HydraulicControlBoard_PostLIGHT_Original - Original Version of STM Board

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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_PostLIGHT_Original

Original Version of STM Board

main.cpp@35:34ce7b0347b8, 2019-11-20 (annotated)

Committer:: Lightvalve
Date:: Wed Nov 20 12:55:18 2019 +0000
Revision:: 35:34ce7b0347b8
Parent:: 34:bb2ca2fc2a8e
Child:: 36:a46e63505ed8

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
Lightvalve	31:66738bfecec5	12	///191008////
Lightvalve	31:66738bfecec5	13
jobuuu	7:e9086c72bb22	14	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	15	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	16	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	17	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	18	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	19	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	20	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	21	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	22
Lightvalve	24:ef6e1092e9e6	23
jobuuu	7:e9086c72bb22	24	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	25	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	26	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	30	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	31	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	32
jobuuu	7:e9086c72bb22	33	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	34	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	35	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	36	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	37	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	38	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	39	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	43
jobuuu	7:e9086c72bb22	44	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	45	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	46	CANMessage msg;
Lightvalve	11:82d8768d7351	47	void onMsgReceived()
Lightvalve	11:82d8768d7351	48	{
Lightvalve	11:82d8768d7351	49	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
jobuuu	7:e9086c72bb22	52	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	53	State pos;
jobuuu	7:e9086c72bb22	54	State vel;
jobuuu	7:e9086c72bb22	55	State Vout;
jobuuu	7:e9086c72bb22	56	State torq;
jobuuu	7:e9086c72bb22	57	State pres_A;
jobuuu	7:e9086c72bb22	58	State pres_B;
jobuuu	7:e9086c72bb22	59	State cur;
Lightvalve	14:8e7590227d22	60	State valve_pos;
Lightvalve	14:8e7590227d22	61
Lightvalve	14:8e7590227d22	62	State INIT_Vout;
Lightvalve	14:8e7590227d22	63	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	64	State INIT_Pos;
Lightvalve	14:8e7590227d22	65	State INIT_torq;
jobuuu	5:a4319f79457b	66
Lightvalve	30:8d561f16383b	67	float V_out=0.0f;
Lightvalve	30:8d561f16383b	68	float V_rem=0.0f; // for anti-windup
Lightvalve	30:8d561f16383b	69	float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu	5:a4319f79457b	70
Lightvalve	30:8d561f16383b	71	float PWM_out=0.0f;
Lightvalve	12:6f2531038ea4	72
Lightvalve	17:1865016ca2e7	73	int timer_while = 0;
Lightvalve	17:1865016ca2e7	74	int while_index = 0;
Lightvalve	17:1865016ca2e7	75
Lightvalve	19:23b7c1ad8683	76
Lightvalve	19:23b7c1ad8683	77	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	78	extern int CID_RX_REF_POSITION;
Lightvalve	19:23b7c1ad8683	79	extern int CID_RX_REF_TORQUE;
Lightvalve	19:23b7c1ad8683	80	extern int CID_RX_REF_PRES_DIFF;
Lightvalve	19:23b7c1ad8683	81	extern int CID_RX_REF_VOUT;
Lightvalve	19:23b7c1ad8683	82	extern int CID_RX_REF_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	83	extern int CID_RX_REF_CURRENT;
Lightvalve	19:23b7c1ad8683	84
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	86	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	87	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	88	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	89	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	90	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	91
jobuuu	7:e9086c72bb22	92	// =============================================================================
jobuuu	7:e9086c72bb22	93	// =============================================================================
jobuuu	7:e9086c72bb22	94	// =============================================================================
jobuuu	7:e9086c72bb22	95
Lightvalve	12:6f2531038ea4	96	/*******************************************************************************
Lightvalve	12:6f2531038ea4	97	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	98	******************************************************************************/
Lightvalve	13:747daba9cf59	99	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	100	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	101	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	102	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	103	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	104	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	105	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	106	};
Lightvalve	12:6f2531038ea4	107
Lightvalve	12:6f2531038ea4	108	/*******************************************************************************
Lightvalve	12:6f2531038ea4	109	* CONTROL MODE
Lightvalve	12:6f2531038ea4	110	******************************************************************************/
Lightvalve	13:747daba9cf59	111	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	112	//control mode
Lightvalve	12:6f2531038ea4	113	MODE_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	114	MODE_VALVE_OPEN_LOOP, //1
Lightvalve	12:6f2531038ea4	115	MODE_VALVE_POSITION_CONTROL, //2
Lightvalve	13:747daba9cf59	116
Lightvalve	12:6f2531038ea4	117	MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve	12:6f2531038ea4	118	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	119	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	120
Lightvalve	12:6f2531038ea4	121	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	122	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	123	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	124
Lightvalve	12:6f2531038ea4	125	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	126	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	127
Lightvalve	14:8e7590227d22	128	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	129	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	130	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	131
Lightvalve	12:6f2531038ea4	132	//utility
Lightvalve	12:6f2531038ea4	133	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	134	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	135	MODE_FIND_HOME, //22
Lightvalve	12:6f2531038ea4	136	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	137	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	138	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	139	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	140
Lightvalve	12:6f2531038ea4	141	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	142	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	143	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	12:6f2531038ea4	144	};
Lightvalve	12:6f2531038ea4	145
GiJeongKim	0:51c43836c1d7	146	int main()
GiJeongKim	0:51c43836c1d7	147	{
jobuuu	6:df07d3491e3a	148	/*********************************
jobuuu	1:e04e563be5ce	149	*** Initialization
jobuuu	6:df07d3491e3a	150	*********************************/
Lightvalve	19:23b7c1ad8683	151	//LED = 1;
Lightvalve	19:23b7c1ad8683	152	//pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	153
GiJeongKim	0:51c43836c1d7	154	// i2c init
Lightvalve	8:5d2eebdad025	155	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	156	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	157	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	158	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	159	make_delay();
jobuuu	2:a1c0a37df760	160
GiJeongKim	0:51c43836c1d7	161	// // spi init
Lightvalve	16:903b5a4433b4	162	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	163	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	164	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	165	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	166	make_delay();
Lightvalve	21:e5f1a43ea6f9	167
Lightvalve	16:903b5a4433b4	168	//rom
Lightvalve	19:23b7c1ad8683	169	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	170	make_delay();
Lightvalve	13:747daba9cf59	171
GiJeongKim	0:51c43836c1d7	172	// ADC init
jobuuu	5:a4319f79457b	173	Init_ADC();
Lightvalve	11:82d8768d7351	174	make_delay();
jobuuu	2:a1c0a37df760	175
GiJeongKim	0:51c43836c1d7	176	// Pwm init
GiJeongKim	0:51c43836c1d7	177	Init_PWM();
GiJeongKim	0:51c43836c1d7	178	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	179	make_delay();
Lightvalve	13:747daba9cf59	180
Lightvalve	11:82d8768d7351	181	// TMR3 init
Lightvalve	11:82d8768d7351	182	Init_TMR3();
Lightvalve	11:82d8768d7351	183	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	184	make_delay();
Lightvalve	21:e5f1a43ea6f9	185
Lightvalve	20:806196fda269	186	// TMR5 init
Lightvalve	23:59218d4a256d	187	Init_TMR2();
Lightvalve	23:59218d4a256d	188	TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	20:806196fda269	189	make_delay();
Lightvalve	21:e5f1a43ea6f9	190
GiJeongKim	0:51c43836c1d7	191	// CAN
jobuuu	2:a1c0a37df760	192	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	193	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	194	make_delay();
Lightvalve	34:bb2ca2fc2a8e	195
Lightvalve	23:59218d4a256d	196	//Timer priority
Lightvalve	23:59218d4a256d	197	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	23:59218d4a256d	198	NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	23:59218d4a256d	199	NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve	34:bb2ca2fc2a8e	200
Lightvalve	23:59218d4a256d	201	//can.reset();
Lightvalve	19:23b7c1ad8683	202	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	203
GiJeongKim	0:51c43836c1d7	204	// spi _ enc
GiJeongKim	0:51c43836c1d7	205	spi_enc_set_init();
Lightvalve	11:82d8768d7351	206	make_delay();
Lightvalve	13:747daba9cf59	207
Lightvalve	11:82d8768d7351	208	//DAC init
Lightvalve	16:903b5a4433b4	209	dac_1 = PRES_A_VREF / 3.3;
Lightvalve	16:903b5a4433b4	210	dac_2 = PRES_B_VREF / 3.3;
Lightvalve	11:82d8768d7351	211	make_delay();
Lightvalve	13:747daba9cf59	212
Lightvalve	19:23b7c1ad8683	213	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	214	if(i%2==0)
Lightvalve	11:82d8768d7351	215	ID_index_array[i] = - i * 0.5;
Lightvalve	11:82d8768d7351	216	else
Lightvalve	11:82d8768d7351	217	ID_index_array[i] = (i+1) * 0.5;
Lightvalve	11:82d8768d7351	218	}
Lightvalve	13:747daba9cf59	219
jobuuu	6:df07d3491e3a	220	/************************************
jobuuu	1:e04e563be5ce	221	*** Program is operating!
jobuuu	6:df07d3491e3a	222	*************************************/
GiJeongKim	0:51c43836c1d7	223	while(1) {
Lightvalve	21:e5f1a43ea6f9	224	if(timer_while==1000) {
Lightvalve	28:2a62d73e3dd0	225	//pc.printf("cmd %d\n ");
Lightvalve	17:1865016ca2e7	226	//i2c
Lightvalve	17:1865016ca2e7	227	read_field(i2c_slave_addr1);
Lightvalve	17:1865016ca2e7	228	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	21:e5f1a43ea6f9	229
Lightvalve	19:23b7c1ad8683	230	// if(LED==1) {
Lightvalve	19:23b7c1ad8683	231	// LED=0;
Lightvalve	19:23b7c1ad8683	232	// } else
Lightvalve	19:23b7c1ad8683	233	// LED = 1;
Lightvalve	17:1865016ca2e7	234	timer_while = 0;
Lightvalve	21:e5f1a43ea6f9	235
Lightvalve	17:1865016ca2e7	236	}
Lightvalve	17:1865016ca2e7	237	timer_while ++;
GiJeongKim	0:51c43836c1d7	238	}
jobuuu	1:e04e563be5ce	239	}
jobuuu	1:e04e563be5ce	240
Lightvalve	33:91b17819ec30	241	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	242	{
Lightvalve	14:8e7590227d22	243
Lightvalve	13:747daba9cf59	244	int i = 0;
Lightvalve	33:91b17819ec30	245	float Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	14:8e7590227d22	246	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	247	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	248	if(i==0) {
Lightvalve	33:91b17819ec30	249	Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve	14:8e7590227d22	250	} else {
Lightvalve	33:91b17819ec30	251	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])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve	13:747daba9cf59	252	}
Lightvalve	13:747daba9cf59	253	break;
Lightvalve	13:747daba9cf59	254	}
Lightvalve	13:747daba9cf59	255	}
Lightvalve	14:8e7590227d22	256	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	257	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	258	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	259	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	260	}
Lightvalve	35:34ce7b0347b8	261
Lightvalve	35:34ce7b0347b8	262	//VELOCITY_COMP_GAIN = 20;
Lightvalve	35:34ce7b0347b8	263	//CAN_TX_PRES((int16_t)(Ref_Valve_Pos_FF), (int16_t) (7));
Lightvalve	33:91b17819ec30	264	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + DDV_CENTER;
Lightvalve	34:bb2ca2fc2a8e	265
Lightvalve	13:747daba9cf59	266	return Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	267	}
jobuuu	6:df07d3491e3a	268
jobuuu	6:df07d3491e3a	269
Lightvalve	30:8d561f16383b	270	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	271	{
Lightvalve	13:747daba9cf59	272	int i = 0;
Lightvalve	13:747daba9cf59	273
Lightvalve	13:747daba9cf59	274	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	275	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	276	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	277	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	278	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	279	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	280
Lightvalve	13:747daba9cf59	281	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	282
Lightvalve	14:8e7590227d22	283	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	284	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	285	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	286	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	287	}
Lightvalve	34:bb2ca2fc2a8e	288
Lightvalve	34:bb2ca2fc2a8e	289
Lightvalve	23:59218d4a256d	290	// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve	23:59218d4a256d	291	// {
Lightvalve	23:59218d4a256d	292	// if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve	30:8d561f16383b	293	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve	23:59218d4a256d	294	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve	30:8d561f16383b	295	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1];
Lightvalve	23:59218d4a256d	296	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve	30:8d561f16383b	297	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3];
Lightvalve	23:59218d4a256d	298	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve	30:8d561f16383b	299	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5];
Lightvalve	23:59218d4a256d	300	// }else
Lightvalve	23:59218d4a256d	301	// VALVE_PWM_RAW_FF = 12000.0;
Lightvalve	23:59218d4a256d	302	// }
Lightvalve	23:59218d4a256d	303	// else
Lightvalve	23:59218d4a256d	304	// {
Lightvalve	23:59218d4a256d	305	// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve	30:8d561f16383b	306	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2];
Lightvalve	23:59218d4a256d	307	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve	30:8d561f16383b	308	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4];
Lightvalve	23:59218d4a256d	309	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve	30:8d561f16383b	310	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6];
Lightvalve	23:59218d4a256d	311	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve	30:8d561f16383b	312	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8];
Lightvalve	23:59218d4a256d	313	// }else
Lightvalve	23:59218d4a256d	314	// VALVE_PWM_RAW_FF = -12000.0;
Lightvalve	23:59218d4a256d	315	// }
Lightvalve	14:8e7590227d22	316
Lightvalve	18:b8adf1582ea3	317	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	318	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	319	if(i==0) {
Lightvalve	30:8d561f16383b	320	VALVE_PWM_RAW_FF = (float) 1000.0 / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	321	} else {
Lightvalve	30:8d561f16383b	322	VALVE_PWM_RAW_FF = (float) 1000.0* (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]) + 1000.0* (float) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	323	}
Lightvalve	13:747daba9cf59	324	break;
Lightvalve	13:747daba9cf59	325	}
Lightvalve	13:747daba9cf59	326	}
Lightvalve	19:23b7c1ad8683	327
Lightvalve	14:8e7590227d22	328	V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	27:a2254a485f23	329	//V_out = VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	330	}
Lightvalve	13:747daba9cf59	331
Lightvalve	14:8e7590227d22	332	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	333	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	334	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	335	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	336	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	337	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	338	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	339	}; // duty
Lightvalve	30:8d561f16383b	340	float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve	34:bb2ca2fc2a8e	341	-196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve	34:bb2ca2fc2a8e	342	-156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	343	12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve	34:bb2ca2fc2a8e	344	173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve	34:bb2ca2fc2a8e	345	214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve	34:bb2ca2fc2a8e	346	}; // mV
Lightvalve	13:747daba9cf59	347
Lightvalve	30:8d561f16383b	348	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	349	{
Lightvalve	30:8d561f16383b	350	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	351	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	352	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	353	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	354	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	355	} else {
Lightvalve	13:747daba9cf59	356	int idx = 0;
Lightvalve	13:747daba9cf59	357	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	358	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	359	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	360	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	361	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	362	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	363	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	364	break;
Lightvalve	13:747daba9cf59	365	}
Lightvalve	13:747daba9cf59	366	}
Lightvalve	13:747daba9cf59	367	}
Lightvalve	14:8e7590227d22	368
Lightvalve	13:747daba9cf59	369	return PWM_duty;
Lightvalve	13:747daba9cf59	370	}
jobuuu	6:df07d3491e3a	371
jobuuu	2:a1c0a37df760	372	/*******************************************************************************
jobuuu	2:a1c0a37df760	373	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	374	*******************************************************************************/
jobuuu	2:a1c0a37df760	375
Lightvalve	19:23b7c1ad8683	376	//unsigned long CNT_TMR4 = 0;
Lightvalve	30:8d561f16383b	377	float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve	30:8d561f16383b	378	float DT_TMR4 = (float)DT_10k;
jobuuu	1:e04e563be5ce	379	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	380	{
Lightvalve	23:59218d4a256d	381
Lightvalve	19:23b7c1ad8683	382	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	383
Lightvalve	21:e5f1a43ea6f9	384	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	385	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	386	********************************************************/
Lightvalve	13:747daba9cf59	387
Lightvalve	19:23b7c1ad8683	388
Lightvalve	21:e5f1a43ea6f9	389	//Using LoadCell
Lightvalve	15:bd0d12728506	390	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	15:bd0d12728506	391	// //while((ADC1->SR & 0b10));
Lightvalve	30:8d561f16383b	392	// float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	30:8d561f16383b	393	// float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve	30:8d561f16383b	394	// torq.sen = torq.sen(1.0f-alpha_update_torque)+torque_new(alpha_update_torque);
Lightvalve	17:1865016ca2e7	395
Lightvalve	19:23b7c1ad8683	396
Lightvalve	17:1865016ca2e7	397
Lightvalve	21:e5f1a43ea6f9	398	//Pressure sensor A
Lightvalve	21:e5f1a43ea6f9	399	ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	21:e5f1a43ea6f9	400	//while((ADC1->SR & 0b10));
Lightvalve	30:8d561f16383b	401	float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	30:8d561f16383b	402	float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	403	pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	19:23b7c1ad8683	404
Lightvalve	21:e5f1a43ea6f9	405	//Pressure sensor 1B
Lightvalve	21:e5f1a43ea6f9	406	//ADC2->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	21:e5f1a43ea6f9	407	//while((ADC2->SR & 0b10));
Lightvalve	30:8d561f16383b	408	float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	30:8d561f16383b	409	float pres_B_new = ((float)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	30:8d561f16383b	410	pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	30:8d561f16383b	411	torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	412
Lightvalve	17:1865016ca2e7	413
Lightvalve	17:1865016ca2e7	414
Lightvalve	21:e5f1a43ea6f9	415	//Current
Lightvalve	21:e5f1a43ea6f9	416	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	11:82d8768d7351	417	// a1=ADC2->DR;
Lightvalve	25:3e6b574cab5c	418	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	419	//while((ADC3->SR & 0b10));
Lightvalve	30:8d561f16383b	420	float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	421	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	422	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	423	//cur.sen = raw_cur;
Lightvalve	17:1865016ca2e7	424
Lightvalve	21:e5f1a43ea6f9	425	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	426	*** Timer Counting & etc.
Lightvalve	21:e5f1a43ea6f9	427	********************************************************/
Lightvalve	21:e5f1a43ea6f9	428	//CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	429	}
Lightvalve	11:82d8768d7351	430	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	431	}
Lightvalve	19:23b7c1ad8683	432
Lightvalve	19:23b7c1ad8683	433
Lightvalve	18:b8adf1582ea3	434	int j =0;
Lightvalve	19:23b7c1ad8683	435	//unsigned long CNT_TMR3 = 0;
Lightvalve	30:8d561f16383b	436	//float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	30:8d561f16383b	437	float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve	30:8d561f16383b	438	//float DT_TMR3 = (float)DT_5k;
Lightvalve	30:8d561f16383b	439	float DT_TMR3 = (float)DT_1k;
Lightvalve	11:82d8768d7351	440	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	441	{
Lightvalve	19:23b7c1ad8683	442	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	12:6f2531038ea4	443	ENC_UPDATE();
Lightvalve	13:747daba9cf59	444
Lightvalve	19:23b7c1ad8683	445	// CONTROL LOOP ------------------------------------------------------------
Lightvalve	13:747daba9cf59	446
Lightvalve	14:8e7590227d22	447	switch (CONTROL_MODE) {
Lightvalve	14:8e7590227d22	448	case MODE_NO_ACT: {
Lightvalve	30:8d561f16383b	449	V_out = 0.0f;
Lightvalve	13:747daba9cf59	450	break;
Lightvalve	13:747daba9cf59	451	}
Lightvalve	14:8e7590227d22	452
Lightvalve	14:8e7590227d22	453	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	30:8d561f16383b	454	V_out = (float) Vout.ref;
Lightvalve	14:8e7590227d22	455	break;
Lightvalve	14:8e7590227d22	456	}
Lightvalve	14:8e7590227d22	457
Lightvalve	14:8e7590227d22	458	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	14:8e7590227d22	459	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	460	break;
Lightvalve	14:8e7590227d22	461	}
Lightvalve	14:8e7590227d22	462
Lightvalve	14:8e7590227d22	463	case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve	30:8d561f16383b	464	float PWM_RAW_POS_FB = 0.0f; // PWM by Position Feedback
Lightvalve	30:8d561f16383b	465	float PWM_RAW_POS_FF = 0.0f; // PWM by Position Feedforward
Lightvalve	30:8d561f16383b	466	float PWM_RAW_FORCE_FB = 0.0f; // PWM by Force Feedback
Lightvalve	14:8e7590227d22	467
Lightvalve	13:747daba9cf59	468	// feedback input for position control
Lightvalve	30:8d561f16383b	469	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	470	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	471	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	472	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	473	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	474	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	475	// PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	30:8d561f16383b	476	PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve	30:8d561f16383b	477	PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01f;
Lightvalve	14:8e7590227d22	478
Lightvalve	13:747daba9cf59	479	// feedforward input for position control
Lightvalve	30:8d561f16383b	480	float Ref_Vel_Act = vel.ref/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	481	float K_ff = 0.9f;
Lightvalve	30:8d561f16383b	482	if(Ref_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve	30:8d561f16383b	483	if(Ref_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve	30:8d561f16383b	484	PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50f;
Lightvalve	14:8e7590227d22	485
Lightvalve	13:747daba9cf59	486	// torque feedback
Lightvalve	15:bd0d12728506	487	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	488	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	489	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	490	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	491	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	492	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	493	// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	30:8d561f16383b	494	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve	19:23b7c1ad8683	495
Lightvalve	30:8d561f16383b	496	PWM_RAW_FORCE_FB = 0.0f;
Lightvalve	14:8e7590227d22	497
Lightvalve	14:8e7590227d22	498	V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve	14:8e7590227d22	499
Lightvalve	13:747daba9cf59	500	break;
Lightvalve	13:747daba9cf59	501	}
Lightvalve	14:8e7590227d22	502
Lightvalve	14:8e7590227d22	503	case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve	34:bb2ca2fc2a8e	504
Lightvalve	34:bb2ca2fc2a8e	505
Lightvalve	30:8d561f16383b	506	float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve	30:8d561f16383b	507	//float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve	30:8d561f16383b	508	float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve	19:23b7c1ad8683	509	//int DDV_JOINT_CAN = 0;
Lightvalve	13:747daba9cf59	510	// feedback input for position control
Lightvalve	30:8d561f16383b	511	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	512	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	513	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	514	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	515	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	516	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	32:4b8c0fedaf2c	517	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	30:8d561f16383b	518	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	14:8e7590227d22	519
Lightvalve	14:8e7590227d22	520
Lightvalve	13:747daba9cf59	521	//Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve	13:747daba9cf59	522	// feedforward input for position control
Lightvalve	30:8d561f16383b	523	// float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	524	// float K_ff = 0.9f;
Lightvalve	30:8d561f16383b	525	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve	30:8d561f16383b	526	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve	30:8d561f16383b	527	// VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve	14:8e7590227d22	528
Lightvalve	13:747daba9cf59	529	// torque feedback
Lightvalve	15:bd0d12728506	530	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	531	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	532	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	533	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	534	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	535	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	536	// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	30:8d561f16383b	537	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve	30:8d561f16383b	538	VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	14:8e7590227d22	539
Lightvalve	33:91b17819ec30	540	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve	23:59218d4a256d	541	//valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	34:bb2ca2fc2a8e	542
Lightvalve	34:bb2ca2fc2a8e	543	if (valve_pos.ref > DDV_CENTER) {
Lightvalve	32:4b8c0fedaf2c	544	valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS - DDV_CENTER;
Lightvalve	34:bb2ca2fc2a8e	545	} else if(valve_pos.ref < DDV_CENTER) {
Lightvalve	32:4b8c0fedaf2c	546	valve_pos.ref = valve_pos.ref - DDV_CENTER + VALVE_DEADZONE_MINUS;
Lightvalve	32:4b8c0fedaf2c	547	}
Lightvalve	14:8e7590227d22	548	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	549
Lightvalve	34:bb2ca2fc2a8e	550
Lightvalve	13:747daba9cf59	551	break;
Lightvalve	13:747daba9cf59	552	}
Lightvalve	14:8e7590227d22	553
Lightvalve	14:8e7590227d22	554	case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	555
Lightvalve	13:747daba9cf59	556	break;
Lightvalve	13:747daba9cf59	557	}
Lightvalve	14:8e7590227d22	558
Lightvalve	14:8e7590227d22	559	case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve	30:8d561f16383b	560	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	561	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	562	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	563	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	564	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	565	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	566	VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve	14:8e7590227d22	567
Lightvalve	14:8e7590227d22	568	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	569	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	570	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	571	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	572	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	573	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	574	VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	575
Lightvalve	30:8d561f16383b	576	VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve	14:8e7590227d22	577
Lightvalve	30:8d561f16383b	578	V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	579
Lightvalve	30:8d561f16383b	580	CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve	30:8d561f16383b	581	CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2pi/655365000(pulse/tic to rad/s) 0.5757=0.025250.020.00952601000 (radius area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve	13:747daba9cf59	582	if (DIR_VALVE > 0) {
Lightvalve	30:8d561f16383b	583	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]1.0f - 0.0f) + 0.0f;
Lightvalve	30:8d561f16383b	584	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0f) / (VALVE_GAIN_LPM_PER_V[2]2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve	30:8d561f16383b	585	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0f) / (VALVE_GAIN_LPM_PER_V[4]3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve	30:8d561f16383b	586	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0f) / (VALVE_GAIN_LPM_PER_V[6]4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve	30:8d561f16383b	587	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0f) / (VALVE_GAIN_LPM_PER_V[8]5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve	30:8d561f16383b	588	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve	30:8d561f16383b	589	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1](-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve	30:8d561f16383b	590	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3](-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve	30:8d561f16383b	591	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5](-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve	30:8d561f16383b	592	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7](-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve	30:8d561f16383b	593	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9](-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve	30:8d561f16383b	594	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	595	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	596	} else {
Lightvalve	30:8d561f16383b	597	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]1.0f - 0.0f) + 0.0f;
Lightvalve	30:8d561f16383b	598	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0f) / (VALVE_GAIN_LPM_PER_V[2]2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve	30:8d561f16383b	599	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0f) / (VALVE_GAIN_LPM_PER_V[4]3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve	30:8d561f16383b	600	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0f) / (VALVE_GAIN_LPM_PER_V[6]4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve	30:8d561f16383b	601	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0f) / (VALVE_GAIN_LPM_PER_V[8]5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve	30:8d561f16383b	602	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve	30:8d561f16383b	603	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0](-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve	30:8d561f16383b	604	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2](-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve	30:8d561f16383b	605	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4](-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve	30:8d561f16383b	606	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6](-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve	30:8d561f16383b	607	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8](-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve	30:8d561f16383b	608	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	609	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	610	}
Lightvalve	30:8d561f16383b	611	// VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve	14:8e7590227d22	612
Lightvalve	30:8d561f16383b	613	if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve	30:8d561f16383b	614	else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve	14:8e7590227d22	615
Lightvalve	18:b8adf1582ea3	616	V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve	14:8e7590227d22	617	break;
Lightvalve	14:8e7590227d22	618	}
Lightvalve	14:8e7590227d22	619
Lightvalve	14:8e7590227d22	620	case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve	30:8d561f16383b	621	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	622	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	623	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	624	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	625	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	626	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	627	VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve	14:8e7590227d22	628
Lightvalve	15:bd0d12728506	629	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	630	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	631	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	632	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	633	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	634	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	635	VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	636
Lightvalve	14:8e7590227d22	637	valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	638	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	19:23b7c1ad8683	639
Lightvalve	14:8e7590227d22	640	break;
Lightvalve	14:8e7590227d22	641	}
Lightvalve	14:8e7590227d22	642
Lightvalve	14:8e7590227d22	643	case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	644
Lightvalve	14:8e7590227d22	645	break;
Lightvalve	14:8e7590227d22	646	}
Lightvalve	14:8e7590227d22	647
Lightvalve	19:23b7c1ad8683	648
Lightvalve	19:23b7c1ad8683	649	case MODE_TEST_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	650	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	651	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	652	}
Lightvalve	19:23b7c1ad8683	653	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	654
Lightvalve	19:23b7c1ad8683	655	// Set Current Reference
Lightvalve	30:8d561f16383b	656	float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve	30:8d561f16383b	657	float I_REF_MID = 0.0f;
Lightvalve	14:8e7590227d22	658	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	30:8d561f16383b	659	I_REF = I_REF_MID + 1.0f;
Lightvalve	14:8e7590227d22	660	} else {
Lightvalve	30:8d561f16383b	661	I_REF = I_REF_MID - 1.0f;
Lightvalve	19:23b7c1ad8683	662	}
Lightvalve	30:8d561f16383b	663	// float T = 1.0; // wave period
Lightvalve	30:8d561f16383b	664	// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve	30:8d561f16383b	665	// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve	19:23b7c1ad8683	666
Lightvalve	14:8e7590227d22	667	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	23:59218d4a256d	668	//CAN_TX_PRES((int16_t)(I_REF1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	669	}
Lightvalve	14:8e7590227d22	670	break;
Lightvalve	14:8e7590227d22	671	}
Lightvalve	19:23b7c1ad8683	672
Lightvalve	19:23b7c1ad8683	673	case MODE_TEST_PWM_CONTROL: {
Lightvalve	14:8e7590227d22	674	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	675	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	676	}
Lightvalve	19:23b7c1ad8683	677	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	678
Lightvalve	14:8e7590227d22	679	// Set PWM reference
Lightvalve	30:8d561f16383b	680	float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve	30:8d561f16383b	681	//float I_REF_MID = 0.0f;
Lightvalve	14:8e7590227d22	682	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	683	CUR_PWM = 1000;
Lightvalve	14:8e7590227d22	684	} else {
Lightvalve	14:8e7590227d22	685	CUR_PWM = -1000;
Lightvalve	19:23b7c1ad8683	686	}
Lightvalve	19:23b7c1ad8683	687
Lightvalve	14:8e7590227d22	688	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	30:8d561f16383b	689	//CAN_TX_PRES((int16_t)(u_CUR[0]1000.0f), (int16_t) (CUR_CURRENT1000.0f)); // to check the datas
Lightvalve	14:8e7590227d22	690	}
Lightvalve	13:747daba9cf59	691	break;
Lightvalve	13:747daba9cf59	692	}
Lightvalve	19:23b7c1ad8683	693
Lightvalve	19:23b7c1ad8683	694
Lightvalve	14:8e7590227d22	695	case MODE_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	696
Lightvalve	14:8e7590227d22	697	cur.ref = cur.ref; // Unit : mA
Lightvalve	14:8e7590227d22	698	CurrentControl();
Lightvalve	14:8e7590227d22	699	break;
Lightvalve	14:8e7590227d22	700	}
Lightvalve	19:23b7c1ad8683	701
Lightvalve	14:8e7590227d22	702	case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve	30:8d561f16383b	703	float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve	30:8d561f16383b	704	float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve	30:8d561f16383b	705	float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	706	float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	707
Lightvalve	14:8e7590227d22	708	// feedback input for position control
Lightvalve	14:8e7590227d22	709	pos.err = pos.ref - pos.sen;
Lightvalve	30:8d561f16383b	710	float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f3.1415f50.0f)); // f_cutoff : 50Hz
Lightvalve	30:8d561f16383b	711	float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve	30:8d561f16383b	712	pos.err_diff = (1.0f-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	713	pos.err_old = pos.err;
Lightvalve	30:8d561f16383b	714	I_REF_POS_FB = 0.001f((float)P_GAIN_JOINT_POSITION pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve	19:23b7c1ad8683	715
Lightvalve	14:8e7590227d22	716	// feedforward input for position control
Lightvalve	30:8d561f16383b	717	float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	718	float K_ff = 1.3f;
Lightvalve	30:8d561f16383b	719	float K_v = 0.0f;
Lightvalve	30:8d561f16383b	720	if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve	30:8d561f16383b	721	if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	722	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	723
Lightvalve	14:8e7590227d22	724	// feedback input for position control
Lightvalve	30:8d561f16383b	725	I_REF_FORCE_FB = 0.0f;
Lightvalve	19:23b7c1ad8683	726
Lightvalve	14:8e7590227d22	727	// feedforward input for position control
Lightvalve	30:8d561f16383b	728	I_REF_FORCE_FF = 0.0f;
Lightvalve	19:23b7c1ad8683	729
Lightvalve	14:8e7590227d22	730	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	731
Lightvalve	14:8e7590227d22	732	CurrentControl();
Lightvalve	19:23b7c1ad8683	733
Lightvalve	13:747daba9cf59	734	break;
Lightvalve	13:747daba9cf59	735	}
Lightvalve	19:23b7c1ad8683	736
Lightvalve	14:8e7590227d22	737	case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve	30:8d561f16383b	738	//float T_REF = 0.0; // Torque Reference
Lightvalve	30:8d561f16383b	739	float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	740	float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve	19:23b7c1ad8683	741
Lightvalve	14:8e7590227d22	742	// feedback input for position control
Lightvalve	30:8d561f16383b	743	//float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	744	//float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	745	//float K_spring = 0.7f;
Lightvalve	30:8d561f16383b	746	//float D_damper = 0.02f;
Lightvalve	14:8e7590227d22	747	// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve	19:23b7c1ad8683	748
Lightvalve	14:8e7590227d22	749	// torque feedback
Lightvalve	15:bd0d12728506	750	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	751	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	752	// torq.err_old = torq.err;
Lightvalve	30:8d561f16383b	753	torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	754	I_REF_FORCE_FB = 0.001f((float)P_GAIN_JOINT_TORQUE torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	19:23b7c1ad8683	755
Lightvalve	14:8e7590227d22	756	// velocity compensation for torque control
Lightvalve	30:8d561f16383b	757	float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	758	float K_vc = 1.5f; // Velocity comp. gain
Lightvalve	30:8d561f16383b	759	float K_v = 0.0f; // Valve gain
Lightvalve	30:8d561f16383b	760	if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve	30:8d561f16383b	761	if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve	14:8e7590227d22	762	I_REF_VC = K_vcK_vJoint_Vel_Act;
Lightvalve	19:23b7c1ad8683	763
Lightvalve	14:8e7590227d22	764	cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	765	// cur.ref = I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	766
Lightvalve	30:8d561f16383b	767	float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	30:8d561f16383b	768	float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve	14:8e7590227d22	769	if(cur.ref > I_MAX) {
Lightvalve	30:8d561f16383b	770	float I_rem = cur.ref-I_MAX;
Lightvalve	14:8e7590227d22	771	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	772	cur.ref = I_MAX;
Lightvalve	30:8d561f16383b	773	torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	774	} else if(cur.ref < -I_MAX) {
Lightvalve	30:8d561f16383b	775	float I_rem = cur.ref-(-I_MAX);
Lightvalve	19:23b7c1ad8683	776	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	777	cur.ref = -I_MAX;
Lightvalve	30:8d561f16383b	778	torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	779	}
Lightvalve	19:23b7c1ad8683	780
Lightvalve	14:8e7590227d22	781	CurrentControl();
Lightvalve	19:23b7c1ad8683	782
Lightvalve	19:23b7c1ad8683	783
Lightvalve	14:8e7590227d22	784	/*
Lightvalve	30:8d561f16383b	785	float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve	30:8d561f16383b	786	float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve	30:8d561f16383b	787	float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	788	float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	789
Lightvalve	14:8e7590227d22	790	// feedback input for position control
Lightvalve	14:8e7590227d22	791	pos.err = pos.ref - pos.sen;
Lightvalve	30:8d561f16383b	792	float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f3.1415f50.0f)); // f_cutoff : 50Hz
Lightvalve	30:8d561f16383b	793	float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve	30:8d561f16383b	794	pos.err_diff = (1.0f-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	795	pos.err_old = pos.err;
Lightvalve	30:8d561f16383b	796	I_REF_POS_FB = 0.001f((float)P_GAIN_JOINT_POSITION pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve	19:23b7c1ad8683	797
Lightvalve	14:8e7590227d22	798	// feedforward input for position control
Lightvalve	30:8d561f16383b	799	float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	800	float K_ff = 1.3f;
Lightvalve	30:8d561f16383b	801	float K_v = 0.0f;
Lightvalve	30:8d561f16383b	802	if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve	30:8d561f16383b	803	if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	804	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	805
Lightvalve	14:8e7590227d22	806	// feedback input for position control
Lightvalve	30:8d561f16383b	807	I_REF_FORCE_FB = 0.0f;
Lightvalve	19:23b7c1ad8683	808
Lightvalve	14:8e7590227d22	809	// feedforward input for position control
Lightvalve	30:8d561f16383b	810	I_REF_FORCE_FF = 0.0f;
Lightvalve	19:23b7c1ad8683	811
Lightvalve	14:8e7590227d22	812	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	813
Lightvalve	14:8e7590227d22	814	CurrentControl();
Lightvalve	14:8e7590227d22	815	*/
Lightvalve	19:23b7c1ad8683	816
Lightvalve	13:747daba9cf59	817	break;
Lightvalve	13:747daba9cf59	818	}
Lightvalve	14:8e7590227d22	819
Lightvalve	14:8e7590227d22	820	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	821	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	822	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	823	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	824
Lightvalve	14:8e7590227d22	825	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	826	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	827	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	828
Lightvalve	30:8d561f16383b	829	TORQUE_VREF += 0.0001f * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	830
Lightvalve	30:8d561f16383b	831	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	13:747daba9cf59	832	if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve	19:23b7c1ad8683	833
Lightvalve	16:903b5a4433b4	834	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	835
Lightvalve	16:903b5a4433b4	836	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	837	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	838	}
Lightvalve	13:747daba9cf59	839	} else {
Lightvalve	13:747daba9cf59	840	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	841	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	842	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	843	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	844
Lightvalve	16:903b5a4433b4	845	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	846
Lightvalve	16:903b5a4433b4	847	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	19:23b7c1ad8683	848
Lightvalve	17:1865016ca2e7	849	//pc.printf("%f\n", TORQUE_VREF);
Lightvalve	30:8d561f16383b	850	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	851
Lightvalve	13:747daba9cf59	852	}
Lightvalve	14:8e7590227d22	853	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	854	break;
Lightvalve	19:23b7c1ad8683	855	}
Lightvalve	14:8e7590227d22	856
Lightvalve	14:8e7590227d22	857	case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	14:8e7590227d22	858	if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	13:747daba9cf59	859	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	860	else temp_time = 0;
Lightvalve	13:747daba9cf59	861	}
Lightvalve	13:747daba9cf59	862	if (need_enc_init) {
Lightvalve	30:8d561f16383b	863	if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	864	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	865	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	866	} else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	867	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	868	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	869	} else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	13:747daba9cf59	870	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	871	}
Lightvalve	14:8e7590227d22	872
Lightvalve	14:8e7590227d22	873	if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	874	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	875	VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	14:8e7590227d22	876
Lightvalve	30:8d561f16383b	877	} else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	18:b8adf1582ea3	878	V_out = 0;
Lightvalve	13:747daba9cf59	879	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	14:8e7590227d22	880	} else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	881	if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	882	else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	883	else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	13:747daba9cf59	884	else DZ_temp_cnt2 = DZ_end;
Lightvalve	13:747daba9cf59	885	CUR_VELOCITY_sum = 0;
Lightvalve	14:8e7590227d22	886	} else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	887	if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	14:8e7590227d22	888
Lightvalve	13:747daba9cf59	889	// Position of Dead Zone
Lightvalve	13:747daba9cf59	890	// (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	14:8e7590227d22	891	// \| / \| / \|/
Lightvalve	13:747daba9cf59	892	// \| ______/ ___\|___/ ______/\|
Lightvalve	13:747daba9cf59	893	// \|/ / \| / \|
Lightvalve	13:747daba9cf59	894	// /\| / \| / \|
Lightvalve	13:747daba9cf59	895	// 0V 0V 0V
Lightvalve	14:8e7590227d22	896
Lightvalve	13:747daba9cf59	897	if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	14:8e7590227d22	898	if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	13:747daba9cf59	899	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	13:747daba9cf59	900	} else {
Lightvalve	18:b8adf1582ea3	901	V_out -= DZ_dir;
Lightvalve	13:747daba9cf59	902	if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	13:747daba9cf59	903	CUR_VELOCITY_sum = 0;
Lightvalve	13:747daba9cf59	904	}
Lightvalve	13:747daba9cf59	905	if (DZ_temp_cnt == 5) {
Lightvalve	18:b8adf1582ea3	906	if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	18:b8adf1582ea3	907	else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	13:747daba9cf59	908	DZ_dir = -DZ_dir;
Lightvalve	13:747daba9cf59	909	DZ_temp_cnt = 0;
Lightvalve	13:747daba9cf59	910	DZ_temp_cnt2++;
Lightvalve	13:747daba9cf59	911	}
Lightvalve	13:747daba9cf59	912	} else {
Lightvalve	14:8e7590227d22	913	TMR3_COUNT_DEADZONE = -1;
Lightvalve	13:747daba9cf59	914	VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	13:747daba9cf59	915	if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	13:747daba9cf59	916	VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	917	VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	918	}
Lightvalve	18:b8adf1582ea3	919	V_out = 0;
Lightvalve	19:23b7c1ad8683	920
Lightvalve	16:903b5a4433b4	921	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	922
Lightvalve	16:903b5a4433b4	923	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	16:903b5a4433b4	924	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	14:8e7590227d22	925
Lightvalve	13:747daba9cf59	926	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	927	DZ_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	928	}
Lightvalve	13:747daba9cf59	929	}
Lightvalve	14:8e7590227d22	930	TMR3_COUNT_DEADZONE++;
Lightvalve	13:747daba9cf59	931	break;
Lightvalve	13:747daba9cf59	932	}
Lightvalve	14:8e7590227d22	933
Lightvalve	14:8e7590227d22	934	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	935	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	936	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	937	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	938	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	29:69f3f5445d6d	939	pos.ref_home_pos = pos.sen;
Lightvalve	30:8d561f16383b	940	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	941	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	942	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	29:69f3f5445d6d	943	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	29:69f3f5445d6d	944	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	945	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	946	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	947	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	948	}
Lightvalve	29:69f3f5445d6d	949	cnt_findhome++;
Lightvalve	30:8d561f16383b	950	//if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve	14:8e7590227d22	951
Lightvalve	29:69f3f5445d6d	952	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	953	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	954	} else {
Lightvalve	29:69f3f5445d6d	955	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	956	}
Lightvalve	19:23b7c1ad8683	957
Lightvalve	30:8d561f16383b	958	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome <= 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	959	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	30:8d561f16383b	960	if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve	30:8d561f16383b	961	else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve	29:69f3f5445d6d	962	pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	30:8d561f16383b	963	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	30:8d561f16383b	964	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve	30:8d561f16383b	965	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	29:69f3f5445d6d	966	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	29:69f3f5445d6d	967	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	968
Lightvalve	30:8d561f16383b	969	//float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	970	//I_REF = 0.04fwn_Pos((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve	29:69f3f5445d6d	971	//// L velocity >> mA convert
Lightvalve	30:8d561f16383b	972	//if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve	30:8d561f16383b	973	//if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve	29:69f3f5445d6d	974	//FLAG_CURRNET_CONTROL = true;
Lightvalve	29:69f3f5445d6d	975	} else {
Lightvalve	29:69f3f5445d6d	976	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	29:69f3f5445d6d	977	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	978	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	979	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	980	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	981	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	982	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	983	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	984	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	985	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	29:69f3f5445d6d	986	}
Lightvalve	29:69f3f5445d6d	987	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	988	int T_move = 2*TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	989	pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)0.5f(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve	30:8d561f16383b	990	vel.ref_home_pos = 0.0f;
Lightvalve	19:23b7c1ad8683	991
Lightvalve	29:69f3f5445d6d	992	// input for position control
Lightvalve	30:8d561f16383b	993	pos.err = (pos.ref_home_pos - (float)pos.sen) / ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	994	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	30:8d561f16383b	995	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve	30:8d561f16383b	996	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	29:69f3f5445d6d	997	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	29:69f3f5445d6d	998	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	999
Lightvalve	19:23b7c1ad8683	1000
Lightvalve	29:69f3f5445d6d	1001	// if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	30:8d561f16383b	1002	// float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1003	// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve	29:69f3f5445d6d	1004	// // L when P-gain = 100, f_cut = 10Hz
Lightvalve	30:8d561f16383b	1005	// if (temp_vel > 0.0f ) I_REF = temp_vel((float)PISTON_AREA_A0.00006f/(K_vsqrt(2.0falpha3/(alpha3+1.0f))));
Lightvalve	30:8d561f16383b	1006	// else I_REF = temp_vel((float)PISTON_AREA_B0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve	29:69f3f5445d6d	1007	// // ------------------------------------------------------------------------
Lightvalve	29:69f3f5445d6d	1008	// // L thetadot(rad/s) >> I_ref(mA)
Lightvalve	29:69f3f5445d6d	1009	// } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve	30:8d561f16383b	1010	// float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1011	// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve	29:69f3f5445d6d	1012	// // L when P-gain = 100, f_cut = 10Hz
Lightvalve	30:8d561f16383b	1013	// if (temp_vel > 0.0f ) I_REF = temp_vel((float)PISTON_AREA_A0.00006f/(K_vsqrt(2.0falpha3/(alpha3+1.0f))));
Lightvalve	30:8d561f16383b	1014	// else I_REF = temp_vel((float)PISTON_AREA_B0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve	29:69f3f5445d6d	1015	// // ------------------------------------------------------------------------
Lightvalve	29:69f3f5445d6d	1016	// // L xdot(mm/s) >> I_ref(mA)
Lightvalve	29:69f3f5445d6d	1017	// }
Lightvalve	29:69f3f5445d6d	1018
Lightvalve	29:69f3f5445d6d	1019	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	1020	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	1021	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	1022	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1023	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1024	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1025	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1026	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1027	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	29:69f3f5445d6d	1028	CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve	29:69f3f5445d6d	1029	}
Lightvalve	13:747daba9cf59	1030	}
Lightvalve	19:23b7c1ad8683	1031
Lightvalve	13:747daba9cf59	1032	break;
Lightvalve	13:747daba9cf59	1033	}
Lightvalve	14:8e7590227d22	1034
Lightvalve	14:8e7590227d22	1035	case MODE_VALVE_GAIN_SETTING: {
Lightvalve	14:8e7590227d22	1036	if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	13:747daba9cf59	1037	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	1038	else {
Lightvalve	18:b8adf1582ea3	1039	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1040	temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	13:747daba9cf59	1041	}
Lightvalve	13:747daba9cf59	1042	}
Lightvalve	13:747daba9cf59	1043	if (need_enc_init) {
Lightvalve	30:8d561f16383b	1044	if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1045	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1046	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1047	} else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1048	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1049	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	1050	} else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1051	need_enc_init = false;
Lightvalve	30:8d561f16383b	1052	check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	30:8d561f16383b	1053	check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	1054	check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	13:747daba9cf59	1055	}
Lightvalve	13:747daba9cf59	1056	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	1057	}
Lightvalve	14:8e7590227d22	1058	TMR3_COUNT_FLOWRATE++;
Lightvalve	14:8e7590227d22	1059	if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	13:747daba9cf59	1060	if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	30:8d561f16383b	1061	VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1062	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1063	if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1064	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1065	} else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	30:8d561f16383b	1066	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=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	30:8d561f16383b	1067	// 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	13:747daba9cf59	1068	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1069	}
Lightvalve	13:747daba9cf59	1070	} else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	30:8d561f16383b	1071	VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1072	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1073	if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1074	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1075	} else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	30:8d561f16383b	1076	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	30:8d561f16383b	1077	// 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	13:747daba9cf59	1078	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1079	}
Lightvalve	13:747daba9cf59	1080	}
Lightvalve	13:747daba9cf59	1081	if (fl_temp_cnt2 == 100) {
Lightvalve	19:23b7c1ad8683	1082
Lightvalve	16:903b5a4433b4	1083	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1084
Lightvalve	30:8d561f16383b	1085	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	13:747daba9cf59	1086	cur_vel_sum = 0;
Lightvalve	13:747daba9cf59	1087	fl_temp_cnt = 0;
Lightvalve	13:747daba9cf59	1088	fl_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	1089	flag_flowrate++;
Lightvalve	13:747daba9cf59	1090	}
Lightvalve	13:747daba9cf59	1091	if (flag_flowrate == 10) {
Lightvalve	18:b8adf1582ea3	1092	V_out = 0;
Lightvalve	13:747daba9cf59	1093	flag_flowrate = 0;
Lightvalve	14:8e7590227d22	1094	TMR3_COUNT_FLOWRATE = 0;
Lightvalve	13:747daba9cf59	1095	valve_gain_repeat_cnt++;
Lightvalve	13:747daba9cf59	1096	if (valve_gain_repeat_cnt >= 1) {
Lightvalve	13:747daba9cf59	1097	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1098	valve_gain_repeat_cnt = 0;
Lightvalve	13:747daba9cf59	1099	}
Lightvalve	14:8e7590227d22	1100
Lightvalve	13:747daba9cf59	1101	}
Lightvalve	13:747daba9cf59	1102	break;
Lightvalve	13:747daba9cf59	1103	}
Lightvalve	14:8e7590227d22	1104
Lightvalve	13:747daba9cf59	1105	}
Lightvalve	14:8e7590227d22	1106
Lightvalve	14:8e7590227d22	1107	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1108	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1109	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1110	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1111	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1112
Lightvalve	14:8e7590227d22	1113	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1114	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1115	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1116	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1117	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1118
Lightvalve	30:8d561f16383b	1119	float VREF_NullingGain = 0.003f;
Lightvalve	13:747daba9cf59	1120	PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve	13:747daba9cf59	1121	PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve	14:8e7590227d22	1122
Lightvalve	30:8d561f16383b	1123	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1124	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1125	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1126	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1127
Lightvalve	30:8d561f16383b	1128	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1129	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1130	}
Lightvalve	13:747daba9cf59	1131	} else {
Lightvalve	13:747daba9cf59	1132	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1133	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1134	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1135	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1136	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1137	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1138
Lightvalve	16:903b5a4433b4	1139	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1140
Lightvalve	30:8d561f16383b	1141	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1142	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1143	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1144	}
Lightvalve	14:8e7590227d22	1145	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1146	break;
Lightvalve	13:747daba9cf59	1147	}
Lightvalve	14:8e7590227d22	1148
Lightvalve	14:8e7590227d22	1149	case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	14:8e7590227d22	1150	if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1151	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1152	if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1153	CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	13:747daba9cf59	1154	}
Lightvalve	14:8e7590227d22	1155	} else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1156	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1157	if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1158	CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	13:747daba9cf59	1159	}
Lightvalve	13:747daba9cf59	1160	} else {
Lightvalve	13:747daba9cf59	1161	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1162	TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	18:b8adf1582ea3	1163	V_out = 0;
Lightvalve	30:8d561f16383b	1164	PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	30:8d561f16383b	1165	PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	30:8d561f16383b	1166	PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	30:8d561f16383b	1167	PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	13:747daba9cf59	1168	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1169	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1170	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1171	CUR_PRES_B_mean = 0;
Lightvalve	19:23b7c1ad8683	1172
Lightvalve	16:903b5a4433b4	1173	ROM_RESET_DATA();
Lightvalve	14:8e7590227d22	1174
Lightvalve	30:8d561f16383b	1175	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	30:8d561f16383b	1176	//spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	13:747daba9cf59	1177	}
Lightvalve	14:8e7590227d22	1178	TMR3_COUNT_PRES_CALIB++;
Lightvalve	13:747daba9cf59	1179	break;
Lightvalve	13:747daba9cf59	1180	}
Lightvalve	14:8e7590227d22	1181
Lightvalve	14:8e7590227d22	1182	case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	30:8d561f16383b	1183	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	30:8d561f16383b	1184	V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	18:b8adf1582ea3	1185	if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	18:b8adf1582ea3	1186	else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1187	TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	14:8e7590227d22	1188	if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	1189	TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	30:8d561f16383b	1190	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1191	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1192	}
Lightvalve	13:747daba9cf59	1193	break;
Lightvalve	13:747daba9cf59	1194	}
Lightvalve	14:8e7590227d22	1195
Lightvalve	14:8e7590227d22	1196	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	13:747daba9cf59	1197	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1198
Lightvalve	14:8e7590227d22	1199	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	30:8d561f16383b	1200	V_out = 3000.0f * sin(23.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1201	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	30:8d561f16383b	1202	V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1203	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1204	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1205	data_num = 0;
Lightvalve	14:8e7590227d22	1206	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1207	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1208	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1209	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1210	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1211	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1212	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1213	}
Lightvalve	14:8e7590227d22	1214
Lightvalve	17:1865016ca2e7	1215	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1216	int i;
Lightvalve	13:747daba9cf59	1217	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1218	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1219	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1220	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1221	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1222	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1223	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1224	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1225	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1226	}
Lightvalve	13:747daba9cf59	1227	}
Lightvalve	27:a2254a485f23	1228	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1229	ID_index = 0;
Lightvalve	13:747daba9cf59	1230	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1231	}
Lightvalve	14:8e7590227d22	1232
Lightvalve	14:8e7590227d22	1233
Lightvalve	13:747daba9cf59	1234	break;
Lightvalve	13:747daba9cf59	1235	}
Lightvalve	14:8e7590227d22	1236
Lightvalve	14:8e7590227d22	1237	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	14:8e7590227d22	1238
Lightvalve	13:747daba9cf59	1239	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1240	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1241	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1242	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1243	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1244	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1245	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1246	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1247	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1248	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1249	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1250	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1251	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1252	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1253	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1254	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	1255	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1256	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1257	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1258	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	1259	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1260	START_POS = pos.sen;
Lightvalve	23:59218d4a256d	1261	//CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve	13:747daba9cf59	1262	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1263	data_num = 0;
Lightvalve	14:8e7590227d22	1264
Lightvalve	30:8d561f16383b	1265	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1266	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1267	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1268	//CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve	14:8e7590227d22	1269
Lightvalve	30:8d561f16383b	1270	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1271	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1272	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1273	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1274	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1275	else
Lightvalve	13:747daba9cf59	1276	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1277	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1278	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1279	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1280	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1281	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1282	// {
Lightvalve	14:8e7590227d22	1283	// DZ_case = 1;
Lightvalve	14:8e7590227d22	1284	// }
Lightvalve	14:8e7590227d22	1285	// else
Lightvalve	14:8e7590227d22	1286	// {
Lightvalve	14:8e7590227d22	1287	// DZ_case = -1;
Lightvalve	14:8e7590227d22	1288	// }
Lightvalve	14:8e7590227d22	1289	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1290	// {
Lightvalve	14:8e7590227d22	1291	// DZ_case = 0;
Lightvalve	14:8e7590227d22	1292	// }
Lightvalve	14:8e7590227d22	1293
Lightvalve	14:8e7590227d22	1294	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1295	DZ_case = 1;
Lightvalve	14:8e7590227d22	1296	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	13:747daba9cf59	1297	DZ_case = -1;
Lightvalve	14:8e7590227d22	1298	} else {
Lightvalve	13:747daba9cf59	1299	DZ_case = 0;
Lightvalve	13:747daba9cf59	1300	}
Lightvalve	14:8e7590227d22	1301
Lightvalve	14:8e7590227d22	1302	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1303	first_check = 1;
Lightvalve	13:747daba9cf59	1304	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1305	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1306	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1307	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1308	DZ_index = 1;
Lightvalve	18:b8adf1582ea3	1309	//CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve	14:8e7590227d22	1310
Lightvalve	13:747daba9cf59	1311	}
Lightvalve	19:23b7c1ad8683	1312	} else {
Lightvalve	14:8e7590227d22	1313	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1314	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1315	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1316	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1317	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1318	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1319	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1320	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1321	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1322	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1323	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1324	}
Lightvalve	14:8e7590227d22	1325	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1326	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1327	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1328	else
Lightvalve	13:747daba9cf59	1329	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1330	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1331	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1332	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1333	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1334	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1335	// else
Lightvalve	14:8e7590227d22	1336	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1337	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1338	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1339
Lightvalve	14:8e7590227d22	1340	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1341	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1342	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1343	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1344	} else {
Lightvalve	13:747daba9cf59	1345	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1346	}
Lightvalve	14:8e7590227d22	1347
Lightvalve	14:8e7590227d22	1348	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1349
Lightvalve	13:747daba9cf59	1350	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1351	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1352	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1353	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1354	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1355	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1356	DZ_index = 1;
Lightvalve	13:747daba9cf59	1357	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1358	}
Lightvalve	14:8e7590227d22	1359
Lightvalve	13:747daba9cf59	1360	//CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1361	}
Lightvalve	14:8e7590227d22	1362	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1363	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1364	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1365	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1366	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1367	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1368	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1369	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1370	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1371	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1372	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1373	}
Lightvalve	14:8e7590227d22	1374	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1375	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1376	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1377	else
Lightvalve	13:747daba9cf59	1378	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1379	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1380	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1381	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1382	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1383	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1384	// else
Lightvalve	14:8e7590227d22	1385	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1386	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1387	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1388
Lightvalve	14:8e7590227d22	1389	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1390	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1391	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1392	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1393	} else {
Lightvalve	13:747daba9cf59	1394	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1395	}
Lightvalve	14:8e7590227d22	1396
Lightvalve	14:8e7590227d22	1397	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1398
Lightvalve	14:8e7590227d22	1399
Lightvalve	13:747daba9cf59	1400	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1401	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1402	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1403	SECOND_DZ = valve_pos.ref;
Lightvalve	33:91b17819ec30	1404	DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve	13:747daba9cf59	1405	first_check = 0;
Lightvalve	33:91b17819ec30	1406	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1407	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1408
Lightvalve	16:903b5a4433b4	1409	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1410
Lightvalve	13:747daba9cf59	1411	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1412	DZ_index = 1;
Lightvalve	13:747daba9cf59	1413	}
Lightvalve	14:8e7590227d22	1414
Lightvalve	23:59218d4a256d	1415	//CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1416	}
Lightvalve	14:8e7590227d22	1417	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1418	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1419	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1420	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1421	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1422	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1423	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1424	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1425	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1426	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1427	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1428	}
Lightvalve	14:8e7590227d22	1429	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1430	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1431	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1432	else
Lightvalve	13:747daba9cf59	1433	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1434	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1435	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1436	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1437	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1438	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1439	// else
Lightvalve	14:8e7590227d22	1440	// DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1441	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1442	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1443
Lightvalve	14:8e7590227d22	1444	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1445	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1446	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1447	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1448	} else {
Lightvalve	13:747daba9cf59	1449	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1450	}
Lightvalve	14:8e7590227d22	1451
Lightvalve	14:8e7590227d22	1452	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1453	//CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve	13:747daba9cf59	1454	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1455	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1456	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1457	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1458	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1459	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1460	DZ_index = 1;
Lightvalve	13:747daba9cf59	1461	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1462	}
Lightvalve	13:747daba9cf59	1463	}
Lightvalve	14:8e7590227d22	1464	} else {
Lightvalve	30:8d561f16383b	1465	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1466	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1467	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1468	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1469	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1470	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1471	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1472	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1473	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1474	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1475	}
Lightvalve	14:8e7590227d22	1476	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1477	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1478	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1479	else
Lightvalve	13:747daba9cf59	1480	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1481	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1482	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1483	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1484	if(VEL_POINT >= 0)
Lightvalve	13:747daba9cf59	1485	DZ_DIRECTION = -1;
Lightvalve	13:747daba9cf59	1486	else
Lightvalve	13:747daba9cf59	1487	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1488	if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	13:747daba9cf59	1489	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1490
Lightvalve	14:8e7590227d22	1491	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1492
Lightvalve	14:8e7590227d22	1493
Lightvalve	13:747daba9cf59	1494	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1495	//CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1496	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1497	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1498	SECOND_DZ = valve_pos.ref;
Lightvalve	33:91b17819ec30	1499	DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve	13:747daba9cf59	1500	first_check = 0;
Lightvalve	33:91b17819ec30	1501	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1502	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	34:bb2ca2fc2a8e	1503
Lightvalve	13:747daba9cf59	1504	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1505	DZ_index = 1;
Lightvalve	13:747daba9cf59	1506	}
Lightvalve	14:8e7590227d22	1507
Lightvalve	13:747daba9cf59	1508	//CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1509	}
Lightvalve	13:747daba9cf59	1510	}
Lightvalve	14:8e7590227d22	1511	}
Lightvalve	13:747daba9cf59	1512	break;
Lightvalve	13:747daba9cf59	1513	}
Lightvalve	14:8e7590227d22	1514
Lightvalve	14:8e7590227d22	1515	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	13:747daba9cf59	1516	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1517	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1518	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1519	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	23:59218d4a256d	1520	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1521	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1522	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1523	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1524	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1525	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1526	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1527	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1528	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	18:b8adf1582ea3	1529	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1530	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1531	first_check = 1;
Lightvalve	13:747daba9cf59	1532	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1533	valve_pos.ref = DDV_CENTER;
Lightvalve	13:747daba9cf59	1534	ID_index = 0;
Lightvalve	13:747daba9cf59	1535	max_check = 0;
Lightvalve	13:747daba9cf59	1536	min_check = 0;
Lightvalve	13:747daba9cf59	1537	}
Lightvalve	14:8e7590227d22	1538	} else {
Lightvalve	30:8d561f16383b	1539	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1540	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1541	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1542	data_num = 0;
Lightvalve	33:91b17819ec30	1543	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1544
Lightvalve	14:8e7590227d22	1545	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1546	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1547	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	33:91b17819ec30	1548	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1549	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1550	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1551	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1552	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1553	one_period_end = 1;
Lightvalve	13:747daba9cf59	1554	}
Lightvalve	30:8d561f16383b	1555	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1556	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1557	one_period_end = 1;
Lightvalve	13:747daba9cf59	1558	}
Lightvalve	14:8e7590227d22	1559
Lightvalve	14:8e7590227d22	1560	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1561	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1562	max_check = 1;
Lightvalve	14:8e7590227d22	1563	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1564	min_check = 1;
Lightvalve	13:747daba9cf59	1565	}
Lightvalve	13:747daba9cf59	1566	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1567
Lightvalve	19:23b7c1ad8683	1568	//ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1569
Lightvalve	16:903b5a4433b4	1570	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	16:903b5a4433b4	1571	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve	13:747daba9cf59	1572	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1573	one_period_end = 0;
Lightvalve	13:747daba9cf59	1574	ID_index= ID_index +1;
Lightvalve	14:8e7590227d22	1575	// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve	30:8d561f16383b	1576	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1577	}
Lightvalve	14:8e7590227d22	1578
Lightvalve	14:8e7590227d22	1579	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1580
Lightvalve	16:903b5a4433b4	1581	//spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve	13:747daba9cf59	1582	VALVE_POS_NUM = ID_index;
Lightvalve	27:a2254a485f23	1583	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1584	ID_index = 0;
Lightvalve	13:747daba9cf59	1585	first_check = 0;
Lightvalve	13:747daba9cf59	1586	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1587	// CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve	13:747daba9cf59	1588	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1589	}
Lightvalve	13:747daba9cf59	1590	}
Lightvalve	13:747daba9cf59	1591	break;
Lightvalve	13:747daba9cf59	1592	}
Lightvalve	14:8e7590227d22	1593
Lightvalve	12:6f2531038ea4	1594	default:
Lightvalve	12:6f2531038ea4	1595	break;
Lightvalve	12:6f2531038ea4	1596	}
Lightvalve	14:8e7590227d22	1597
Lightvalve	13:747daba9cf59	1598	if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve	13:747daba9cf59	1599	// Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve	14:8e7590227d22	1600	// if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve	14:8e7590227d22	1601	// if (V_out > 0.) {
Lightvalve	14:8e7590227d22	1602	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1603	// } else if (V_out < 0.) {
Lightvalve	14:8e7590227d22	1604	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1605	// } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1606	// } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve	14:8e7590227d22	1607
Lightvalve	14:8e7590227d22	1608	if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1609	else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1610
Lightvalve	14:8e7590227d22	1611	VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1612
Lightvalve	13:747daba9cf59	1613	// Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	30:8d561f16383b	1614	float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve	30:8d561f16383b	1615	float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	14:8e7590227d22	1616
Lightvalve	14:8e7590227d22	1617	if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve	14:8e7590227d22	1618	else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve	14:8e7590227d22	1619	else V_out = CUR_PWM_DZ;
Lightvalve	13:747daba9cf59	1620	} else {
Lightvalve	17:1865016ca2e7	1621	V_out = V_out;
Lightvalve	13:747daba9cf59	1622	}
Lightvalve	14:8e7590227d22	1623
jobuuu	7:e9086c72bb22	1624	/*******************************************************
jobuuu	7:e9086c72bb22	1625	*** PWM
jobuuu	7:e9086c72bb22	1626	********************************************************/
Lightvalve	34:bb2ca2fc2a8e	1627	if (V_out >= 12000.0f) {
Lightvalve	30:8d561f16383b	1628	V_out = 12000.0f;
Lightvalve	34:bb2ca2fc2a8e	1629	} else if(V_out<=-12000.0f) {
Lightvalve	30:8d561f16383b	1630	V_out = -12000.0f;
Lightvalve	27:a2254a485f23	1631	}
Lightvalve	18:b8adf1582ea3	1632	PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1633
jobuuu	2:a1c0a37df760	1634	// Saturation of output voltage to 5.0V
Lightvalve	17:1865016ca2e7	1635	// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve	17:1865016ca2e7	1636	// else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve	19:23b7c1ad8683	1637
Lightvalve	19:23b7c1ad8683	1638	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1639	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1640	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1641
Lightvalve	30:8d561f16383b	1642	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1643	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1644	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1645	} else {
jobuuu	2:a1c0a37df760	1646	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1647	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1648	}
Lightvalve	13:747daba9cf59	1649
jobuuu	1:e04e563be5ce	1650	//pwm
Lightvalve	30:8d561f16383b	1651	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1652	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1653
jobuuu	1:e04e563be5ce	1654	}
Lightvalve	11:82d8768d7351	1655	TIM3->SR = 0x0; // reset the status register
Lightvalve	21:e5f1a43ea6f9	1656
jobuuu	7:e9086c72bb22	1657	}
jobuuu	7:e9086c72bb22	1658
Lightvalve	20:806196fda269	1659
Lightvalve	20:806196fda269	1660
Lightvalve	20:806196fda269	1661	//unsigned long CNT_TMR5 = 0;
Lightvalve	30:8d561f16383b	1662	//float FREQ_TMR5 = (float)FREQ_500;
Lightvalve	30:8d561f16383b	1663	//float DT_TMR5 = (float)DT_500;
Lightvalve	23:59218d4a256d	1664	extern "C" void TIM2_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	1665	{
Lightvalve	23:59218d4a256d	1666	if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	1667
Lightvalve	20:806196fda269	1668	//CAN ----------------------------------------------------------------------
Lightvalve	20:806196fda269	1669	if (flag_data_request[0] == HIGH) {
Lightvalve	20:806196fda269	1670	//position+velocity
Lightvalve	20:806196fda269	1671	CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve	20:806196fda269	1672	//CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve	20:806196fda269	1673	//CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve	20:806196fda269	1674	//pc.printf("can good");
Lightvalve	20:806196fda269	1675	// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve	20:806196fda269	1676	}
Lightvalve	20:806196fda269	1677
Lightvalve	20:806196fda269	1678	if (flag_data_request[1] == HIGH) {
Lightvalve	20:806196fda269	1679	//torque
Lightvalve	20:806196fda269	1680	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve	20:806196fda269	1681	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve	20:806196fda269	1682	CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve	20:806196fda269	1683	// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve	20:806196fda269	1684	}
Lightvalve	20:806196fda269	1685
Lightvalve	20:806196fda269	1686	if (flag_data_request[2] == HIGH) {
Lightvalve	20:806196fda269	1687	//pressure A and B
Lightvalve	20:806196fda269	1688	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	20:806196fda269	1689	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	20:806196fda269	1690	// CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve	20:806196fda269	1691	// CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)1000.), (int16_t) ((DEADZONE_PLUS + 1.))1000.);
Lightvalve	20:806196fda269	1692	// CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve	20:806196fda269	1693
Lightvalve	20:806196fda269	1694	}
Lightvalve	20:806196fda269	1695
Lightvalve	20:806196fda269	1696	if (flag_data_request[3] == HIGH) {
Lightvalve	20:806196fda269	1697	//PWM
Lightvalve	20:806196fda269	1698	CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve	20:806196fda269	1699	// CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve	20:806196fda269	1700	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve	20:806196fda269	1701	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve	20:806196fda269	1702
Lightvalve	20:806196fda269	1703	}
Lightvalve	20:806196fda269	1704
Lightvalve	20:806196fda269	1705	if (flag_data_request[4] == HIGH) {
Lightvalve	20:806196fda269	1706	//valve position
Lightvalve	27:a2254a485f23	1707	CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve	33:91b17819ec30	1708	//CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve	20:806196fda269	1709
Lightvalve	20:806196fda269	1710	//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve	20:806196fda269	1711	// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve	20:806196fda269	1712	// CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	20:806196fda269	1713	// CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve	20:806196fda269	1714	// CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve	20:806196fda269	1715	}
Lightvalve	20:806196fda269	1716
Lightvalve	20:806196fda269	1717	}
Lightvalve	23:59218d4a256d	1718	TIM2->SR = 0x0; // reset the status register
Lightvalve	20:806196fda269	1719	}
Lightvalve	20:806196fda269	1720
Lightvalve	20:806196fda269	1721
Lightvalve	20:806196fda269	1722
Lightvalve	13:747daba9cf59	1723	void CurrentControl()
Lightvalve	13:747daba9cf59	1724	{
jobuuu	7:e9086c72bb22	1725	cur.err = cur.ref - cur.sen;
jobuuu	7:e9086c72bb22	1726	cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu	7:e9086c72bb22	1727	cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu	7:e9086c72bb22	1728	cur.err_old = cur.err;
jobuuu	7:e9086c72bb22	1729
Lightvalve	30:8d561f16383b	1730	float R_model = 150.0f; // ohm
Lightvalve	30:8d561f16383b	1731	float L_model = 0.3f;
Lightvalve	30:8d561f16383b	1732	float w0 = 2.0f3.14f90.0f;
Lightvalve	30:8d561f16383b	1733	float KP_I = L_model*w0;
Lightvalve	30:8d561f16383b	1734	float KI_I = R_model*w0;
Lightvalve	30:8d561f16383b	1735	float KD_I = 0.0f;
jobuuu	7:e9086c72bb22	1736
Lightvalve	30:8d561f16383b	1737	float FF_gain = 0.0f;
jobuuu	7:e9086c72bb22	1738	V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu	7:e9086c72bb22	1739	// V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu	7:e9086c72bb22	1740	V_out = V_out + FF_gain * (R_modelcur.ref + L_modelcur.ref_diff); // Unit : mV
Lightvalve	13:747daba9cf59	1741
Lightvalve	30:8d561f16383b	1742	float Ka = 5.0f/KP_I;
jobuuu	7:e9086c72bb22	1743	if(V_out > V_MAX) {
jobuuu	7:e9086c72bb22	1744	V_rem = V_out-V_MAX;
jobuuu	7:e9086c72bb22	1745	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1746	V_out = V_MAX;
jobuuu	7:e9086c72bb22	1747	cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu	7:e9086c72bb22	1748	} else if(V_out < -V_MAX) {
jobuuu	7:e9086c72bb22	1749	V_rem = V_out-(-V_MAX);
Lightvalve	13:747daba9cf59	1750	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1751	V_out = -V_MAX;
jobuuu	7:e9086c72bb22	1752	cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve	13:747daba9cf59	1753	}
Lightvalve	21:e5f1a43ea6f9	1754	}
Lightvalve	23:59218d4a256d	1755
Lightvalve	28:2a62d73e3dd0	1756
Lightvalve	30:8d561f16383b	1757
Lightvalve	32:4b8c0fedaf2c	1758

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	06 Oct 2022
Imports:	1
Forks:	0
Commits:	241
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@35:34ce7b0347b8, 2019-11-20 (annotated)

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