Diff: main.cpp

Revision:

242:27eca07c9591

Parent:

241:fb5b57e3f157

Child:

243:b235d67d25ba

diff -r fb5b57e3f157 -r 27eca07c9591 main.cpp
--- a/main.cpp	Tue Apr 05 05:12:12 2022 +0000
+++ b/main.cpp	Tue Apr 05 09:07:14 2022 +0000
@@ -322,10 +322,10 @@
 //        timer_while ++;
 
         //i2c for SW valve
-        if(OPERATING_MODE == 5) {
-            read_field(i2c_slave_addr1);
-            if(DIR_VALVE_ENC < 0) value = 1023 - value;
-        }
+//        if(OPERATING_MODE == 5) {
+//            read_field(i2c_slave_addr1);
+//            if(DIR_VALVE_ENC < 0) value = 1023 - value;
+//        }
     }
 }
 
@@ -498,7 +498,7 @@
         LVDT_H = 1;
         LVDT_L = 0;
 
-        for (int ij = 0; ij<400; ij++) {
+        for (int ij = 0; ij<200; ij++) {
 //            LED = 1;
             ADC1->CR2  |= 0x40000000;
             LVDT_new = ((float)ADC1->DR) - 2047.5f;
@@ -510,11 +510,11 @@
         LVDT_L = 0;
 
 //        LED = 0;
-        LVDT_new = LVDT_sum * 0.0025f;
+        LVDT_new = LVDT_sum * 0.005f;
 
-        float alpha_LVDT = 1.0f;//1.0f/(1.0f+TMR_FREQ_1k/(2.0f*PI*300.0f));
+        float alpha_LVDT = 1.0f/(1.0f+TMR_FREQ_1k/(2.0f*PI*300.0f));
         LVDT_LPF = (1.0f-alpha_LVDT) * LVDT_LPF + alpha_LVDT * LVDT_new;
-        force.sen = LVDT_LPF;
+        valve_pos.sen = LVDT_LPF;
 
     }
     TIM3->SR = 0x0;  // reset the status register
@@ -591,8 +591,8 @@
 {
     if (TIM2->SR & TIM_SR_UIF ) {
 
-        if (LED > 0) LED = 0;
-        else LED = 1;
+//        if (LED > 0) LED = 0;
+//        else LED = 1;
 
         if(MODE_POS_FT_TRANS == 1) {
             if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
@@ -1529,20 +1529,21 @@
         //////////////////////  Data transmission through CAN //////////////////////
         ////////////////////////////////////////////////////////////////////////////
 
-        if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
+        if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {  
+        
 
             // Position, Velocity, and Torque (ID:1200)
-            if (flag_data_request[0] == HIGH) {
+//            if (flag_data_request[0] == LOW) {
 
-                if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
-                    CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
+//                if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
+//                    CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
 //                    CAN_TX_POSITION_FT((int16_t) (PRES_B_VREF*10.0f*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (pres_B.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
 
-                } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
-                    CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
-//                    CAN_TX_POSITION_FT((int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f), (int16_t) (vel.sen*20.0f), (int16_t) (((float)ADC1->DR)));
-                }
-            }
+//                } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
+//                    CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
+                    CAN_TX_POSITION_FT((int16_t) (7.0f*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (valve_pos.sen));
+//                }
+//            }
 
             // Valve Position (ID:1300)
             if (flag_data_request[1] == HIGH) {