Sungwoo Kim
/
HydraulicControlBoard_PostLIGHT_Original
Original Version of STM Board
Diff: main.cpp
- Revision:
- 61:bc8c8270f0ab
- Parent:
- 60:64181f1d3e60
- Child:
- 62:b5452adfb2cd
--- a/main.cpp Tue Mar 31 05:12:37 2020 +0000 +++ b/main.cpp Fri Apr 03 01:55:08 2020 +0000 @@ -8,6 +8,11 @@ #include "function_utilities.h" #include "stm32f4xx_flash.h" #include "FlashWriter.h" +#include "Eigen/Dense.h" + +using namespace std; +using namespace Eigen; +Timer t; ///191008//// @@ -76,6 +81,24 @@ extern int CID_TX_VOUT; extern int CID_TX_VALVE_POSITION; +MatrixXd Input = MatrixXd::Zero(1,22); //input +MatrixXd h1 = MatrixXd::Zero(22,32); +MatrixXd h2 = MatrixXd::Zero(32,32); +MatrixXd h3 = MatrixXd::Zero(32,32); +MatrixXd hout = MatrixXd::Zero(32,1); + +MatrixXd b1 = MatrixXd::Zero(32,1); +MatrixXd b2 = MatrixXd::Zero(32,1); +MatrixXd b3 = MatrixXd::Zero(32,1); +MatrixXd bout = MatrixXd::Zero(1,1); + +MatrixXd X; +ArrayXf Y; +//ArrayXf NNoutput = ArrayXf::Zero(1,1); +float NNoutput; + + + // ============================================================================= // ============================================================================= // ============================================================================= @@ -131,13 +154,15 @@ MODE_SYSTEM_ID, //33 }; + + int main() { /********************************* *** Initialization *********************************/ LED = 1; - //pc.baud(9600); + pc.baud(9600); // i2c init i2c.frequency(400 * 1000); // 0.4 mHz @@ -210,6 +235,246 @@ ID_index_array[i] = (i+1) * 0.5f; } + + + + Input << + 0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.226773,0.289478,0.369522,0.471698,0.052414,0.066907,0.085407,0.109023,0.139169,0.177651,0.226773,0.289478,0.369522,0.471698,0.369522,0.471698; + + + h1 << + 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,-2.0880801677703857 + ,-1.0489267110824585 + ,0.7445360422134399 + ,0.4031659960746765 + ,-1.0887231826782227 + ,1.5438745021820068 + ,-0.4563482999801636; + + b2 << + -0.10466054826974869 + ,-0.7642630338668823 + ,-1.4564176797866821 + ,-0.528777003288269 + ,-0.7297643423080444 + ,0.2625555098056793 + ,0.389851450920105 + ,-0.33048292994499207 + ,-1.20063054561615 + ,-1.912178635597229 + ,0.31253743171691895 + ,0.6883504390716553 + ,-0.04988760128617287 + ,2.26581072807312 + ,0.13501279056072235 + ,1.132785677909851 + ,-1.8237234354019165 + ,-1.5844906568527222 + ,0.26375624537467957 + ,-0.23789723217487335 + ,0.17283980548381805 + ,0.3692796230316162 + ,0.09335066378116608 + ,-1.0231001377105713 + ,1.2738454341888428 + ,1.44853675365448 + ,0.9071134924888611 + ,8.9274239144288e-05 + ,-0.6323830485343933 + ,-0.4208582937717438 + ,-1.1864360570907593 + ,-1.3916414976119995; + + b3 << + -1.963319182395935 + ,-0.4028509557247162 + ,0.3184174597263336 + ,0.1579766422510147 + ,0.1897633820772171 + ,0.866980791091919 + ,-0.45353031158447266 + ,-0.6562485098838806 + ,0.5865635275840759 + ,0.5033581852912903 + ,-0.14371006190776825 + ,0.050810977816581726 + ,-0.5131177306175232 + ,0.5688209533691406 + ,-1.1428403854370117 + ,-0.3598397970199585 + ,-1.3594286441802979 + ,-1.0192245244979858 + ,-0.2365882694721222 + ,0.5294732451438904 + ,1.530857801437378 + ,1.2039998769760132 + ,-1.0573883056640625 + ,-0.7962622046470642 + ,0.7248114347457886 + ,-0.36519983410835266 + ,-0.07752024382352829 + ,0.767806887626648 + ,0.2635451555252075 + ,-2.3236680030822754 + ,0.06150589883327484 + ,1.0375205278396606; + + bout << + -0.3124803602695465; + /************************************ *** Program is operating! *************************************/ @@ -225,6 +490,36 @@ timer_while = 0; } timer_while ++; + + t.reset(); + t.start(); + + X = Input*h1+b1.transpose(); + for(int i=0; i<32; i++){ + if(X(i)<0) + X(i) = 0; + } + X = X*h2+b2.transpose(); + for(int i=0; i<32; i++){ + if(X(i)<0) + X(i) = 0; + } + X = X*h3+b3.transpose(); + for(int i=0; i<32; i++){ + if(X(i)<0) + X(i) = 0; + } + X = X*hout+bout.transpose(); + NNoutput=1.0f/(1.0f+exp(-X(0,0))); + + t.stop(); + + + printf("NNoutput : %f\n", NNoutput); + printf("time : %f\n", t.read()); + + wait(1); + } } @@ -359,8 +654,8 @@ if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { ENC_UPDATE(); } - - ADC1->CR2 |= 0x40000000; + + ADC1->CR2 |= 0x40000000; if (SENSING_MODE == 0) { // Torque Sensing (0~210)bar ============================================= float pres_A_new = (((float) ADC1->DR) - 2047.5f); @@ -384,7 +679,7 @@ torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N } } - + // //Pressure sensor A // ADC1->CR2 |= 0x40000000; // adc _ 12bit // //while((ADC1->SR & 0b10)); @@ -616,16 +911,16 @@ //REFERENCE_MODE = MODE_REF_NO_ACT; if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f; else pos.ref = pos.ref - 2.0f; - + // pos.err = pos.ref_home_pos - pos.sen; // float VALVE_POS_RAW_POS_FB = 0.0f; // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; // VALVE_POS_CONTROL(valve_pos.ref); - + CONTROL_MODE = MODE_JOINT_CONTROL; alpha_trans = 0.0f; - + } else { ENC_SET(HOMEPOS_OFFSET); @@ -645,7 +940,7 @@ vel.ref = 0.0f; // input for position control - + CONTROL_MODE = MODE_JOINT_CONTROL; alpha_trans = 0.0f; // pos.err = pos.ref - (float)pos.sen; @@ -921,7 +1216,7 @@ } else { DZ_case = 0; } - + CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); first_check = 1; @@ -986,7 +1281,7 @@ valve_pos.ref = VALVE_MAX_POS; } VALVE_POS_CONTROL(valve_pos.ref); - + } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = 0.0f; } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { @@ -1031,7 +1326,7 @@ valve_pos.ref = VALVE_MAX_POS; } VALVE_POS_CONTROL(valve_pos.ref); - + } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; @@ -1074,7 +1369,7 @@ } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; - + if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1; } else if((FINAL_POS - START_POS)<-100) { @@ -1091,7 +1386,7 @@ first_check = 0; VALVE_DEADZONE_MINUS = (float) FIRST_DZ; VALVE_DEADZONE_PLUS = (float) SECOND_DZ; - + ROM_RESET_DATA(); CONTROL_UTILITY_MODE = MODE_NO_ACT; @@ -1296,9 +1591,9 @@ torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; } } - + VALVE_POS_CONTROL(valve_pos.ref); - + Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); V_out = (float) Vout.ref; @@ -1426,6 +1721,12 @@ TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); + + + //anotherMatrix = Matrix1 * Matrix2 * Matrix3 * Matrix3 * Matrix4; + + + if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { // Position, Velocity, and Torque (ID:1200) @@ -1477,6 +1778,10 @@ //PWM CAN_TX_PWM((int16_t) cur.sen); //1500 } + if (flag_data_request[3] == LOW) { + //PWM + CAN_TX_PWM((int16_t) 77); //1500 + } //for (i = 0; i < 10000; i++) { // ; // }