Sungwoo Kim
LIGHT2
Diff: main.cpp
- Revision:
- 23:59218d4a256d
- Parent:
- 21:e5f1a43ea6f9
- Child:
- 24:ef6e1092e9e6
diff -r 966b35691d69 -r 59218d4a256d main.cpp
--- a/main.cpp Mon Sep 09 10:41:16 2019 +0000
+++ b/main.cpp Tue Sep 10 09:38:26 2019 +0000
@@ -181,16 +181,23 @@
make_delay();
// TMR5 init
- Init_TMR5();
- TIM5->CR1 ^= TIM_CR1_UDIS;
+ Init_TMR2();
+ TIM2->CR1 ^= TIM_CR1_UDIS;
make_delay();
// CAN
can.attach(&CAN_RX_HANDLER);
CAN_ID_INIT();
make_delay();
+
+ //Timer priority
+ NVIC_SetPriority(TIM3_IRQn, 2);
+ NVIC_SetPriority(TIM2_IRQn, 3);
+ NVIC_SetPriority(TIM4_IRQn, 4);
+
+ //can.reset();
can.filter(msg.id, 0xFFFFF000, CANStandard);
-
+
// spi _ enc
spi_enc_set_init();
make_delay();
@@ -270,6 +277,34 @@
} else if(REF_VALVE_POS < VALVE_MIN_POS) {
REF_VALVE_POS = VALVE_MIN_POS;
}
+
+
+// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
+// {
+// if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
+// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
+// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
+// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (double) ID_index_array[1];
+// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
+// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (double) ID_index_array[3];
+// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
+// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (double) ID_index_array[5];
+// }else
+// VALVE_PWM_RAW_FF = 12000.0;
+// }
+// else
+// {
+// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
+// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (double) ID_index_array[2];
+// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
+// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (double) ID_index_array[4];
+// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
+// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (double) ID_index_array[6];
+// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
+// VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (double) ID_index_array[8];
+// }else
+// VALVE_PWM_RAW_FF = -12000.0;
+// }
for(i=0; i<24; i++) {
if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
@@ -334,6 +369,7 @@
double DT_TMR4 = (double)DT_10k;
extern "C" void TIM4_IRQHandler(void)
{
+
if (TIM4->SR & TIM_SR_UIF ) {
/*******************************************************
@@ -388,8 +424,10 @@
int j =0;
//unsigned long CNT_TMR3 = 0;
-double FREQ_TMR3 = (double)FREQ_5k;
-double DT_TMR3 = (double)DT_5k;
+//double FREQ_TMR3 = (double)FREQ_5k;
+double FREQ_TMR3 = (double)FREQ_1k;
+//double DT_TMR3 = (double)DT_5k;
+double DT_TMR3 = (double)DT_1k;
extern "C" void TIM3_IRQHandler(void)
{
if (TIM3->SR & TIM_SR_UIF ) {
@@ -454,6 +492,8 @@
}
case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
+
+
double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
//double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
@@ -488,9 +528,11 @@
// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
VALVE_POS_RAW_FORCE_FB = 0.0;
- //valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
- valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
+ valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
+ //valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
VALVE_POS_CONTROL(valve_pos.ref);
+
+
break;
}
@@ -608,7 +650,7 @@
// I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
- CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
+ //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
}
break;
}
@@ -629,7 +671,7 @@
}
if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
- CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
+ //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
}
break;
}
@@ -1166,10 +1208,6 @@
VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
for(i=0; i<25; i++) {
VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
-
- //ROM_RESET_DATA();
-
- //spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
VALVE_MAX_POS = VALVE_POS_AVG[i];
VALVE_POS_AVG_OLD = VALVE_MAX_POS;
@@ -1178,12 +1216,7 @@
VALVE_POS_AVG_OLD = VALVE_MIN_POS;
}
}
-
ROM_RESET_DATA();
-
- //spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
- //spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
- CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
ID_index = 0;
CONTROL_MODE = MODE_NO_ACT;
}
@@ -1216,7 +1249,7 @@
V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
DDV_POS_AVG = VALVE_POS_TMP / data_num;
START_POS = pos.sen;
- CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
+ //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
VALVE_POS_TMP = 0;
data_num = 0;
@@ -1374,7 +1407,7 @@
DZ_index = 1;
}
- CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
+ //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
}
} else if(DZ_case == 0 && DZ_NUM ==1) {
if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
@@ -1467,7 +1500,7 @@
//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
//spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
- CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
+ //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
CONTROL_MODE = MODE_NO_ACT;
DZ_index = 1;
}
@@ -1484,7 +1517,7 @@
if(first_check == 0) {
if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
V_out = VALVE_VOLTAGE_LIMIT;
- CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
+ //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
} else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
V_out = VALVE_VOLTAGE_LIMIT;
pos_plus_end = pos.sen;
@@ -1588,88 +1621,6 @@
V_out = V_out;
}
- //VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
- //PWM_out = CUR_PWM;
-
- /*
-
- //CAN ----------------------------------------------------------------------
- //if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
- if (TMR3_COUNT_CAN_TX % 1000 == 0) {
-
- if (flag_data_request[0] == HIGH) {
- //position+velocity
- CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
- //CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
- //CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
- //pc.printf("can good");
- // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
- }
-
- if (flag_data_request[1] == HIGH) {
- //torque
- //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
- //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
- CAN_TX_TORQUE((int16_t) (cur.sen));
- //CAN_TX_TORQUE((int16_t) (Ref_Valve_Pos_FF_CAN));
- // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
- }
-
- if (flag_data_request[2] == HIGH) {
- //pressure A and B
- //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
- CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
- // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
- // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
- // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
-
- }
-
- if (flag_data_request[3] == HIGH) {
- //PWM
- CAN_TX_PWM((int16_t) CUR_PWM);
- //CAN_TX_PWM((int16_t) (Ref_Valve_Pos_FF_CAN));
- // CAN_TX_PWM((int16_t) cnt_vel_findhome);
- // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
- // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
-
- }
-
- if (flag_data_request[4] == HIGH) {
- //valve position
- CAN_TX_VALVE_POSITION((int16_t) (value));
- //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
- //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
-
-
- //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
- // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
- // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
- // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
- // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
- }
-
- TMR3_COUNT_CAN_TX = 0;
-
- }
- TMR3_COUNT_CAN_TX++;
-
- */
-
-
- /*******************************************************
- *** Valve Control
- ********************************************************/
- //ValveControl(CONTROL_MODE);
-
-// double t = (double)CNT_TMR4*DT_TMR4;
-// double T = 1.0;
-// V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
-// if(V_out > 0.0) V_out = 1000.0;
-// else if(V_out < 0.0) V_out = -1000.0;
-
- //V_out = 2000.0 * sin(2 * 3.14159 * (double) CNT_TMR3 / (double) 5000.0);
-
/*******************************************************
*** PWM
********************************************************/
@@ -1695,37 +1646,6 @@
TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
- /*******************************************************
- *** Data Send (CAN) & Print out (UART)
- ********************************************************/
-// if((CNT_TMR3%1000)==0){
-// msg.id = 50;
-// msg.len = 4;
-// int temp_CUR = (int)(cur.sen*1000.0);
-// msg.data[0]=0x00FF&temp_CUR;
-// msg.data[1]=0x00FF&(temp_CUR>>8);
-// int temp_PWM = (int)(V_out);
-// msg.data[2]=0x00FF&temp_PWM;
-// msg.data[3]=0x00FF&(temp_PWM>>8);
-// can.write(msg);
-// }
-
- //if((CNT_TMR3%5000)==0) {
-// if(LED==1) {
-// LED=0;
-// } else
-// LED = 1;
-// LED != LED;
-// pc.printf("A %f\n", (double) pres_A.sen);
-// CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[j]);
-// j++;
- //}
-
- /*******************************************************
- *** Timer Counting & etc.
- ********************************************************/
- //CNT_TMR3++;
-
}
TIM3->SR = 0x0; // reset the status register
@@ -1736,9 +1656,9 @@
//unsigned long CNT_TMR5 = 0;
//double FREQ_TMR5 = (double)FREQ_500;
//double DT_TMR5 = (double)DT_500;
-extern "C" void TIM5_IRQHandler(void)
+extern "C" void TIM2_IRQHandler(void)
{
- if (TIM5->SR & TIM_SR_UIF ) {
+ if (TIM2->SR & TIM_SR_UIF ) {
//CAN ----------------------------------------------------------------------
if (flag_data_request[0] == HIGH) {
@@ -1794,7 +1714,7 @@
}
}
- TIM5->SR = 0x0; // reset the status register
+ TIM2->SR = 0x0; // reset the status register
}
@@ -1831,3 +1751,4 @@
cur.err_int = cur.err_int - V_rem*DT_5k;
}
}
+