Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_210420

LIGHT2

Dependencies:   FastPWM mbed

main.cpp@115:f41863b95e6f, 2020-09-13 (annotated)

Committer:
Lightvalve
Date:
Sun Sep 13 11:14:24 2020 +0000
Revision:
115:f41863b95e6f
Parent:
114:09a6bccaf17d
Child:
116:ddc6e6fcfaf9
200913-2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 115:f41863b95e6f 1 //200913-2
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 99:7bbcb3c0fb06 187 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 112:8dcb1600cb90 195 const float h1[num_input][16] = {
Lightvalve 115:f41863b95e6f 196 {-0.12142807245254517f,0.5319109559059143f,0.12024858593940735f,0.3085154592990875f,-0.6081522107124329f,0.7416839003562927f,-0.1628284603357315f,0.21742962300777435f,-0.267910897731781f,-0.04973986744880676f,-0.1911298632621765f,-0.38887158036231995f,-0.48049986362457275f,-0.268494576215744f,-0.2396446317434311f,-0.5116663575172424f},
Lightvalve 115:f41863b95e6f 197 {-0.26787224411964417f,0.677436113357544f,-0.36603355407714844f,0.021422112360596657f,-0.7327901721000671f,0.6037724018096924f,-0.3777896761894226f,0.1725192815065384f,-0.0761999636888504f,0.18274518847465515f,-0.22543500363826752f,-0.3866732716560364f,-0.10280560702085495f,-0.7612268924713135f,-0.1953967958688736f,-0.35824012756347656f},
Lightvalve 115:f41863b95e6f 198 {-0.3649199903011322f,0.7725064158439636f,0.33912619948387146f,-0.30286991596221924f,-0.5712531805038452f,0.7446243762969971f,0.2676515281200409f,0.4323404133319855f,-0.15223653614521027f,0.18469227850437164f,-0.29429805278778076f,-0.5365757346153259f,-0.42887529730796814f,-0.2952468991279602f,0.05209478735923767f,-0.708729088306427f},
Lightvalve 115:f41863b95e6f 199 {-0.3271692097187042f,0.6009646654129028f,0.3703531324863434f,0.3181683123111725f,-0.4985746741294861f,0.33138418197631836f,-0.10795548558235168f,0.743237316608429f,0.018989790230989456f,0.30758431553840637f,0.11929067969322205f,-0.261160671710968f,-0.6505143642425537f,-0.3792894780635834f,-0.27597576379776f,-0.5264142751693726f},
Lightvalve 115:f41863b95e6f 200 {0.10502064228057861f,0.6899398565292358f,-0.004794687032699585f,0.2715914845466614f,-0.25223666429519653f,0.44747194647789f,0.12058994174003601f,0.3637223243713379f,0.024899134412407875f,0.13290812075138092f,0.3540651500225067f,-0.5691083669662476f,-0.48638850450515747f,-0.2277120053768158f,-0.36018112301826477f,-0.9119640588760376f},
Lightvalve 115:f41863b95e6f 201 {0.28711169958114624f,-0.2482450306415558f,0.20290347933769226f,0.2649897634983063f,0.4833833575248718f,-0.1571345031261444f,0.15389427542686462f,-0.23960691690444946f,0.02790655568242073f,0.13918225467205048f,-0.20093469321727753f,-0.27243372797966003f,-0.21113014221191406f,-0.020885445177555084f,-0.38513508439064026f,-0.9214916825294495f},
Lightvalve 115:f41863b95e6f 202 {-0.02851574495434761f,-0.014749237336218357f,-0.2331579178571701f,-0.5698776245117188f,-0.7544706463813782f,0.07381469011306763f,0.05604562163352966f,-0.8324546217918396f,0.33566102385520935f,0.09226415306329727f,0.16943834722042084f,0.4347386062145233f,-0.24814684689044952f,0.6932308673858643f,-0.14554673433303833f,0.05279579013586044f},
Lightvalve 115:f41863b95e6f 203 {-0.06717606633901596f,-0.22349213063716888f,-0.24806702136993408f,-0.0450650155544281f,-0.5033997297286987f,-0.19790005683898926f,-0.16704979538917542f,-0.7950039505958557f,0.021747436374425888f,0.1351155936717987f,0.12686355412006378f,0.13332262635231018f,0.30497512221336365f,0.2732813358306885f,0.04009982943534851f,0.20104773342609406f},
Lightvalve 115:f41863b95e6f 204 {0.08353191614151001f,0.1997663825750351f,0.09550115466117859f,-0.48718148469924927f,-0.4085322618484497f,-0.10368065536022186f,-0.06753402948379517f,-1.2816720008850098f,-0.2544040381908417f,0.3505818843841553f,-0.24833375215530396f,0.5380479097366333f,0.3675362765789032f,0.4023623764514923f,-0.2847418785095215f,0.03970760479569435f},
Lightvalve 115:f41863b95e6f 205 {-0.13981781899929047f,-0.20774176716804504f,0.17205187678337097f,-0.23249271512031555f,-0.1216055303812027f,0.07235830277204514f,-0.2786858379840851f,-1.2693002223968506f,-0.009385904297232628f,-0.4146665930747986f,0.02100091427564621f,-0.46436652541160583f,0.5080908536911011f,-0.4429526925086975f,0.3247623145580292f,-0.4142717719078064f},
Lightvalve 115:f41863b95e6f 206 {0.3393472135066986f,0.02408669888973236f,0.34649983048439026f,0.23857329785823822f,0.48183131217956543f,-0.21449708938598633f,-0.1895401030778885f,-0.8727144002914429f,-0.39965906739234924f,0.049281008541584015f,0.35334426164627075f,-0.6411969065666199f,0.31792065501213074f,-0.9770899415016174f,0.24870619177818298f,-1.115993857383728f},
Lightvalve 115:f41863b95e6f 207 {-0.3748171627521515f,-0.2759149968624115f,-0.3757385015487671f,0.08618200570344925f,0.6384426951408386f,-0.44715970754623413f,0.1429324448108673f,0.865583062171936f,-0.141113743185997f,0.21069662272930145f,-0.35729312896728516f,-0.6838535666465759f,0.3637606203556061f,-0.9708521962165833f,0.09779238700866699f,-1.7793989181518555f},
Lightvalve 115:f41863b95e6f 208 {-0.022903213277459145f,-1.2108622789382935f,0.18496140837669373f,-0.186996728181839f,1.5965169668197632f,0.011220009997487068f,-0.22405625879764557f,1.1389415264129639f,-0.15934859216213226f,-0.16894760727882385f,-0.07238681614398956f,0.543024480342865f,1.1545345783233643f,0.2594987452030182f,-0.2075144499540329f,-0.014834086410701275f},
Lightvalve 115:f41863b95e6f 209 {-0.07786494493484497f,-1.5105262994766235f,0.38466766476631165f,-0.5341544151306152f,1.3887991905212402f,-0.6938354969024658f,-0.2982172966003418f,0.48351165652275085f,-0.1096724197268486f,-0.20240478217601776f,-0.15225042402744293f,0.8682804703712463f,1.32313871383667f,0.1085759699344635f,0.04470124840736389f,0.6958062648773193f},
Lightvalve 115:f41863b95e6f 210 {0.21788664162158966f,-0.7673851847648621f,0.18900898098945618f,-0.30088552832603455f,0.8063278198242188f,-0.547472357749939f,0.03916636109352112f,0.5130710005760193f,0.2995314598083496f,0.0805741474032402f,-0.2307186722755432f,0.10170888155698776f,0.9435698986053467f,0.000330600596498698f,0.062258750200271606f,0.5885801315307617f},
Lightvalve 115:f41863b95e6f 211 {-0.011959882453083992f,-0.6077165603637695f,-0.37685394287109375f,-0.3159298598766327f,-0.5211035013198853f,-0.48754799365997314f,-0.14507901668548584f,-0.38036566972732544f,0.204612597823143f,-0.00584053760394454f,-0.41173696517944336f,-0.2119022011756897f,-0.09530093520879745f,0.42633670568466187f,-0.07684260606765747f,0.2788740396499634f},
Lightvalve 115:f41863b95e6f 212 {-0.058610737323760986f,-0.1548209935426712f,0.15568438172340393f,-0.05651647597551346f,-0.4900703430175781f,-0.6716833710670471f,-0.03859376907348633f,-0.45973384380340576f,-0.0419379398226738f,0.07706453651189804f,-0.2995336353778839f,-0.21969130635261536f,-0.15250778198242188f,1.0602041482925415f,0.2742314636707306f,0.00965691078454256f},
Lightvalve 115:f41863b95e6f 213 {-0.11517839878797531f,-0.018323417752981186f,0.19490453600883484f,-0.29120585322380066f,-0.5252333283424377f,-0.5279580354690552f,-0.336474746465683f,-0.18949325382709503f,-0.3621788024902344f,-0.1193293035030365f,-0.12502431869506836f,-0.26203998923301697f,0.06206292286515236f,0.7526026368141174f,-0.2561379373073578f,0.20621202886104584f},
Lightvalve 115:f41863b95e6f 214 {-0.36884963512420654f,0.10308270901441574f,-0.2776013910770416f,0.09900062531232834f,0.2413371354341507f,-0.4801070988178253f,0.25546005368232727f,-0.20196332037448883f,-0.3580111265182495f,0.021169280633330345f,-0.36572232842445374f,-0.19767117500305176f,-0.152822807431221f,1.009665608406067f,-0.30415377020835876f,-0.09012894332408905f},
Lightvalve 115:f41863b95e6f 215 {0.25071007013320923f,0.2665417194366455f,0.1420871913433075f,-0.3285190165042877f,-0.129764586687088f,-0.30867642164230347f,-0.13263443112373352f,-0.19806906580924988f,-0.14517231285572052f,0.03796457499265671f,0.1304253190755844f,-0.050921618938446045f,0.095282182097435f,0.9637762308120728f,0.13351169228553772f,0.41475313901901245f},
Lightvalve 115:f41863b95e6f 216 {-0.2756868302822113f,-0.13841456174850464f,-0.07561364769935608f,0.13735783100128174f,-0.3645989000797272f,-0.4998248219490051f,0.14428457617759705f,-0.029365921393036842f,-0.34202030301094055f,-0.29383227229118347f,-0.3528982698917389f,-0.7736446857452393f,-0.4347001314163208f,0.8122448921203613f,0.019461065530776978f,0.1852876842021942f},
Lightvalve 115:f41863b95e6f 217 {-0.33870723843574524f,-0.0034944694489240646f,0.2631795108318329f,-0.43553003668785095f,-0.3259836733341217f,-0.6847232580184937f,0.27224990725517273f,-0.5124228596687317f,-0.05062070116400719f,0.09060279279947281f,0.06758313626050949f,-1.1949976682662964f,-0.22525399923324585f,0.7335019111633301f,0.06011766195297241f,-0.23359167575836182f},
Lightvalve 65:a2d7c63419c2 218 };
Lightvalve 65:a2d7c63419c2 219
Lightvalve 112:8dcb1600cb90 220 const float h2[16][16] = {
Lightvalve 115:f41863b95e6f 221 {-0.21827097237110138f,-0.13970035314559937f,-0.06966331601142883f,0.0015037156408652663f,-0.21907491981983185f,0.4042361080646515f,0.2356909215450287f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.12119956314563751f,-0.10159772634506226f,0.05038901045918465f,0.03739463537931442f,-0.048593394458293915f,-0.18448428809642792f},
Lightvalve 115:f41863b95e6f 222 {-0.08718850463628769f,-0.6138348579406738f,0.057057321071624756f,0.21743246912956238f,-0.35503754019737244f,-1.1862761974334717f,-0.5382086634635925f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.9905539751052856f,-0.6796953678131104f,0.19543039798736572f,1.106162667274475f,0.7187530994415283f,-0.9491381049156189f},
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Lightvalve 115:f41863b95e6f 224 {0.013872272334992886f,-0.286335289478302f,-0.2894435524940491f,-0.4396398365497589f,0.08946844935417175f,0.1368589848279953f,-0.39876824617385864f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.10356922447681427f,0.2551405131816864f,-0.46428048610687256f,-0.11253073066473007f,0.2100202888250351f,-0.05202929303050041f},
Lightvalve 115:f41863b95e6f 225 {-0.3711865544319153f,0.6464788317680359f,-0.25313520431518555f,-0.7609469294548035f,0.036378175020217896f,0.45298469066619873f,-0.41387563943862915f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,0.16032840311527252f,-0.7131367921829224f,-0.05352240428328514f,-1.6053212881088257f,-0.19919444620609283f,-0.4861498177051544f},
Lightvalve 115:f41863b95e6f 226 {0.20110821723937988f,-0.5018312335014343f,-0.3519742488861084f,1.6840986013412476f,-0.3015052080154419f,-2.5918781757354736f,-0.5597283244132996f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.8111457228660583f,-0.18484677374362946f,-0.2680433392524719f,-1.1327699422836304f,1.6472371816635132f,0.032416488975286484f},
Lightvalve 112:8dcb1600cb90 227 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 115:f41863b95e6f 228 {0.04716520383954048f,2.1866295337677f,0.33083590865135193f,-3.7675633430480957f,-0.14358049631118774f,-1.0889337062835693f,-0.2204645574092865f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,1.7958203554153442f,-0.4285059869289398f,-0.3938278257846832f,0.9353684186935425f,1.4183909893035889f,-0.6698459982872009f},
Lightvalve 115:f41863b95e6f 229 {-0.22358468174934387f,0.319063276052475f,-0.11379697918891907f,0.09797302633523941f,0.041274964809417725f,-0.3698168098926544f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.03371793404221535f,-0.3197441101074219f,-0.37024784088134766f,-0.26758185029029846f,-0.37222927808761597f,-0.2432849407196045f},
Lightvalve 115:f41863b95e6f 230 {-0.14576366543769836f,0.19868183135986328f,-0.13502129912376404f,0.09569330513477325f,0.12987366318702698f,0.09705229103565216f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.21950477361679077f,0.39862415194511414f,0.3811538517475128f,-0.2120383083820343f,0.03948197886347771f,-0.2580723166465759f},
Lightvalve 115:f41863b95e6f 231 {-0.2600649297237396f,-0.025024279952049255f,0.0457797646522522f,-0.38467252254486084f,-0.03321319818496704f,-0.4283318817615509f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.22829373180866241f,0.3545852601528168f,-0.3647043704986572f,0.43810027837753296f,-0.3747478723526001f,-0.30320504307746887f},
Lightvalve 115:f41863b95e6f 232 {0.2563563287258148f,0.2848908305168152f,0.3954955041408539f,0.5324105024337769f,0.0033026933670043945f,0.013189428485929966f,-0.264487624168396f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-0.11690916121006012f,-0.30937525629997253f,-0.04322272539138794f,-0.09333206713199615f,0.3114027976989746f,0.3084369897842407f},
Lightvalve 115:f41863b95e6f 233 {-0.3773934841156006f,-0.6149998903274536f,-0.15798500180244446f,0.5414841175079346f,-0.37393757700920105f,0.36136573553085327f,-0.09854983538389206f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,0.7696143388748169f,-0.5884778499603271f,0.22634319961071014f,-1.2850054502487183f,-0.5686250925064087f,0.9768475294113159f},
Lightvalve 115:f41863b95e6f 234 {-0.276047021150589f,0.5364649891853333f,-0.2018718123435974f,-1.2126439809799194f,0.07545611262321472f,1.2168824672698975f,-0.1937575489282608f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.17477856576442719f,-0.5366932153701782f,-0.2861739993095398f,0.8198944926261902f,-0.42945852875709534f,-0.006084125488996506f},
Lightvalve 112:8dcb1600cb90 235 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 115:f41863b95e6f 236 {-0.4368991553783417f,0.7573152184486389f,0.12081471085548401f,1.7409113645553589f,0.29976895451545715f,0.646031379699707f,-0.0614682137966156f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.36895906925201416f,-0.2702392637729645f,-0.2760795056819916f,0.030236508697271347f,0.5722708702087402f,0.1181602030992508f},
Lightvalve 65:a2d7c63419c2 237 };
Lightvalve 65:a2d7c63419c2 238
Lightvalve 112:8dcb1600cb90 239 const float h3[16][16] = {
Lightvalve 115:f41863b95e6f 240 {-0.36079341173171997f,-0.09681249409914017f,-0.06886705011129379f,-0.37561914324760437f,-0.17487698793411255f,0.030626926571130753f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.02868601679801941f,0.29298722743988037f,-0.3218167722225189f,0.16941024363040924f},
Lightvalve 115:f41863b95e6f 241 {0.047732532024383545f,0.7677332758903503f,-0.6549031138420105f,0.6898878216743469f,-0.08954807370901108f,0.35312116146087646f,-0.3198729455471039f,-0.17536860704421997f,0.5324662327766418f,-0.10279136896133423f,0.1338483840227127f,-0.4699574112892151f,0.14342889189720154f,0.7929010987281799f,-2.605299949645996f,-4.501281261444092f},
Lightvalve 115:f41863b95e6f 242 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 115:f41863b95e6f 243 {-0.30922991037368774f,-0.5324777364730835f,-0.01334094163030386f,-1.137447476387024f,-0.08508370071649551f,1.2484461069107056f,0.20021501183509827f,0.20383602380752563f,-0.8121843338012695f,-0.41293272376060486f,-0.2107127159833908f,0.2525291442871094f,0.4615950882434845f,0.17830145359039307f,-3.0680086612701416f,-0.21777895092964172f},
Lightvalve 112:8dcb1600cb90 244 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve 115:f41863b95e6f 245 {-0.37449589371681213f,-0.4617343842983246f,-2.9039862155914307f,-0.6735435724258423f,-0.0729021355509758f,0.05089283734560013f,-0.18732719123363495f,0.14435407519340515f,-2.1771042346954346f,-0.36949434876441956f,-0.2574214041233063f,0.0323423407971859f,-0.580498218536377f,-0.5253073573112488f,1.406813621520996f,-0.6369833946228027f},
Lightvalve 115:f41863b95e6f 246 {0.4110594093799591f,0.1266968697309494f,-0.12601256370544434f,0.37246426939964294f,0.3083249628543854f,-0.23091493546962738f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.38588830828666687f,-0.06421742588281631f,0.1807081550359726f,-0.13609033823013306f},
Lightvalve 113:4535bc97a1db 247 {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve 115:f41863b95e6f 248 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 112:8dcb1600cb90 249 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 115:f41863b95e6f 250 {0.15459725260734558f,0.19472281634807587f,-0.04078362509608269f,-0.8504932522773743f,-0.3033522963523865f,-0.05692460387945175f,-0.08742031455039978f,-0.1338864266872406f,0.004945448599755764f,-0.55107182264328f,-0.17419999837875366f,-0.46206751465797424f,-0.6499282121658325f,0.3578055799007416f,1.2463433742523193f,0.8631985187530518f},
Lightvalve 115:f41863b95e6f 251 {-0.408692330121994f,-0.2623419165611267f,0.11236652731895447f,-0.022254934534430504f,0.023289965465664864f,-0.3169271647930145f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.38538986444473267f,-0.3014340400695801f,-0.3794373869895935f,0.30830731987953186f},
Lightvalve 115:f41863b95e6f 252 {-0.2991822361946106f,0.1327047497034073f,0.1439894586801529f,0.017815517261624336f,0.3019440472126007f,0.010314002633094788f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.22736459970474243f,-0.36900195479393005f,0.054683245718479156f,-0.12663790583610535f},
Lightvalve 115:f41863b95e6f 253 {-0.2675279378890991f,0.18547336757183075f,0.3068101406097412f,-1.2076926231384277f,0.09505590796470642f,-0.05560934171080589f,-0.32875844836235046f,-0.5921741127967834f,-3.3620553016662598f,-0.8969767689704895f,-0.6669066548347473f,-0.5687218904495239f,1.189428687095642f,-1.5511449575424194f,0.23931676149368286f,0.2895069718360901f},
Lightvalve 115:f41863b95e6f 254 {-0.015470266342163086f,-1.127381682395935f,0.570023775100708f,1.1186641454696655f,-0.09940701723098755f,-0.7367652058601379f,0.05196094512939453f,-0.09006329625844955f,-0.32208630442619324f,-0.3993879556655884f,-0.1511162966489792f,-0.2641661763191223f,-0.36931276321411133f,-0.6036758422851562f,0.7165645956993103f,1.002623438835144f},
Lightvalve 115:f41863b95e6f 255 {0.1863725483417511f,0.7084315419197083f,-2.923417568206787f,-4.6950788497924805f,-0.06254304945468903f,0.45470181107521057f,0.04860696196556091f,0.026327338069677353f,-1.0392210483551025f,-0.02976890094578266f,-0.703682005405426f,0.03872205317020416f,-0.19652250409126282f,0.22584570944309235f,-0.4665553867816925f,-0.540266215801239f},
Lightvalve 66:a8e6799dbce3 256 };
Lightvalve 65:a2d7c63419c2 257
Lightvalve 115:f41863b95e6f 258 const float hout[16] = { 0.45773375034332275f,0.13910500705242157f,-0.31846562027931213f,-0.829768717288971f,-0.04622025787830353f,0.23739540576934814f,0.0030125975608825684f,0.2194291055202484f,-0.5970004200935364f,0.14143159985542297f,-0.060366179794073105f,-0.1263774186372757f,-0.5301146507263184f,0.20959031581878662f,0.2230408638715744f,-0.23622384667396545f };
Lightvalve 66:a8e6799dbce3 259
Lightvalve 115:f41863b95e6f 260 const float b1[16] = { 0.624637246131897f,1.1785094738006592f,-1.7145336866378784f,0.24004428088665009f,1.2390985488891602f,1.5458461046218872f,-0.058932315558195114f,1.2576862573623657f,0.5300702452659607f,-0.8932367563247681f,0.6044619679450989f,1.6490927934646606f,-0.7020912766456604f,-1.2473779916763306f,-1.087764859199524f,1.356432318687439f };
Lightvalve 87:471334725012 261
Lightvalve 115:f41863b95e6f 262 const float b2[16] = { -0.3033750057220459f,-0.41359907388687134f,-1.4564176797866821f,-0.7798851728439331f,-0.6939148902893066f,0.24389976263046265f,0.22602230310440063f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.3609001636505127f,0.4167090356349945f,-0.2721056044101715f,1.6417027711868286f,0.1061401441693306f,1.2605841159820557f };
Lightvalve 65:a2d7c63419c2 263
Lightvalve 115:f41863b95e6f 264 const float b3[16] = { -1.963319182395935f,-0.09155551344156265f,-0.08878234773874283f,-0.3621630370616913f,-0.20168974995613098f,0.814752995967865f,-0.45353031158447266f,-0.9044259190559387f,0.10726872086524963f,0.14615927636623383f,-0.442954957485199f,-0.10643069446086884f,-1.0190728902816772f,1.1627894639968872f,-1.0242581367492676f,-0.30497246980667114f };
Lightvalve 87:471334725012 265
Lightvalve 115:f41863b95e6f 266 const float bout[1] = { -0.2451157569885254f };
Lightvalve 65:a2d7c63419c2 267
Lightvalve 66:a8e6799dbce3 268
Lightvalve 87:471334725012 269 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 270 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 271
GiJeongKim 0:51c43836c1d7 272 int main()
GiJeongKim 0:51c43836c1d7 273 {
Lightvalve 66:a8e6799dbce3 274
Lightvalve 65:a2d7c63419c2 275 HAL_Init();
Lightvalve 65:a2d7c63419c2 276 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 277
jobuuu 6:df07d3491e3a 278 /*********************************
jobuuu 1:e04e563be5ce 279 *** Initialization
jobuuu 6:df07d3491e3a 280 *********************************/
Lightvalve 69:3995ffeaa786 281 LED = 0;
Lightvalve 61:bc8c8270f0ab 282 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 283
GiJeongKim 0:51c43836c1d7 284 // i2c init
Lightvalve 8:5d2eebdad025 285 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 286 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 287 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 288 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 289 make_delay();
jobuuu 2:a1c0a37df760 290
GiJeongKim 0:51c43836c1d7 291 // // spi init
Lightvalve 16:903b5a4433b4 292 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 293 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 294 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 295 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 296 make_delay();
Lightvalve 21:e5f1a43ea6f9 297
Lightvalve 16:903b5a4433b4 298 //rom
Lightvalve 19:23b7c1ad8683 299 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 300 make_delay();
Lightvalve 13:747daba9cf59 301
GiJeongKim 0:51c43836c1d7 302 // ADC init
jobuuu 5:a4319f79457b 303 Init_ADC();
Lightvalve 11:82d8768d7351 304 make_delay();
jobuuu 2:a1c0a37df760 305
GiJeongKim 0:51c43836c1d7 306 // Pwm init
GiJeongKim 0:51c43836c1d7 307 Init_PWM();
GiJeongKim 0:51c43836c1d7 308 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 309 make_delay();
Lightvalve 13:747daba9cf59 310
Lightvalve 11:82d8768d7351 311 // TMR3 init
Lightvalve 11:82d8768d7351 312 Init_TMR3();
Lightvalve 11:82d8768d7351 313 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 314 make_delay();
Lightvalve 21:e5f1a43ea6f9 315
Lightvalve 50:3c630b5eba9f 316 // TMR2 init
Lightvalve 56:6f50d9d3bfee 317 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 318 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 319 // make_delay();
Lightvalve 21:e5f1a43ea6f9 320
GiJeongKim 0:51c43836c1d7 321 // CAN
jobuuu 2:a1c0a37df760 322 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 323 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 324 make_delay();
Lightvalve 34:bb2ca2fc2a8e 325
Lightvalve 23:59218d4a256d 326 //Timer priority
Lightvalve 23:59218d4a256d 327 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 328 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 329 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 330
Lightvalve 23:59218d4a256d 331 //can.reset();
Lightvalve 19:23b7c1ad8683 332 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 333
GiJeongKim 0:51c43836c1d7 334 // spi _ enc
GiJeongKim 0:51c43836c1d7 335 spi_enc_set_init();
Lightvalve 11:82d8768d7351 336 make_delay();
Lightvalve 13:747daba9cf59 337
Lightvalve 11:82d8768d7351 338 //DAC init
Lightvalve 58:2eade98630e2 339 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 340 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 341 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 342 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 343 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 344 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 345 }
Lightvalve 11:82d8768d7351 346 make_delay();
Lightvalve 13:747daba9cf59 347
Lightvalve 19:23b7c1ad8683 348 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 349 if(i%2==0)
Lightvalve 38:118df027d851 350 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 351 else
Lightvalve 38:118df027d851 352 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 353 }
Lightvalve 61:bc8c8270f0ab 354
Lightvalve 61:bc8c8270f0ab 355
jobuuu 6:df07d3491e3a 356 /************************************
jobuuu 1:e04e563be5ce 357 *** Program is operating!
jobuuu 6:df07d3491e3a 358 *************************************/
GiJeongKim 0:51c43836c1d7 359 while(1) {
Lightvalve 66:a8e6799dbce3 360 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 361 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 362 //i2c
Lightvalve 66:a8e6799dbce3 363
Lightvalve 65:a2d7c63419c2 364 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 365 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 366 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 367 // LED=0;
Lightvalve 65:a2d7c63419c2 368 // } else
Lightvalve 65:a2d7c63419c2 369 // LED = 1;
Lightvalve 65:a2d7c63419c2 370 timer_while = 0;
Lightvalve 66:a8e6799dbce3 371 //}
Lightvalve 66:a8e6799dbce3 372
Lightvalve 66:a8e6799dbce3 373 timer_while ++;
Lightvalve 66:a8e6799dbce3 374
Lightvalve 87:471334725012 375 //LED = 0;
Lightvalve 87:471334725012 376
Lightvalve 73:f80dc3970c99 377 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 378 LED = 0;
Lightvalve 73:f80dc3970c99 379 }
Lightvalve 66:a8e6799dbce3 380
Lightvalve 73:f80dc3970c99 381 else if(NN_Control_Flag == 1) {
Lightvalve 112:8dcb1600cb90 382 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 383 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 384 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 385 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 386
Lightvalve 112:8dcb1600cb90 387 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 388 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 389 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 390 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 391 }
Lightvalve 66:a8e6799dbce3 392 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 393 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 394 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 395 }
Lightvalve 66:a8e6799dbce3 396 }
Lightvalve 65:a2d7c63419c2 397
Lightvalve 112:8dcb1600cb90 398 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 399 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 400 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 401 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 402 }
Lightvalve 66:a8e6799dbce3 403 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 404 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 405 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 406 }
Lightvalve 66:a8e6799dbce3 407 }
Lightvalve 65:a2d7c63419c2 408
Lightvalve 112:8dcb1600cb90 409 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 410 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 411 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 412 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 413 }
Lightvalve 66:a8e6799dbce3 414 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 415 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 416 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 417 }
Lightvalve 65:a2d7c63419c2 418 }
Lightvalve 66:a8e6799dbce3 419
Lightvalve 66:a8e6799dbce3 420 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 421 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 422 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 423 }
Lightvalve 66:a8e6799dbce3 424 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 425
Lightvalve 66:a8e6799dbce3 426 }
Lightvalve 73:f80dc3970c99 427 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 428 output_normalized = output;
Lightvalve 68:328e1be06f5d 429 output = output * 20000.0f - 10000.0f;
Lightvalve 101:50159049a518 430
Lightvalve 66:a8e6799dbce3 431 if(output>=0) {
Lightvalve 66:a8e6799dbce3 432 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 433 } else {
Lightvalve 66:a8e6799dbce3 434 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 435 }
Lightvalve 87:471334725012 436
Lightvalve 88:d6e591bece22 437 // // torque feedback
Lightvalve 88:d6e591bece22 438 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 439 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 440 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 441 //
Lightvalve 88:d6e591bece22 442 //
Lightvalve 88:d6e591bece22 443 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 444 //
Lightvalve 88:d6e591bece22 445 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 446 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 447 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 448 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 449 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 450 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 451 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 452 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 453 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 454 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 455 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 456 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 457 // }
Lightvalve 88:d6e591bece22 458 // }
Lightvalve 87:471334725012 459
Lightvalve 69:3995ffeaa786 460
Lightvalve 69:3995ffeaa786 461 if(LED==1) {
Lightvalve 69:3995ffeaa786 462 LED=0;
Lightvalve 69:3995ffeaa786 463 } else
Lightvalve 69:3995ffeaa786 464 LED = 1;
Lightvalve 69:3995ffeaa786 465
Lightvalve 65:a2d7c63419c2 466 }
Lightvalve 62:b5452adfb2cd 467
Lightvalve 87:471334725012 468 //LED = 1;
Lightvalve 69:3995ffeaa786 469
Lightvalve 66:a8e6799dbce3 470
GiJeongKim 0:51c43836c1d7 471 }
jobuuu 1:e04e563be5ce 472 }
jobuuu 1:e04e563be5ce 473
Lightvalve 33:91b17819ec30 474 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 475 {
Lightvalve 14:8e7590227d22 476
Lightvalve 13:747daba9cf59 477 int i = 0;
Lightvalve 48:889798ff9329 478 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 479 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 480 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 481 if(i==0) {
Lightvalve 50:3c630b5eba9f 482 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 483 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 484 } else {
Lightvalve 57:f4819de54e7a 485 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 486 }
Lightvalve 14:8e7590227d22 487 } else {
Lightvalve 50:3c630b5eba9f 488 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 489 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 490 } else {
Lightvalve 57:f4819de54e7a 491 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 492 }
Lightvalve 13:747daba9cf59 493 }
Lightvalve 13:747daba9cf59 494 break;
Lightvalve 13:747daba9cf59 495 }
Lightvalve 13:747daba9cf59 496 }
Lightvalve 14:8e7590227d22 497 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 498 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 499 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 500 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 501 }
Lightvalve 36:a46e63505ed8 502
Lightvalve 57:f4819de54e7a 503 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 504 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 505
Lightvalve 13:747daba9cf59 506 }
jobuuu 6:df07d3491e3a 507
jobuuu 6:df07d3491e3a 508
Lightvalve 30:8d561f16383b 509 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 510 {
Lightvalve 13:747daba9cf59 511 int i = 0;
Lightvalve 13:747daba9cf59 512
Lightvalve 38:118df027d851 513 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 514 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 515 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 516 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 517 }
Lightvalve 38:118df027d851 518
Lightvalve 89:a7b45368ea0f 519 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 520 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 521 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 522 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 523 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 524 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 525
Lightvalve 13:747daba9cf59 526 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 527
Lightvalve 18:b8adf1582ea3 528 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 529 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 530 if(i==0) {
Lightvalve 48:889798ff9329 531 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 532 } else {
Lightvalve 48:889798ff9329 533 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 534 }
Lightvalve 13:747daba9cf59 535 break;
Lightvalve 13:747daba9cf59 536 }
Lightvalve 13:747daba9cf59 537 }
Lightvalve 59:f308b1656d9c 538 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 539 }
Lightvalve 13:747daba9cf59 540
Lightvalve 14:8e7590227d22 541 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 542 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 543 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 544 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 545 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 546 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 547 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 548 }; // duty
Lightvalve 67:c2812cf26c38 549 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 550 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 551 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 552 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 553 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 554 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 555 }; // mV
Lightvalve 13:747daba9cf59 556
Lightvalve 30:8d561f16383b 557 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 558 {
Lightvalve 30:8d561f16383b 559 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 560 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 561 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 562 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 563 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 564 } else {
Lightvalve 13:747daba9cf59 565 int idx = 0;
Lightvalve 13:747daba9cf59 566 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 567 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 568 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 569 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 570 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 571 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 572 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 573 break;
Lightvalve 13:747daba9cf59 574 }
Lightvalve 13:747daba9cf59 575 }
Lightvalve 13:747daba9cf59 576 }
Lightvalve 14:8e7590227d22 577
Lightvalve 13:747daba9cf59 578 return PWM_duty;
Lightvalve 13:747daba9cf59 579 }
jobuuu 6:df07d3491e3a 580
Lightvalve 57:f4819de54e7a 581
Lightvalve 57:f4819de54e7a 582
Lightvalve 57:f4819de54e7a 583
Lightvalve 57:f4819de54e7a 584
jobuuu 2:a1c0a37df760 585 /*******************************************************************************
jobuuu 2:a1c0a37df760 586 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 587 *******************************************************************************/
jobuuu 2:a1c0a37df760 588
Lightvalve 51:b46bed7fec80 589 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 590 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 591 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 592 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 593 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 594 {
Lightvalve 19:23b7c1ad8683 595 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 596
Lightvalve 21:e5f1a43ea6f9 597 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 598 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 599 ********************************************************/
Lightvalve 13:747daba9cf59 600
Lightvalve 57:f4819de54e7a 601 //Encoder
Lightvalve 57:f4819de54e7a 602 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 603 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 604 }
Lightvalve 61:bc8c8270f0ab 605
Lightvalve 61:bc8c8270f0ab 606 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 607 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 608 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 609 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 610 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 611 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 612 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 613
Lightvalve 67:c2812cf26c38 614
Lightvalve 67:c2812cf26c38 615 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 616 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 617 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 618 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 619 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 620
Lightvalve 17:1865016ca2e7 621
Lightvalve 58:2eade98630e2 622 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 623 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 624 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 625 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 626 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 627 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 628 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 629 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 630 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 631
Lightvalve 58:2eade98630e2 632 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 633 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 634 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 635 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 636 }
Lightvalve 58:2eade98630e2 637 }
Lightvalve 61:bc8c8270f0ab 638
Lightvalve 58:2eade98630e2 639 // //Pressure sensor A
Lightvalve 58:2eade98630e2 640 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 641 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 642 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 643 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 644 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 645 // 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 646 //
Lightvalve 58:2eade98630e2 647 //
Lightvalve 58:2eade98630e2 648 // //Pressure sensor B
Lightvalve 58:2eade98630e2 649 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 650 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 651 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 652 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 653
Lightvalve 17:1865016ca2e7 654
Lightvalve 21:e5f1a43ea6f9 655 //Current
Lightvalve 21:e5f1a43ea6f9 656 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 657 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 658 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 659 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 660 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 661 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 662 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 663
Lightvalve 57:f4819de54e7a 664 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 665 }
Lightvalve 11:82d8768d7351 666 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 667 }
Lightvalve 19:23b7c1ad8683 668
Lightvalve 19:23b7c1ad8683 669
Lightvalve 18:b8adf1582ea3 670 int j =0;
Lightvalve 54:647072f5307a 671 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 672 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 673 int cnt_trans = 0;
Lightvalve 48:889798ff9329 674 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 675 int can_rest =0;
Lightvalve 48:889798ff9329 676
Lightvalve 11:82d8768d7351 677 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 678 {
Lightvalve 19:23b7c1ad8683 679 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 680
Lightvalve 57:f4819de54e7a 681 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 682 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 683 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 684 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 685 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 686 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 687 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 688 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 689 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 690 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 691 }
Lightvalve 50:3c630b5eba9f 692
Lightvalve 50:3c630b5eba9f 693 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 694 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 695 cnt_trans++;
Lightvalve 46:2694daea349b 696 torq.err_sum = 0;
Lightvalve 48:889798ff9329 697 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 698 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 699 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 700 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 701 cnt_trans++;
Lightvalve 46:2694daea349b 702 torq.err_sum = 0;
Lightvalve 48:889798ff9329 703 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 704 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 705 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 706 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 707 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 708 } else {
Lightvalve 58:2eade98630e2 709 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 710 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 711 }
Lightvalve 45:35fa6884d0c6 712
Lightvalve 50:3c630b5eba9f 713
Lightvalve 57:f4819de54e7a 714 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 715 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 716
Lightvalve 57:f4819de54e7a 717 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 718 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 719 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 720 } else {
Lightvalve 57:f4819de54e7a 721 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 722 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 723 }
Lightvalve 56:6f50d9d3bfee 724
Lightvalve 56:6f50d9d3bfee 725
Lightvalve 56:6f50d9d3bfee 726
Lightvalve 57:f4819de54e7a 727 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 728
Lightvalve 57:f4819de54e7a 729 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 730 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 731 break;
Lightvalve 13:747daba9cf59 732 }
Lightvalve 14:8e7590227d22 733
Lightvalve 14:8e7590227d22 734 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 735 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 736 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 737 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 738
Lightvalve 14:8e7590227d22 739 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 740 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 741 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 742
Lightvalve 84:c355d3e52bf1 743 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 744
Lightvalve 30:8d561f16383b 745 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 746 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 747
Lightvalve 16:903b5a4433b4 748 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 749 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 750 }
Lightvalve 13:747daba9cf59 751 } else {
Lightvalve 58:2eade98630e2 752 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 753 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 754 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 755 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 756
Lightvalve 16:903b5a4433b4 757 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 758
Lightvalve 30:8d561f16383b 759 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 760
Lightvalve 13:747daba9cf59 761 }
Lightvalve 14:8e7590227d22 762 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 763 break;
Lightvalve 19:23b7c1ad8683 764 }
Lightvalve 14:8e7590227d22 765
Lightvalve 50:3c630b5eba9f 766 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 767 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 768 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 769 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 770 // }
Lightvalve 50:3c630b5eba9f 771 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 772 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 773 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 774 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 775 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 776 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 777 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 778 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 779 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 780 // }
Lightvalve 50:3c630b5eba9f 781 //
Lightvalve 50:3c630b5eba9f 782 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 783 // 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 784 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 785 //
Lightvalve 50:3c630b5eba9f 786 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 787 // V_out = 0;
Lightvalve 50:3c630b5eba9f 788 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 789 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 790 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 791 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 792 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 793 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 794 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 795 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 796 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 797 //
Lightvalve 50:3c630b5eba9f 798 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 799 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 800 // // | / | / |/
Lightvalve 50:3c630b5eba9f 801 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 802 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 803 // // /| / | / |
Lightvalve 50:3c630b5eba9f 804 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 805 //
Lightvalve 50:3c630b5eba9f 806 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 807 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 808 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 809 // } else {
Lightvalve 50:3c630b5eba9f 810 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 811 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 812 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 813 // }
Lightvalve 50:3c630b5eba9f 814 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 815 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 816 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 817 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 818 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 819 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 820 // }
Lightvalve 50:3c630b5eba9f 821 // } else {
Lightvalve 50:3c630b5eba9f 822 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 823 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 824 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 825 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 826 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 827 // }
Lightvalve 50:3c630b5eba9f 828 // V_out = 0;
Lightvalve 50:3c630b5eba9f 829 //
Lightvalve 50:3c630b5eba9f 830 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 831 //
Lightvalve 50:3c630b5eba9f 832 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 833 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 834 //
Lightvalve 50:3c630b5eba9f 835 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 836 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 837 // }
Lightvalve 50:3c630b5eba9f 838 // }
Lightvalve 50:3c630b5eba9f 839 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 840 // break;
Lightvalve 50:3c630b5eba9f 841 // }
Lightvalve 14:8e7590227d22 842
Lightvalve 14:8e7590227d22 843 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 844 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 845 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 846 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 847 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 848 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 849 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 850 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 851 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 852 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 853 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 854 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 855 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 856 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 857 }
Lightvalve 29:69f3f5445d6d 858 cnt_findhome++;
Lightvalve 14:8e7590227d22 859
Lightvalve 29:69f3f5445d6d 860 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 861 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 862 } else {
Lightvalve 29:69f3f5445d6d 863 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 864 }
Lightvalve 19:23b7c1ad8683 865
Lightvalve 57:f4819de54e7a 866 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 867 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 868 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 869 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 870
Lightvalve 59:f308b1656d9c 871 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 872 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 873 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 874 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 875 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 876
Lightvalve 59:f308b1656d9c 877 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 878 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 879
Lightvalve 34:bb2ca2fc2a8e 880
Lightvalve 29:69f3f5445d6d 881 } else {
Lightvalve 29:69f3f5445d6d 882 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 883 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 884 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 885 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 886 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 887 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 888 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 889 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 890 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 891 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 892 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 893
Lightvalve 67:c2812cf26c38 894
Lightvalve 67:c2812cf26c38 895 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 896 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 897 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 898 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 899 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 900 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 901 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 902
Lightvalve 67:c2812cf26c38 903
Lightvalve 29:69f3f5445d6d 904 }
Lightvalve 29:69f3f5445d6d 905 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 906 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 907 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 908 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 909 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 910
Lightvalve 29:69f3f5445d6d 911 // input for position control
Lightvalve 67:c2812cf26c38 912
Lightvalve 67:c2812cf26c38 913 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 914 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 915
Lightvalve 67:c2812cf26c38 916 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 917 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 918 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 919 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 920
Lightvalve 67:c2812cf26c38 921 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 922
Lightvalve 67:c2812cf26c38 923 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 924 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 925 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 926
Lightvalve 67:c2812cf26c38 927 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 928 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 929 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 930
Lightvalve 69:3995ffeaa786 931 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 932 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 933 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 934 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 935 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 936 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 937 }
Lightvalve 67:c2812cf26c38 938 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 939 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 940
Lightvalve 67:c2812cf26c38 941 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 942
Lightvalve 67:c2812cf26c38 943
Lightvalve 67:c2812cf26c38 944
Lightvalve 67:c2812cf26c38 945 } else {
Lightvalve 67:c2812cf26c38 946 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 947 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 948
Lightvalve 67:c2812cf26c38 949 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 950 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 951 } else {
Lightvalve 67:c2812cf26c38 952 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 953 }
Lightvalve 67:c2812cf26c38 954
Lightvalve 67:c2812cf26c38 955 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 956
Lightvalve 67:c2812cf26c38 957 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 958
Lightvalve 67:c2812cf26c38 959 }
Lightvalve 67:c2812cf26c38 960
Lightvalve 67:c2812cf26c38 961
Lightvalve 67:c2812cf26c38 962
Lightvalve 67:c2812cf26c38 963
Lightvalve 59:f308b1656d9c 964 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 965 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 966 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 967 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 968 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 969
Lightvalve 29:69f3f5445d6d 970 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 971 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 972 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 973 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 974 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 975 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 976 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 977 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 978 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 979 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 980 }
Lightvalve 13:747daba9cf59 981 }
Lightvalve 19:23b7c1ad8683 982
Lightvalve 13:747daba9cf59 983 break;
Lightvalve 13:747daba9cf59 984 }
Lightvalve 14:8e7590227d22 985
Lightvalve 50:3c630b5eba9f 986 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 987 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 988 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 989 // else {
Lightvalve 50:3c630b5eba9f 990 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 991 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 992 // }
Lightvalve 50:3c630b5eba9f 993 // }
Lightvalve 50:3c630b5eba9f 994 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 995 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 996 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 997 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 998 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 999 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1000 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1001 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1002 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1003 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1004 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1005 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1006 // }
Lightvalve 50:3c630b5eba9f 1007 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1008 // }
Lightvalve 50:3c630b5eba9f 1009 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1010 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1011 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1012 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1013 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1014 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1015 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1016 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1017 // 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 1018 // // 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 1019 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1020 // }
Lightvalve 50:3c630b5eba9f 1021 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1022 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1023 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1024 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1025 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1026 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1027 // 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 1028 // // 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 1029 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1030 // }
Lightvalve 50:3c630b5eba9f 1031 // }
Lightvalve 50:3c630b5eba9f 1032 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1033 //
Lightvalve 50:3c630b5eba9f 1034 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1035 //
Lightvalve 50:3c630b5eba9f 1036 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1037 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1038 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1039 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1040 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1041 // }
Lightvalve 50:3c630b5eba9f 1042 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1043 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1044 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1045 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1046 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1047 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1048 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1049 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1050 // }
Lightvalve 50:3c630b5eba9f 1051 //
Lightvalve 50:3c630b5eba9f 1052 // }
Lightvalve 50:3c630b5eba9f 1053 // break;
Lightvalve 50:3c630b5eba9f 1054 // }
Lightvalve 50:3c630b5eba9f 1055 //
Lightvalve 50:3c630b5eba9f 1056 // }
Lightvalve 14:8e7590227d22 1057 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1058 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1059 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1060 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1061 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1062
Lightvalve 14:8e7590227d22 1063 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1064 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1065 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1066 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1067 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1068
Lightvalve 38:118df027d851 1069 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1070 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1071 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1072
Lightvalve 30:8d561f16383b 1073 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1074 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1075 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1076 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1077
Lightvalve 30:8d561f16383b 1078 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1079 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1080 }
Lightvalve 13:747daba9cf59 1081 } else {
Lightvalve 57:f4819de54e7a 1082 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1083 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1084 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1085 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1086 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1087 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1088
Lightvalve 16:903b5a4433b4 1089 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1090
Lightvalve 30:8d561f16383b 1091 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1092 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1093 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1094 }
Lightvalve 14:8e7590227d22 1095 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1096 break;
Lightvalve 13:747daba9cf59 1097 }
Lightvalve 14:8e7590227d22 1098
Lightvalve 50:3c630b5eba9f 1099 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1100 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1101 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1102 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1103 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1104 // }
Lightvalve 50:3c630b5eba9f 1105 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1106 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1107 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1108 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1109 // }
Lightvalve 50:3c630b5eba9f 1110 // } else {
Lightvalve 50:3c630b5eba9f 1111 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1112 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1113 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1114 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1115 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1116 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1117 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1118 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1119 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1120 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1121 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1122 //
Lightvalve 50:3c630b5eba9f 1123 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1124 //
Lightvalve 50:3c630b5eba9f 1125 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1126 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1127 // }
Lightvalve 50:3c630b5eba9f 1128 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1129 // break;
Lightvalve 50:3c630b5eba9f 1130 // }
Lightvalve 19:23b7c1ad8683 1131
Lightvalve 50:3c630b5eba9f 1132 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1133 // 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 1134 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1135 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1136 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1137 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1138 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1139 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1140 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1141 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1142 // }
Lightvalve 50:3c630b5eba9f 1143 // break;
Lightvalve 50:3c630b5eba9f 1144 // }
Lightvalve 14:8e7590227d22 1145
Lightvalve 14:8e7590227d22 1146 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1147 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1148 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1149
Lightvalve 14:8e7590227d22 1150 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1151 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1152 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1153 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1154 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1155 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1156 data_num = 0;
Lightvalve 14:8e7590227d22 1157 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1158 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1159 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1160 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1161 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1162 } else {
Lightvalve 13:747daba9cf59 1163 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1164 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1165 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1166 }
Lightvalve 14:8e7590227d22 1167
Lightvalve 17:1865016ca2e7 1168 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1169 int i;
Lightvalve 13:747daba9cf59 1170 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1171 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1172 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1173 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1174 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1175 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1176 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1177 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1178 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1179 }
Lightvalve 13:747daba9cf59 1180 }
Lightvalve 59:f308b1656d9c 1181 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1182 ID_index = 0;
Lightvalve 57:f4819de54e7a 1183 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1184 }
Lightvalve 14:8e7590227d22 1185
Lightvalve 14:8e7590227d22 1186
Lightvalve 13:747daba9cf59 1187 break;
Lightvalve 13:747daba9cf59 1188 }
Lightvalve 14:8e7590227d22 1189
Lightvalve 14:8e7590227d22 1190 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1191 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1192 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1193 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1194 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1195 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1196 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1197 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1198 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1199 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1200 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1201 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1202 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1203 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1204 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1205 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 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 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1209 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1210 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1211 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 1212 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1213 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1214 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1215 data_num = 0;
Lightvalve 14:8e7590227d22 1216
Lightvalve 30:8d561f16383b 1217 } else if(VALVE_DZ_timer < (int) (5.0f * (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 14:8e7590227d22 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 60:64181f1d3e60 1224
Lightvalve 30:8d561f16383b 1225 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1226 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1227 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1228 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1229
Lightvalve 60:64181f1d3e60 1230 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1231 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1232 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1233 DZ_case = -1;
Lightvalve 14:8e7590227d22 1234 } else {
Lightvalve 13:747daba9cf59 1235 DZ_case = 0;
Lightvalve 13:747daba9cf59 1236 }
Lightvalve 61:bc8c8270f0ab 1237
Lightvalve 60:64181f1d3e60 1238 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1239
Lightvalve 13:747daba9cf59 1240 first_check = 1;
Lightvalve 13:747daba9cf59 1241 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1242 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1243 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1244 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1245 DZ_index = 1;
Lightvalve 14:8e7590227d22 1246
Lightvalve 13:747daba9cf59 1247 }
Lightvalve 19:23b7c1ad8683 1248 } else {
Lightvalve 14:8e7590227d22 1249 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1250 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1251 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 1252 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1253 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1254 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1255 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1256 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1257 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1258 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1259 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1260 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1261 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1262 }
Lightvalve 14:8e7590227d22 1263 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1264
Lightvalve 30:8d561f16383b 1265 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1266 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1267 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1268
Lightvalve 14:8e7590227d22 1269 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1270 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1271 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1272 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1273 } else {
Lightvalve 13:747daba9cf59 1274 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1275 }
Lightvalve 14:8e7590227d22 1276
Lightvalve 13:747daba9cf59 1277 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1278 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1279 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1280 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1281 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1282 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1283 DZ_index = 1;
Lightvalve 13:747daba9cf59 1284 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1285 }
Lightvalve 13:747daba9cf59 1286 }
Lightvalve 14:8e7590227d22 1287 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1288 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1289 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 1290 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1291 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1293 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1294 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1295 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1296 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1297 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1298 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1299 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 14:8e7590227d22 1301 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1302
Lightvalve 30:8d561f16383b 1303 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1304 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1305 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1306 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1307 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1308
Lightvalve 14:8e7590227d22 1309 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1310 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1311 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1312 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1313 } else {
Lightvalve 60:64181f1d3e60 1314 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1315 }
Lightvalve 14:8e7590227d22 1316
Lightvalve 13:747daba9cf59 1317 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1318 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1319 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1320 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1321 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1322 first_check = 0;
Lightvalve 33:91b17819ec30 1323 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1324 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1325
Lightvalve 16:903b5a4433b4 1326 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1327
Lightvalve 60:64181f1d3e60 1328 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1329 DZ_index = 1;
Lightvalve 13:747daba9cf59 1330 }
Lightvalve 13:747daba9cf59 1331 }
Lightvalve 14:8e7590227d22 1332 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1333 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1334 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 1335 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1336 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1337 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1338 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1339 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1340 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1341 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1342 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1343 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1344 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1345 }
Lightvalve 14:8e7590227d22 1346 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1347
Lightvalve 30:8d561f16383b 1348 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1349 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1350 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1351
Lightvalve 14:8e7590227d22 1352 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1353 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1354 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1355 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1356 } else {
Lightvalve 13:747daba9cf59 1357 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1358 }
Lightvalve 13:747daba9cf59 1359 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1360 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1361 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1362 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1363 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1364 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1365 DZ_index = 1;
Lightvalve 13:747daba9cf59 1366 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1367 }
Lightvalve 13:747daba9cf59 1368 }
Lightvalve 14:8e7590227d22 1369 } else {
Lightvalve 30:8d561f16383b 1370 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1371 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 1372 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1373 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1374 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1375 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1376 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1377 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1378 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1379 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1380 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1381 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1382 }
Lightvalve 14:8e7590227d22 1383 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1384
Lightvalve 30:8d561f16383b 1385 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1386 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1387 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1388 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1389 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1390
Lightvalve 60:64181f1d3e60 1391 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1392 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1393 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1394 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1395 } else {
Lightvalve 13:747daba9cf59 1396 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1397 }
Lightvalve 14:8e7590227d22 1398
Lightvalve 13:747daba9cf59 1399 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1400 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1401 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1402 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1403 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1404 first_check = 0;
Lightvalve 33:91b17819ec30 1405 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1406 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1407
Lightvalve 59:f308b1656d9c 1408 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1409
Lightvalve 57:f4819de54e7a 1410 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1411 DZ_index = 1;
Lightvalve 13:747daba9cf59 1412 }
Lightvalve 13:747daba9cf59 1413 }
Lightvalve 13:747daba9cf59 1414 }
Lightvalve 14:8e7590227d22 1415 }
Lightvalve 13:747daba9cf59 1416 break;
Lightvalve 13:747daba9cf59 1417 }
Lightvalve 14:8e7590227d22 1418
Lightvalve 14:8e7590227d22 1419 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1420 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1421 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1422 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1423 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1424 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1425 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1426 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1427 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1428 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1429 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1430 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1431 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1432 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1433 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1434 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1435 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1436 first_check = 1;
Lightvalve 13:747daba9cf59 1437 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1438 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1439 ID_index = 0;
Lightvalve 13:747daba9cf59 1440 max_check = 0;
Lightvalve 13:747daba9cf59 1441 min_check = 0;
Lightvalve 13:747daba9cf59 1442 }
Lightvalve 14:8e7590227d22 1443 } else {
Lightvalve 30:8d561f16383b 1444 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1445 //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 1446 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1447 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1448 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1449 data_num = 0;
Lightvalve 57:f4819de54e7a 1450 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1451
Lightvalve 14:8e7590227d22 1452 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1453 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1454 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1455 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1456 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1457 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1458 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1459 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1460 one_period_end = 1;
Lightvalve 13:747daba9cf59 1461 }
Lightvalve 30:8d561f16383b 1462 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1463 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1464 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1465 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1466 }
Lightvalve 14:8e7590227d22 1467
Lightvalve 14:8e7590227d22 1468 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1469 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1470 max_check = 1;
Lightvalve 14:8e7590227d22 1471 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1472 min_check = 1;
Lightvalve 13:747daba9cf59 1473 }
Lightvalve 13:747daba9cf59 1474 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1475
Lightvalve 13:747daba9cf59 1476 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1477 one_period_end = 0;
Lightvalve 13:747daba9cf59 1478 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1479 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1480 }
Lightvalve 14:8e7590227d22 1481
Lightvalve 14:8e7590227d22 1482 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1483
Lightvalve 13:747daba9cf59 1484 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1485 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1486 ID_index = 0;
Lightvalve 13:747daba9cf59 1487 first_check = 0;
Lightvalve 13:747daba9cf59 1488 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1489 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1490 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1491 }
Lightvalve 13:747daba9cf59 1492 }
Lightvalve 13:747daba9cf59 1493 break;
Lightvalve 13:747daba9cf59 1494 }
Lightvalve 58:2eade98630e2 1495
Lightvalve 57:f4819de54e7a 1496 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1497 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1498 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1499 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1500 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1501 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1502 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1503 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1504 }
Lightvalve 57:f4819de54e7a 1505 break;
Lightvalve 57:f4819de54e7a 1506 }
Lightvalve 58:2eade98630e2 1507
Lightvalve 58:2eade98630e2 1508
Lightvalve 57:f4819de54e7a 1509
Lightvalve 57:f4819de54e7a 1510 default:
Lightvalve 57:f4819de54e7a 1511 break;
Lightvalve 57:f4819de54e7a 1512 }
Lightvalve 57:f4819de54e7a 1513
Lightvalve 57:f4819de54e7a 1514 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1515
Lightvalve 57:f4819de54e7a 1516 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1517 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1518 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1519 break;
Lightvalve 57:f4819de54e7a 1520 }
Lightvalve 57:f4819de54e7a 1521
Lightvalve 57:f4819de54e7a 1522 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1523 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1524 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1525 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1526 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1527 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1528 } else {
Lightvalve 67:c2812cf26c38 1529 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1530 }
Lightvalve 58:2eade98630e2 1531
Lightvalve 57:f4819de54e7a 1532 break;
Lightvalve 57:f4819de54e7a 1533 }
Lightvalve 57:f4819de54e7a 1534
Lightvalve 57:f4819de54e7a 1535 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1536 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1537 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1538 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1539 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1540
Lightvalve 67:c2812cf26c38 1541 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1542 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1543 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1544 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1545
Lightvalve 67:c2812cf26c38 1546 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1547
Lightvalve 57:f4819de54e7a 1548 // torque feedback
Lightvalve 67:c2812cf26c38 1549 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1550 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1551
Lightvalve 57:f4819de54e7a 1552 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1553
Lightvalve 57:f4819de54e7a 1554 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1555 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1556 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1557
Lightvalve 57:f4819de54e7a 1558 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1559 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1560 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1561
Lightvalve 69:3995ffeaa786 1562 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1563 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 1564 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1565 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1566 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 1567 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1568 }
Lightvalve 57:f4819de54e7a 1569 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 1570 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1571
Lightvalve 57:f4819de54e7a 1572 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1573 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1574 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1575 // 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 1576 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1577 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1578 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1579 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 1580 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1581 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1582 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1583 }
Lightvalve 57:f4819de54e7a 1584 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 1585 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1586 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1587 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1588 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1589
Lightvalve 57:f4819de54e7a 1590 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1591
Lightvalve 67:c2812cf26c38 1592 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1593 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1594 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1595 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1596 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1597 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1598 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1599 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1600 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1601 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1602 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1603 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1604 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1605 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1606 }
Lightvalve 67:c2812cf26c38 1607 }
Lightvalve 57:f4819de54e7a 1608
Lightvalve 57:f4819de54e7a 1609 } else {
Lightvalve 57:f4819de54e7a 1610 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1611 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1612 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1613
Lightvalve 57:f4819de54e7a 1614 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 1615 + 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 1616
Lightvalve 72:3436ce769b1e 1617 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1618
Lightvalve 72:3436ce769b1e 1619 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1620
Lightvalve 72:3436ce769b1e 1621
Lightvalve 72:3436ce769b1e 1622 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1623 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1624 } else {
Lightvalve 72:3436ce769b1e 1625 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1626 }
Lightvalve 57:f4819de54e7a 1627
Lightvalve 57:f4819de54e7a 1628 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1629 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1630 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1631 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1632 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1633 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1634 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1635 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1636 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1637 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1638 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1639 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1640 }
Lightvalve 57:f4819de54e7a 1641 }
Lightvalve 61:bc8c8270f0ab 1642
Lightvalve 57:f4819de54e7a 1643 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1644
Lightvalve 67:c2812cf26c38 1645 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1646 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1647
Lightvalve 57:f4819de54e7a 1648 }
Lightvalve 72:3436ce769b1e 1649
Lightvalve 72:3436ce769b1e 1650 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1651
Lightvalve 57:f4819de54e7a 1652 break;
Lightvalve 57:f4819de54e7a 1653 }
Lightvalve 58:2eade98630e2 1654
Lightvalve 57:f4819de54e7a 1655 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1656 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1657 break;
Lightvalve 57:f4819de54e7a 1658 }
Lightvalve 14:8e7590227d22 1659
Lightvalve 12:6f2531038ea4 1660 default:
Lightvalve 12:6f2531038ea4 1661 break;
Lightvalve 12:6f2531038ea4 1662 }
Lightvalve 14:8e7590227d22 1663
Lightvalve 57:f4819de54e7a 1664
Lightvalve 57:f4819de54e7a 1665 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1666
Lightvalve 57:f4819de54e7a 1667 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1668 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1669 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1670 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1671 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1672 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1673
Lightvalve 57:f4819de54e7a 1674 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1675 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1676
Lightvalve 57:f4819de54e7a 1677
Lightvalve 57:f4819de54e7a 1678 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1679 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1680 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1681 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1682 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1683 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1684
Lightvalve 57:f4819de54e7a 1685 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1686 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1687 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1688 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1689 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1690 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1691 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1692 }
Lightvalve 57:f4819de54e7a 1693
Lightvalve 57:f4819de54e7a 1694 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1695
Lightvalve 67:c2812cf26c38 1696 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1697 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1698 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1699 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1700 // 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 1701 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1702 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1703
Lightvalve 57:f4819de54e7a 1704 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1705 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1706 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1707 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1708 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1709 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1710 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1711 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1712 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1713 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1714 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1715 }
Lightvalve 57:f4819de54e7a 1716 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1717 } else {
Lightvalve 57:f4819de54e7a 1718 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1719 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1720 }
Lightvalve 57:f4819de54e7a 1721
Lightvalve 57:f4819de54e7a 1722 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1723 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1724 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1725 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1726 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1727 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1728 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1729
Lightvalve 57:f4819de54e7a 1730 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1731
Lightvalve 57:f4819de54e7a 1732 } else {
Lightvalve 57:f4819de54e7a 1733 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1734 }
Lightvalve 57:f4819de54e7a 1735
Lightvalve 57:f4819de54e7a 1736 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1737 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1738 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1739
Lightvalve 57:f4819de54e7a 1740 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1741 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1742 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1743 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1744 }
Lightvalve 89:a7b45368ea0f 1745 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1746 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1747 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1748 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1749
Lightvalve 89:a7b45368ea0f 1750 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1751 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1752 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1753 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1754 }
Lightvalve 67:c2812cf26c38 1755
Lightvalve 67:c2812cf26c38 1756 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1757 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1758 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1759
jobuuu 7:e9086c72bb22 1760 /*******************************************************
jobuuu 7:e9086c72bb22 1761 *** PWM
jobuuu 7:e9086c72bb22 1762 ********************************************************/
Lightvalve 67:c2812cf26c38 1763 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1764 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1765 }
Lightvalve 67:c2812cf26c38 1766
Lightvalve 49:e7bcfc244d40 1767 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1768 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1769 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1770 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1771 }
Lightvalve 49:e7bcfc244d40 1772 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1773
Lightvalve 19:23b7c1ad8683 1774 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1775 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1776 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1777
Lightvalve 30:8d561f16383b 1778 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1779 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1780 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1781 } else {
jobuuu 2:a1c0a37df760 1782 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1783 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1784 }
Lightvalve 13:747daba9cf59 1785
jobuuu 1:e04e563be5ce 1786 //pwm
Lightvalve 30:8d561f16383b 1787 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1788 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1789
Lightvalve 61:bc8c8270f0ab 1790
Lightvalve 57:f4819de54e7a 1791 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1792
Lightvalve 54:647072f5307a 1793 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1794 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1795 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1796 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1797 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1798 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1799 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 1800 }
Lightvalve 57:f4819de54e7a 1801 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1802 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1803 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 1804 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1805 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 1806 }
Lightvalve 52:8ea76864368a 1807 }
Lightvalve 52:8ea76864368a 1808 }
Lightvalve 56:6f50d9d3bfee 1809 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1810 //valve position
Lightvalve 54:647072f5307a 1811 double t_value = 0;
Lightvalve 97:d71c57e3515e 1812 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1813 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1814 } else {
Lightvalve 97:d71c57e3515e 1815 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1816 }
Lightvalve 97:d71c57e3515e 1817 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1818 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1819 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1820 // } else {
Lightvalve 97:d71c57e3515e 1821 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1822 // }
Lightvalve 97:d71c57e3515e 1823 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1824 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1825 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1826 // } else {
Lightvalve 97:d71c57e3515e 1827 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1828 // }
Lightvalve 67:c2812cf26c38 1829 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1830 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1831 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1832 }
Lightvalve 58:2eade98630e2 1833
Lightvalve 58:2eade98630e2 1834
Lightvalve 98:cd1b2da4704f 1835 if (flag_data_request[2] == HIGH) {
Lightvalve 89:a7b45368ea0f 1836 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1837 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1838 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1839 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1840 } else {
Lightvalve 89:a7b45368ea0f 1841 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1842 }
Lightvalve 89:a7b45368ea0f 1843 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1844 }
Lightvalve 58:2eade98630e2 1845
Lightvalve 57:f4819de54e7a 1846 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1847 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1848 ;
Lightvalve 57:f4819de54e7a 1849 }
Lightvalve 58:2eade98630e2 1850
Lightvalve 56:6f50d9d3bfee 1851 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1852 //PWM
Lightvalve 73:f80dc3970c99 1853 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1854 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1855 }
Lightvalve 57:f4819de54e7a 1856 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1857 // ;
Lightvalve 57:f4819de54e7a 1858 // }
Lightvalve 56:6f50d9d3bfee 1859 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1860 //valve position
Lightvalve 73:f80dc3970c99 1861 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1862 }
Lightvalve 20:806196fda269 1863
Lightvalve 54:647072f5307a 1864 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1865 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1866 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1867 // }
Lightvalve 54:647072f5307a 1868 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1869 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1870 //}
Lightvalve 52:8ea76864368a 1871
Lightvalve 54:647072f5307a 1872 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1873 }
Lightvalve 54:647072f5307a 1874 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1875
Lightvalve 20:806196fda269 1876 }
Lightvalve 52:8ea76864368a 1877 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1878
Lightvalve 58:2eade98630e2 1879 }