalve 72:3436ce769b1e 135 extern float I_GAIN_JOINT_TORQUE_FF;
Lightvalve 72:3436ce769b1e 136 extern float D_GAIN_JOINT_TORQUE_FF;
Lightvalve 11:82d8768d7351 137
Lightvalve 46:2694daea349b 138 extern int16_t K_SPRING;
Lightvalve 46:2694daea349b 139 extern int16_t D_DAMPER;
Lightvalve 46:2694daea349b 140
Lightvalve 54:647072f5307a 141 extern int16_t flag_delay_test;
Lightvalve 54:647072f5307a 142
Lightvalve 36:a46e63505ed8 143 //extern float P_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 144 //extern float I_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 145 //extern float D_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 146 //extern float P_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 147 //extern float I_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 148 //extern float D_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 149 //extern float P_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 150 //extern float I_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 151 //extern float D_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 152
Lightvalve 33:91b17819ec30 153 extern float VALVE_DEADZONE_PLUS;
Lightvalve 33:91b17819ec30 154 extern float VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 155
Lightvalve 11:82d8768d7351 156 extern int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 157 extern int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 158
Lightvalve 11:82d8768d7351 159 extern int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 160
Lightvalve 11:82d8768d7351 161 extern int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 162
Lightvalve 11:82d8768d7351 163 extern int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 164
Lightvalve 11:82d8768d7351 165 extern int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 166 extern int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 167
Lightvalve 11:82d8768d7351 168 extern int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 169 extern int16_t PISTON_AREA_B;
Lightvalve 30:8d561f16383b 170 extern float PISTON_AREA_alpha;
Lightvalve 57:f4819de54e7a 171 extern float alpha3;
Lightvalve 11:82d8768d7351 172
Lightvalve 11:82d8768d7351 173
Lightvalve 11:82d8768d7351 174 extern int16_t PRES_SUPPLY;
Lightvalve 11:82d8768d7351 175 extern int16_t PRES_RETURN;
Lightvalve 11:82d8768d7351 176
Lightvalve 11:82d8768d7351 177 extern int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 178 extern int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 179
Lightvalve 11:82d8768d7351 180 extern int16_t STROKE;
Lightvalve 11:82d8768d7351 181
Lightvalve 11:82d8768d7351 182
Lightvalve 57:f4819de54e7a 183 //extern int16_t VALVE_LIMIT_PLUS;
Lightvalve 57:f4819de54e7a 184 //extern int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 185
Lightvalve 48:889798ff9329 186 extern float ENC_PULSE_PER_POSITION;
Lightvalve 48:889798ff9329 187 extern float TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 48:889798ff9329 188
Lightvalve 30:8d561f16383b 189 extern float PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 190 extern float PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 191
Lightvalve 11:82d8768d7351 192 extern int HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 193 extern int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 194
Lightvalve 30:8d561f16383b 195 extern float FRICTION;
Lightvalve 30:8d561f16383b 196 extern float REF_PERIOD;
Lightvalve 30:8d561f16383b 197 extern float REF_MAG;
Lightvalve 11:82d8768d7351 198 extern int REF_NUM;
Lightvalve 11:82d8768d7351 199
Lightvalve 11:82d8768d7351 200
Lightvalve 30:8d561f16383b 201 extern float DAC_REF;
Lightvalve 30:8d561f16383b 202 extern float DAC_RESOL;
Lightvalve 11:82d8768d7351 203
Lightvalve 11:82d8768d7351 204 extern int REF_POSITION;
Lightvalve 11:82d8768d7351 205 extern int REF_VELOCITY;
Lightvalve 11:82d8768d7351 206 extern int16_t REF_TORQUE;
Lightvalve 11:82d8768d7351 207 extern int16_t REF_PRES_DIFF;
Lightvalve 11:82d8768d7351 208 extern int16_t REF_PWM;
Lightvalve 11:82d8768d7351 209 extern int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 210 extern int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 211
Lightvalve 11:82d8768d7351 212 extern int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 213 extern int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 214 extern int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 215 extern int INIT_REF_POS;
Lightvalve 11:82d8768d7351 216 extern int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 217 extern int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 218 extern int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 219 extern int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 220
Lightvalve 11:82d8768d7351 221 extern int CUR_POSITION;
Lightvalve 11:82d8768d7351 222 extern int CUR_VELOCITY;
Lightvalve 30:8d561f16383b 223 extern float CUR_TORQUE;
Lightvalve 30:8d561f16383b 224 extern float CUR_PRES_A;
Lightvalve 30:8d561f16383b 225 extern float CUR_PRES_B;
Lightvalve 11:82d8768d7351 226 extern int CUR_VALVE_POSITION;
Lightvalve 11:82d8768d7351 227
Lightvalve 11:82d8768d7351 228 extern unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 229 extern unsigned int TMR2_COUNT_LED2;
Lightvalve 11:82d8768d7351 230 extern unsigned int TMR2_COUNT_CAN_TX;
Lightvalve 54:647072f5307a 231 extern unsigned int TMR3_COUNT_TEST;
Lightvalve 11:82d8768d7351 232
Lightvalve 11:82d8768d7351 233 extern int num_err;
Lightvalve 11:82d8768d7351 234 extern int flag_err[8];
Lightvalve 11:82d8768d7351 235 extern int flag_err_old[8];
Lightvalve 11:82d8768d7351 236 extern int flag_err_rt;
Lightvalve 11:82d8768d7351 237
Lightvalve 11:82d8768d7351 238 extern int flag_ref_enable;
Lightvalve 11:82d8768d7351 239
Lightvalve 11:82d8768d7351 240 extern int flag_data_request[5];
Lightvalve 11:82d8768d7351 241
Lightvalve 45:35fa6884d0c6 242 extern int MODE_POS_FT_TRANS;
Lightvalve 66:a8e6799dbce3 243 extern int NN_Control_Flag;
Lightvalve 45:35fa6884d0c6 244
Lightvalve 57:f4819de54e7a 245 extern float CUR_CURRENT_mA;
Lightvalve 30:8d561f16383b 246 extern float CUR_PRES_A_BAR;
Lightvalve 30:8d561f16383b 247 extern float CUR_PRES_B_BAR;
Lightvalve 30:8d561f16383b 248 extern float CUR_TORQUE_NM;
Lightvalve 30:8d561f16383b 249 extern float CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 250
Lightvalve 30:8d561f16383b 251 extern float PRES_A_VREF;
Lightvalve 30:8d561f16383b 252 extern float PRES_B_VREF;
Lightvalve 30:8d561f16383b 253 extern float TORQUE_VREF;
Lightvalve 11:82d8768d7351 254
Lightvalve 30:8d561f16383b 255 extern float VALVE_PWM_RAW_FB;
Lightvalve 30:8d561f16383b 256 extern float VALVE_PWM_RAW_FF;
Lightvalve 57:f4819de54e7a 257 extern float VALVE_PWM_RAW;
Lightvalve 11:82d8768d7351 258 extern int VALVE_PWM_VALVE_DZ;
Lightvalve 11:82d8768d7351 259
Lightvalve 30:8d561f16383b 260 extern float VALVE_GAIN_LPM_PER_V[10];
Lightvalve 30:8d561f16383b 261 extern float VALVE_POS_VS_PWM[25];
Lightvalve 11:82d8768d7351 262 extern long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 263
Lightvalve 11:82d8768d7351 264 extern int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 265 extern int VALVE_MIN_POS;
Lightvalve 11:82d8768d7351 266 extern int VALVE_POS_NUM;
Lightvalve 32:4b8c0fedaf2c 267 extern float VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 268 extern float VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 269 extern float VALVE_DZ_PLUS_OFFSET;
Lightvalve 33:91b17819ec30 270 extern float VALVE_DEADZONE_MINUS;
Lightvalve 33:91b17819ec30 271 extern float VALVE_DEADZONE_PLUS;
Lightvalve 11:82d8768d7351 272
Lightvalve 14:8e7590227d22 273 extern int TMR3_COUNT_FINDHOME;
Lightvalve 14:8e7590227d22 274 extern int TMR3_COUNT_FLOWRATE;
Lightvalve 14:8e7590227d22 275 extern int TMR3_COUNT_DEADZONE;
Lightvalve 14:8e7590227d22 276 extern int TMR3_COUNT_PRES_NULL;
Lightvalve 14:8e7590227d22 277 extern int TMR3_COUNT_TORQUE_NULL;
Lightvalve 14:8e7590227d22 278 extern int TMR3_COUNT_PRES_CALIB;
Lightvalve 14:8e7590227d22 279 extern int TMR3_COUNT_REFERENCE;
Lightvalve 14:8e7590227d22 280 extern int TMR3_COUNT_JOINT;
Lightvalve 14:8e7590227d22 281 extern int TMR3_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 282
Lightvalve 30:8d561f16383b 283 extern float TUNING_TIME;
Lightvalve 11:82d8768d7351 284
Lightvalve 30:8d561f16383b 285 extern float REFERENCE_FREQ;
Lightvalve 30:8d561f16383b 286 extern float REFERENCE_MAG;
Lightvalve 11:82d8768d7351 287
Lightvalve 11:82d8768d7351 288 extern bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 289
Lightvalve 11:82d8768d7351 290 extern int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 291
Lightvalve 30:8d561f16383b 292 extern float CUR_PRES_DIFF_BAR;
Lightvalve 30:8d561f16383b 293 extern float CUR_PRES_A_sum;
Lightvalve 30:8d561f16383b 294 extern float CUR_PRES_B_sum;
Lightvalve 30:8d561f16383b 295 extern float CUR_PRES_A_mean;
Lightvalve 30:8d561f16383b 296 extern float CUR_PRES_B_mean;
Lightvalve 30:8d561f16383b 297 extern float CUR_TORQUE_sum;
Lightvalve 30:8d561f16383b 298 extern float CUR_TORQUE_mean;
Lightvalve 30:8d561f16383b 299 extern float PRES_A_NULL;
Lightvalve 30:8d561f16383b 300 extern float PRES_B_NULL;
Lightvalve 30:8d561f16383b 301 extern float TORQUE_NULL;
Lightvalve 13:747daba9cf59 302
Lightvalve 30:8d561f16383b 303 extern float Ref_Valve_Pos_Old;
Lightvalve 13:747daba9cf59 304
Lightvalve 13:747daba9cf59 305 extern int VALVE_ID_timer;
Lightvalve 13:747daba9cf59 306 extern int VALVE_DZ_timer;
Lightvalve 13:747daba9cf59 307 extern int VALVE_FR_timer;
Lightvalve 35:34ce7b0347b8 308 extern int VALVE_HPL_timer;
Lightvalve 13:747daba9cf59 309 extern int VALVE_POS_TMP;
Lightvalve 13:747daba9cf59 310 extern int JOINT_VEL_TMP;
Lightvalve 13:747daba9cf59 311 extern int DDV_POS_AVG ;
Lightvalve 19:23b7c1ad8683 312 extern int VALVE_POS_AVG[50];
Lightvalve 13:747daba9cf59 313 extern int VALVE_POS_AVG_OLD;
Lightvalve 13:747daba9cf59 314 extern int data_num;
Lightvalve 13:747daba9cf59 315 extern int ID_index;
Lightvalve 13:747daba9cf59 316 extern int DZ_index;
Lightvalve 19:23b7c1ad8683 317 extern int ID_index_array[50];
Lightvalve 13:747daba9cf59 318 extern int first_check;
Lightvalve 30:8d561f16383b 319 extern float init_time;
Lightvalve 13:747daba9cf59 320 extern int DZ_case;
Lightvalve 13:747daba9cf59 321 extern int START_POS;
Lightvalve 13:747daba9cf59 322 extern int FINAL_POS;
Lightvalve 13:747daba9cf59 323 extern int DZ_DIRECTION;
Lightvalve 13:747daba9cf59 324 extern int FIRST_DZ;
Lightvalve 13:747daba9cf59 325 extern int SECOND_DZ;
Lightvalve 13:747daba9cf59 326 extern int DZ_NUM;
Lightvalve 13:747daba9cf59 327 extern int one_period_end;
Lightvalve 30:8d561f16383b 328 extern float Ref_Vel_Test;
Lightvalve 13:747daba9cf59 329 extern long TMR2_FOR_SLOW_LOGGING;
Lightvalve 19:23b7c1ad8683 330 //extern int velcount;
Lightvalve 13:747daba9cf59 331 extern char max_check;
Lightvalve 13:747daba9cf59 332 extern char min_check;
Lightvalve 13:747daba9cf59 333
Lightvalve 30:8d561f16383b 334 extern float valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
Lightvalve 30:8d561f16383b 335 extern float joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
Lightvalve 30:8d561f16383b 336 extern float joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
Lightvalve 30:8d561f16383b 337 extern float VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
Lightvalve 13:747daba9cf59 338
Lightvalve 30:8d561f16383b 339 extern float CUR_FLOWRATE;
Lightvalve 30:8d561f16383b 340 extern float VALVE_FF_VOLTAGE;
Lightvalve 13:747daba9cf59 341
Lightvalve 13:747daba9cf59 342 extern int pos_plus_end;
Lightvalve 13:747daba9cf59 343 extern int pos_minus_end;
Lightvalve 13:747daba9cf59 344
Lightvalve 13:747daba9cf59 345 extern bool need_enc_init;
Lightvalve 13:747daba9cf59 346
Lightvalve 13:747daba9cf59 347 extern int temp_time;
Lightvalve 13:747daba9cf59 348
Lightvalve 30:8d561f16383b 349 extern float CUR_VELOCITY_sum;
Lightvalve 30:8d561f16383b 350 extern float temp_vel_sum;
Lightvalve 13:747daba9cf59 351
Lightvalve 13:747daba9cf59 352 extern int DZ_dir;
Lightvalve 13:747daba9cf59 353 extern int DZ_temp_cnt;
Lightvalve 13:747daba9cf59 354 extern int DZ_temp_cnt2;
Lightvalve 13:747daba9cf59 355 extern int DZ_end;
Lightvalve 13:747daba9cf59 356 extern int flag_flowrate;
Lightvalve 13:747daba9cf59 357 extern int fl_temp_cnt;
Lightvalve 13:747daba9cf59 358 extern int fl_temp_cnt2;
Lightvalve 13:747daba9cf59 359 extern int cur_vel_sum;
Lightvalve 13:747daba9cf59 360
Lightvalve 57:f4819de54e7a 361 extern float Cur_Valve_Open_pulse;
Lightvalve 57:f4819de54e7a 362
Lightvalve 13:747daba9cf59 363 // find home
Lightvalve 13:747daba9cf59 364 extern int CUR_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 365 extern int cnt_findhome;
Lightvalve 13:747daba9cf59 366 extern int cnt_vel_findhome;
Lightvalve 13:747daba9cf59 367 extern int FINDHOME_VELOCITY;
Lightvalve 13:747daba9cf59 368 extern int FINDHOME_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 369 extern int FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 370 extern int FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 371
Lightvalve 13:747daba9cf59 372 // valve gain
Lightvalve 13:747daba9cf59 373 extern int check_vel_pos_init;
Lightvalve 13:747daba9cf59 374 extern int check_vel_pos_fin;
Lightvalve 13:747daba9cf59 375 extern int check_vel_pos_interv;
Lightvalve 13:747daba9cf59 376 extern int valve_gain_repeat_cnt;
Lightvalve 30:8d561f16383b 377 extern float VALVE_VOLTAGE;
Lightvalve 13:747daba9cf59 378
Lightvalve 30:8d561f16383b 379 extern float freq_fric_tune;
Lightvalve 13:747daba9cf59 380
Lightvalve 14:8e7590227d22 381 extern uint32_t TMR3_COUNT_CAN_TX;
Lightvalve 14:8e7590227d22 382
Lightvalve 57:f4819de54e7a 383 // Current Control Variables
Lightvalve 57:f4819de54e7a 384 extern double I_REF;
Lightvalve 57:f4819de54e7a 385 extern double I_REF_fil;
Lightvalve 57:f4819de54e7a 386 extern double I_ERR;
Lightvalve 57:f4819de54e7a 387 extern double I_ERR_INT;
Lightvalve 57:f4819de54e7a 388 extern double I_REF_fil_old;
Lightvalve 57:f4819de54e7a 389 extern double I_REF_fil_diff;
Lightvalve 57:f4819de54e7a 390
Lightvalve 57:f4819de54e7a 391 // system id
Lightvalve 57:f4819de54e7a 392 extern int cnt_sysid;
Lightvalve 57:f4819de54e7a 393 extern double freq_sysid_Iref;
Lightvalve 57:f4819de54e7a 394
Lightvalve 14:8e7590227d22 395 extern int TMR3_COUNT_IREF;
Lightvalve 30:8d561f16383b 396 extern float CUR_CURRENT;
Lightvalve 30:8d561f16383b 397 extern float u_CUR[3];
Lightvalve 19:23b7c1ad8683 398
Lightvalve 29:69f3f5445d6d 399 extern int FINDHOME_STAGE;
Lightvalve 29:69f3f5445d6d 400 extern int FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 401 extern int FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 402 extern int FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 403
Lightvalve 45:35fa6884d0c6 404 extern float alpha_trans;
Lightvalve 45:35fa6884d0c6 405
Lightvalve 57:f4819de54e7a 406
Lightvalve 57:f4819de54e7a 407 extern float V_out;
Lightvalve 57:f4819de54e7a 408 extern float V_rem;
Lightvalve 57:f4819de54e7a 409 extern float V_MAX;
Lightvalve 57:f4819de54e7a 410
Lightvalve 57:f4819de54e7a 411 extern float PWM_out;
Lightvalve 57:f4819de54e7a 412
Lightvalve 57:f4819de54e7a 413 extern double K_v;
Lightvalve 57:f4819de54e7a 414 extern double mV_PER_mA;
Lightvalve 57:f4819de54e7a 415 extern double mV_PER_pulse;
Lightvalve 57:f4819de54e7a 416 extern double mA_PER_pulse;
Lightvalve 57:f4819de54e7a 417
Lightvalve 57:f4819de54e7a 418 extern int timer_while;
Lightvalve 57:f4819de54e7a 419 extern int while_index;
Lightvalve 23:59218d4a256d 420
Lightvalve 67:c2812cf26c38 421 extern float K_LPF;
Lightvalve 67:c2812cf26c38 422 extern float D_LPF;
Lightvalve 67:c2812cf26c38 423
Lightvalve 72:3436ce769b1e 424 extern float torq_ref_past ;
Lightvalve 72:3436ce769b1e 425
Lightvalve 66:a8e6799dbce3 426 //extern const int num_input ;
Lightvalve 66:a8e6799dbce3 427 //extern const int num_input_array;
Lightvalve 66:a8e6799dbce3 428
Lightvalve 68:328e1be06f5d 429 #define numpast_x 5
Lightvalve 86:b8ed7abddeb2 430 #define numfuture_x 0
Lightvalve 81:49a733a3eb9e 431 #define numpast_f 0
Lightvalve 81:49a733a3eb9e 432 #define numfuture_f 10
Lightvalve 86:b8ed7abddeb2 433 #define num_input 17 //numpast_x + 1 + numfuture_x + numpast_f + 1 + numfuture_f
Lightvalve 85:a3b46118b5cd 434
Lightvalve 81:49a733a3eb9e 435 #define num_array_f_future 21 // numfuture_f * 2 + 1
Lightvalve 89:a7b45368ea0f 436 #define num_array_f_past 1 // numpast_f * 2 + 1
Lightvalve 68:328e1be06f5d 437 #define num_array_x_past 11 // numpast_x * 2 + 1
Lightvalve 86:b8ed7abddeb2 438 #define num_array_x_future 1 // numfuture_x * 2 + 1
Lightvalve 23:59218d4a256d 439
Lightvalve 23:59218d4a256d 440
Lightvalve 26:8317d883d4f2 441
Lightvalve 30:8d561f16383b 442
Lightvalve 30:8d561f16383b 443
Lightvalve 32:4b8c0fedaf2c 444
Lightvalve 35:34ce7b0347b8 445
Lightvalve 36:a46e63505ed8 446
Lightvalve 45:35fa6884d0c6 447
Lightvalve 45:35fa6884d0c6 448
Lightvalve 48:889798ff9329 449
Lightvalve 49:e7bcfc244d40 450
Lightvalve 50:3c630b5eba9f 451
Lightvalve 52:8ea76864368a 452
Lightvalve 54:647072f5307a 453
Lightvalve 54:647072f5307a 454