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Original Version of STM Board
main.cpp
- Committer:
- Lightvalve
- Date:
- 2020-10-08
- Revision:
- 143:d441540d477e
- Parent:
- 142:43026242815a
- Child:
- 144:fb8c3025963c
File content as of revision 143:d441540d477e:
//201008-4 #include "mbed.h" #include "FastPWM.h" #include "INIT_HW.h" #include "function_CAN.h" #include "SPI_EEP_ENC.h" #include "I2C_AS5510.h" #include "setting.h" #include "function_utilities.h" #include "stm32f4xx_flash.h" #include "FlashWriter.h" using namespace std; Timer t; ///191008//// // dac & check /////////////////////////////////////////// DigitalOut check(PC_2); DigitalOut check_2(PC_3); AnalogOut dac_1(PA_4); AnalogOut dac_2(PA_5); AnalogIn adc1(PC_4); //pressure_1 AnalogIn adc2(PB_0); //pressure_2 AnalogIn adc3(PC_1); //current // PWM /////////////////////////////////////////// float dtc_v=0.0f; float dtc_w=0.0f; // I2C /////////////////////////////////////////// I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) const int i2c_slave_addr1 = 0x56; unsigned int value; // 10bit output of reading sensor AS5510 // SPI /////////////////////////////////////////// //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); //DigitalOut eeprom_cs(PB_12); //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector SPI enc(PC_12,PC_11,PC_10); DigitalOut enc_cs(PD_2); DigitalOut LED(PA_15); // UART /////////////////////////////////////////// Serial pc(PA_9,PA_10); // _ UART // CAN /////////////////////////////////////////// CAN can(PB_8, PB_9, 1000000); CANMessage msg; void onMsgReceived() { CAN_RX_HANDLER(); } // Variables /////////////////////////////////////////// State pos; State vel; State Vout; State torq; State pres_A; State pres_B; State cur; State valve_pos; State INIT_Vout; State INIT_Valve_Pos; State INIT_Pos; State INIT_torq; extern int CID_RX_CMD; extern int CID_RX_REF_POSITION; extern int CID_RX_REF_VALVE_POS; extern int CID_RX_REF_PWM; extern int CID_TX_INFO; extern int CID_TX_POSITION; extern int CID_TX_TORQUE; extern int CID_TX_PRES; extern int CID_TX_VOUT; extern int CID_TX_VALVE_POSITION; // ============================================================================= // ============================================================================= // ============================================================================= /******************************************************************************* * REFERENCE MODE ******************************************************************************/ enum _REFERENCE_MODE { MODE_REF_NO_ACT = 0, //0 MODE_REF_DIRECT, //1 MODE_REF_COS_INC, //2 MODE_REF_LINE_INC, //3 MODE_REF_SIN_WAVE, //4 MODE_REF_SQUARE_WAVE, //5 }; /******************************************************************************* * CONTROL MODE ******************************************************************************/ enum _CONTROL_MODE { //control mode MODE_NO_ACT = 0, //0 MODE_VALVE_POSITION_CONTROL, //1 MODE_JOINT_CONTROL, //2 MODE_VALVE_OPEN_LOOP, //3 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 MODE_TEST_CURRENT_CONTROL, //9 MODE_TEST_PWM_CONTROL, //10 MODE_CURRENT_CONTROL, //11 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 //utility MODE_TORQUE_SENSOR_NULLING = 20, //20 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 MODE_FIND_HOME, //22 MODE_VALVE_GAIN_SETTING, //23 MODE_PRESSURE_SENSOR_NULLING, //24 MODE_PRESSURE_SENSOR_CALIB, //25 MODE_ROTARY_FRICTION_TUNING, //26 MODE_DDV_POS_VS_PWM_ID = 30, //30 MODE_DDV_DEADZONE_AND_CENTER, //31 MODE_DDV_POS_VS_FLOWRATE, //32 MODE_SYSTEM_ID, //33 }; void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the CPU, AHB and APB busses clocks */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = 8;//8 RCC_OscInitStruct.PLL.PLLN = 180; //180 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 2; RCC_OscInitStruct.PLL.PLLR = 2; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { //Error_Handler(); } /** Activate the Over-Drive mode */ if (HAL_PWREx_EnableOverDrive() != HAL_OK) { //Error_Handler(); } /** Initializes the CPU, AHB and APB busses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { //Error_Handler(); } } float u_past[num_array_u_past] = {0.0f}; float x_past[num_array_x_past] = {0.0f}; float x_future[num_array_x_future] = {0.0f}; float f_past[num_array_f_past] = {0.0f}; float f_future[num_array_f_future] = {0.0f}; float input_NN[num_input] = { 0.0f }; const float h1[num_input][16] = { {-1.5981804132461548f,1.1824954748153687f,0.12024858593940735f,0.4093947112560272f,-1.422607183456421f,1.731093406677246f,-0.1628284603357315f,1.4081450700759888f,-0.2713867425918579f,-0.011982741765677929f,-0.18945936858654022f,-1.7265640497207642f,-0.5893836617469788f,-0.6974841356277466f,-0.2396446317434311f,-0.5248772501945496f}, {-1.3474056720733643f,0.7813299894332886f,-0.36603355407714844f,0.07899521291255951f,-1.0529745817184448f,1.0410888195037842f,-0.3777896761894226f,0.7995219826698303f,-0.07959098368883133f,0.2428562492132187f,-0.22377769649028778f,-1.112268090248108f,0.0010696513345465064f,-0.8278091549873352f,-0.1953967958688736f,-0.16586850583553314f}, {-1.0209048986434937f,0.290720134973526f,0.33912619948387146f,-0.28886330127716064f,-0.36989912390708923f,0.6065747737884521f,0.2676515281200409f,0.44541263580322266f,-0.15554538369178772f,0.26785042881965637f,-0.2926534414291382f,-0.589061439037323f,-0.09406202286481857f,0.01780690997838974f,0.05209478735923767f,-0.2884119749069214f}, {-0.4909285604953766f,-0.5002466440200806f,0.3703531324863434f,0.28797078132629395f,0.15131209790706635f,-0.4102385342121124f,-0.10795548558235168f,0.09374773502349854f,0.01578444615006447f,0.41431212425231934f,0.12093505263328552f,0.42216575145721436f,-0.11591208726167679f,0.4052741825580597f,-0.27597576379776f,0.12506026029586792f}, {0.5847243666648865f,-1.055076003074646f,-0.004794687032699585f,0.20541422069072723f,0.6966517567634583f,-0.9300774335861206f,0.12058994174003601f,-0.9839825630187988f,0.02179347723722458f,0.26395392417907715f,0.35569658875465393f,0.936687171459198f,0.10593732446432114f,1.175402045249939f,-0.36018112301826477f,-0.03850877285003662f}, {1.644424319267273f,-2.5381598472595215f,0.20290347933769226f,0.1980067789554596f,1.471023678779602f,-2.1708061695098877f,0.15389427542686462f,-2.2065587043762207f,0.02487196773290634f,0.29525136947631836f,-0.199305921792984f,2.06744122505188f,0.05854376032948494f,2.2172279357910156f,-0.38513508439064026f,0.0964607372879982f}, {0.4307587146759033f,-0.07137462496757507f,-0.2331579178571701f,-0.47739383578300476f,-0.2818368971347809f,0.15633994340896606f,0.05604562163352966f,-0.38704362511634827f,0.33539512753486633f,-0.11658325046300888f,0.17028573155403137f,0.18952439725399017f,-0.3502298593521118f,0.5016257762908936f,-0.14554673433303833f,-0.06095710024237633f}, {0.2596503794193268f,-0.17684665322303772f,-0.24806702136993408f,0.013383056037127972f,-0.3203287422657013f,-0.12515699863433838f,-0.16704979538917542f,-0.32831302285194397f,0.02144159935414791f,-0.06176607310771942f,0.12770892679691315f,-0.20642785727977753f,0.190772145986557f,0.179703027009964f,0.04009982943534851f,0.12100610136985779f}, {0.35814568400382996f,0.4100647568702698f,0.09550115466117859f,-0.44757598638534546f,-0.1950407177209854f,0.04999299719929695f,-0.06753402948379517f,-0.4104048013687134f,-0.2547816038131714f,0.16654060781002045f,-0.24749194085597992f,0.2852245569229126f,0.0907367393374443f,0.21595926582813263f,-0.2847418785095215f,0.11371583491563797f}, {0.05555231496691704f,-0.03271458297967911f,0.17205187678337097f,-0.22579312324523926f,0.08579326421022415f,0.1217007115483284f,-0.2786858379840851f,-0.11141631752252579f,-0.009758778847754002f,-0.5851277112960815f,0.0218422319740057f,-0.3402082622051239f,0.2554112672805786f,-0.31053653359413147f,0.3247623145580292f,-0.1253858208656311f}, {0.25311827659606934f,0.5183544158935547f,0.34649983048439026f,0.12680210173130035f,-0.053463827818632126f,0.007579106837511063f,-0.1895401030778885f,0.1668766885995865f,-0.3999473452568054f,-0.10636711865663528f,0.35417813062667847f,-0.1813354194164276f,-0.12172401696443558f,-0.4551105499267578f,0.24870619177818298f,-0.48931506276130676f}, {-0.6563053727149963f,0.19756083190441132f,-0.3757385015487671f,-0.12358571588993073f,0.07328306883573532f,-0.037238527089357376f,0.1429324448108673f,0.6130515933036804f,-0.14150480926036835f,0.07175843417644501f,-0.35645532608032227f,0.2613658010959625f,0.11327669769525528f,-0.7011776566505432f,0.09779238700866699f,-0.3066490888595581f}, {0.2984195351600647f,0.11689455807209015f,0.18496140837669373f,0.07994478195905685f,0.10577218979597092f,0.250553160905838f,-0.22405625879764557f,0.3453320860862732f,-0.16153648495674133f,-0.2512969970703125f,-0.07162810117006302f,-0.4340240955352783f,-0.027155784890055656f,-0.14044378697872162f,-0.2075144499540329f,-0.5465872883796692f}, {0.24738316237926483f,0.09875593334436417f,0.38466766476631165f,-0.16186121106147766f,-0.3649815320968628f,-0.24439507722854614f,-0.2982172966003418f,-0.22019244730472565f,-0.1118817925453186f,-0.2599189877510071f,-0.15160207450389862f,-0.3233533799648285f,-0.3545188307762146f,-0.058986421674489975f,0.04470124840736389f,-0.08361245691776276f}, {0.5465022921562195f,0.11485406011343002f,0.18900898098945618f,-0.035653870552778244f,0.2251531481742859f,-0.23097997903823853f,0.03916636109352112f,0.21228940784931183f,0.2974494993686676f,0.04663419350981712f,-0.23016029596328735f,-0.5305768251419067f,0.07466139644384384f,0.058442287147045135f,0.062258750200271606f,-0.0009173364960588515f}, {0.26026996970176697f,-0.2071150690317154f,-0.37685394287109375f,-0.19433262944221497f,-0.2608952820301056f,-0.0791645273566246f,-0.14507901668548584f,-0.06689245998859406f,0.20259590446949005f,-0.019133813679218292f,-0.4112180769443512f,-0.27296704053878784f,-0.24609698355197906f,0.12159792333841324f,-0.07684260606765747f,0.052433136850595474f}, {0.1439766138792038f,-0.03434467315673828f,0.15568438172340393f,-0.035888563841581345f,-0.1411198377609253f,-0.28514769673347473f,-0.03859376907348633f,-0.03009875677525997f,-0.044177159667015076f,0.08119461685419083f,-0.29901522397994995f,0.050201985985040665f,0.129023477435112f,0.4306163787841797f,0.2742314636707306f,-0.09340307116508484f}, {0.08491593599319458f,0.09569241106510162f,0.19490453600883484f,-0.2727678716182709f,-0.5214928388595581f,-0.17592529952526093f,-0.336474746465683f,0.011528522707521915f,-0.36485639214515686f,-0.09947196394205093f,-0.1245218887925148f,-0.004173045977950096f,0.2969566285610199f,0.025926120579242706f,-0.2561379373073578f,-0.14705012738704681f}, {-0.26067087054252625f,0.20402586460113525f,-0.2776013910770416f,0.11251121014356613f,0.1356569081544876f,-0.16075852513313293f,0.25546005368232727f,-0.3667202293872833f,-0.3606417775154114f,0.056499212980270386f,-0.3653082549571991f,-0.04398968815803528f,0.12433525174856186f,0.3003925383090973f,-0.30415377020835876f,-0.6256242990493774f}, {0.20174482464790344f,0.517047107219696f,0.1420871913433075f,-0.351198673248291f,-0.47835221886634827f,0.13952265679836273f,-0.13263443112373352f,-0.3325405716896057f,-0.14778396487236023f,0.08952745795249939f,0.13078726828098297f,-0.08727720379829407f,0.2771639823913574f,0.36423322558403015f,0.13351169228553772f,-0.05249188467860222f}, {-0.33172884583473206f,-0.12578557431697845f,-0.07561364769935608f,0.04374920576810837f,-0.504200279712677f,-0.22995208203792572f,0.14428457617759705f,-0.04214416444301605f,-0.3449079096317291f,-0.22392889857292175f,-0.3526056706905365f,-0.6173003315925598f,-0.11980978399515152f,0.4445347785949707f,0.019461065530776978f,0.06533846259117126f}, {-0.2746991515159607f,-0.39803922176361084f,0.2631795108318329f,-0.6056082248687744f,0.07131186127662659f,-0.6141587495803833f,0.27224990725517273f,-0.2588511109352112f,-0.05341087281703949f,0.17998459935188293f,0.06781748682260513f,-0.4492778480052948f,0.30781853199005127f,0.35211244225502014f,0.06011766195297241f,-0.013677571900188923f}, }; const float h2[16][16] = { {-0.3052593767642975f,0.7765824198722839f,-0.06966331601142883f,0.06346946954727173f,-0.21907491981983185f,1.0206451416015625f,0.08824838697910309f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.561135172843933f,-0.35040342807769775f,-0.06817807257175446f,-1.8152068853378296f,-0.941753089427948f,1.3422269821166992f}, {-0.15002086758613586f,-0.8550978899002075f,0.057057321071624756f,-0.22086668014526367f,-0.35503754019737244f,-1.0127449035644531f,-0.4888165593147278f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.3300682306289673f,-0.6021377444267273f,0.12875975668430328f,0.5818859338760376f,-0.06024700775742531f,-1.0811307430267334f}, {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f}, {0.01863212138414383f,-0.3337986469268799f,-0.2894435524940491f,0.38655126094818115f,0.08946844935417175f,0.32297176122665405f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.23404084146022797f,0.3810727000236511f,-0.48963722586631775f,-0.19819985330104828f,0.21264146268367767f,0.13057638704776764f}, {-0.31285977363586426f,0.5254696607589722f,-0.25313520431518555f,0.1522999256849289f,0.036378175020217896f,0.6299951672554016f,-0.387730211019516f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.7028692364692688f,-0.4719698131084442f,-0.10920900851488113f,-0.6607767343521118f,-0.6136030554771423f,-0.41861391067504883f}, {0.21130001544952393f,-0.5510011911392212f,-0.3519742488861084f,0.005186192691326141f,-0.3015052080154419f,-3.134002208709717f,-0.4308614134788513f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.1488739550113678f,-0.2039378583431244f,-0.40369734168052673f,0.9097316861152649f,0.6725584864616394f,-1.1587285995483398f}, {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f}, {-0.1765946000814438f,-1.0339417457580566f,0.33083590865135193f,-0.819527268409729f,-0.14358049631118774f,-0.9539746642112732f,-0.22666585445404053f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,-0.3592086732387543f,-0.44579604268074036f,-0.3769204318523407f,1.2805591821670532f,0.5471216440200806f,-0.971291720867157f}, {-0.2365376353263855f,0.318532258272171f,-0.11379697918891907f,0.09605291485786438f,0.041274964809417725f,-0.3829578459262848f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.03334576636552811f,-0.3197441101074219f,-0.37024784088134766f,-0.2677830159664154f,-0.3714716136455536f,-0.24253447353839874f}, {-0.18313218653202057f,0.5718652606010437f,-0.13502129912376404f,0.2983894944190979f,0.12987366318702698f,0.5446907877922058f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.5811867713928223f,0.36860543489456177f,0.3811538517475128f,-0.6226065158843994f,-0.28333911299705505f,0.06599642336368561f}, {-0.2709399461746216f,-0.02219727821648121f,0.0457797646522522f,-0.3816734254360199f,-0.03321319818496704f,-0.42472511529922485f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.22601032257080078f,0.3545852601528168f,-0.3647043704986572f,0.4363546073436737f,-0.3764916956424713f,-0.29988300800323486f}, {0.03780045732855797f,0.2389167696237564f,0.3954955041408539f,0.14724940061569214f,0.0033026933670043945f,2.395582437515259f,-0.340645968914032f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.07925853133201599f,-0.3868732750415802f,-0.130569189786911f,-0.7517216801643372f,0.09055520594120026f,-0.3992140591144562f}, {-0.4916437864303589f,-0.2651384472846985f,-0.15798500180244446f,0.31105610728263855f,-0.37393757700920105f,0.14718307554721832f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.2205181121826172f,-0.3137296438217163f,0.2122403383255005f,-0.0701589360833168f,-0.19465039670467377f,0.043557438999414444f}, {-0.5959864854812622f,0.3259946405887604f,-0.2018718123435974f,0.28915268182754517f,0.07545611262321472f,-0.16025394201278687f,-0.26686808466911316f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,0.38453567028045654f,-0.4926404058933258f,-0.3746548593044281f,-0.9853651523590088f,-0.5918751358985901f,0.16668342053890228f}, {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f}, {-0.42525333166122437f,0.20472994446754456f,0.12081471085548401f,-0.2670913338661194f,0.29976895451545715f,-0.19096340239048004f,-0.22564581036567688f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.23385308682918549f,-0.14616331458091736f,-0.2963029742240906f,0.15100456774234772f,0.141853928565979f,-0.12432993948459625f}, }; const float h3[16][16] = { {-0.36079341173171997f,-0.037796806544065475f,0.06318946927785873f,-0.4337630569934845f,-0.046596355736255646f,-0.10056696832180023f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.01327434554696083f,0.32257992029190063f,-0.31052157282829285f,0.15314404666423798f}, {0.047732532024383545f,1.0453784465789795f,-0.9268192052841187f,-1.3970927000045776f,0.2515408992767334f,-0.5651271939277649f,-0.3198729455471039f,0.06247803568840027f,0.3076825439929962f,-0.3945154547691345f,0.4144817292690277f,-0.3128277659416199f,-0.2568195164203644f,-0.22904138267040253f,-0.29619118571281433f,-0.2936006188392639f}, {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f}, {-0.30922991037368774f,-0.09274730086326599f,0.23436321318149567f,-0.43154609203338623f,-0.2910845875740051f,0.1733359545469284f,0.20021501183509827f,0.07002416253089905f,-0.2121538668870926f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.11789911985397339f,0.15578041970729828f,0.21494504809379578f,-0.026418790221214294f}, {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f}, {-0.37449589371681213f,-0.20662908256053925f,-2.2171430587768555f,0.4006666839122772f,-2.283665418624878f,-0.9852012991905212f,-0.18732719123363495f,0.22384825348854065f,-0.7308322787284851f,-0.3613430857658386f,-0.08919548988342285f,0.07440454512834549f,-0.3236474096775055f,-2.7049267292022705f,0.46080514788627625f,-0.33965757489204407f}, {0.4110594093799591f,0.18829195201396942f,-0.28964921832084656f,0.37246426939964294f,0.18596374988555908f,-0.14638680219650269f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.24770422279834747f,0.05191253125667572f,0.3126353323459625f,-0.3391006588935852f}, {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f}, {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f}, {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f}, {0.15459725260734558f,1.7292665243148804f,-0.31037208437919617f,-1.5221078395843506f,1.3421568870544434f,1.6365735530853271f,-0.08742031455039978f,0.05785742402076721f,-0.5318602323532104f,-0.5702285170555115f,0.1268840730190277f,-0.3680243194103241f,-0.21464969217777252f,1.0949714183807373f,0.43239548802375793f,0.30368688702583313f}, {-0.408692330121994f,-0.05716104060411453f,0.0930914357304573f,-0.03940649330615997f,0.05710133910179138f,-0.2375245839357376f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.42342624068260193f,-0.38583824038505554f,-0.3349139094352722f,0.31519055366516113f}, {-0.2991822361946106f,0.3113429844379425f,-0.028302859514951706f,-0.022895999252796173f,0.13283444941043854f,0.17744621634483337f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.06122126057744026f,-0.17676572501659393f,0.3391455411911011f,-0.16869547963142395f}, {-0.2675279378890991f,-0.22211220860481262f,1.1439030170440674f,-0.484036386013031f,0.8753553032875061f,-0.9877870082855225f,-0.32875844836235046f,-0.31893211603164673f,-0.7903032898902893f,-0.8245096802711487f,-0.3685331642627716f,-0.494035929441452f,0.35235920548439026f,-3.0751383304595947f,0.29959845542907715f,0.16084237396717072f}, {-0.015470266342163086f,-0.9907230734825134f,0.35884010791778564f,0.9484112858772278f,0.040170274674892426f,-0.3648538887500763f,0.05196094512939453f,-0.008358269929885864f,-0.47176721692085266f,-0.3928334414958954f,0.13179203867912292f,-0.11511552333831787f,0.42800819873809814f,0.1324259489774704f,-0.06002689152956009f,-0.4644589424133301f}, {0.1863725483417511f,0.5639002323150635f,-1.9148942232131958f,-1.9074541330337524f,-0.23482058942317963f,0.21633437275886536f,0.04860696196556091f,0.17769548296928406f,-0.3528926372528076f,-0.12636518478393555f,-0.3929237127304077f,0.07927906513214111f,0.2110864371061325f,-0.5832923650741577f,-0.026214398443698883f,-0.16008035838603973f}, }; const float hout[16] = { 0.45773375034332275f,0.3756614625453949f,-0.3697648346424103f,-0.08151093125343323f,-0.5264179706573486f,0.5791542530059814f,0.0030125975608825684f,0.15066689252853394f,-0.04435929283499718f,-0.05321529507637024f,0.24303162097930908f,-0.041049774736166f,-0.21228361129760742f,0.8560773730278015f,0.40079009532928467f,-0.16921192407608032f }; const float b1[16] = { 1.1685986518859863f,1.1527799367904663f,-1.7145336866378784f,0.2994007468223572f,0.9155184030532837f,0.9460800290107727f,-0.058932315558195114f,1.0734328031539917f,0.528002142906189f,-0.9993016719818115f,0.6054026484489441f,1.395154356956482f,-0.5292949080467224f,-0.8814961910247803f,-1.087764859199524f,0.9824402332305908f }; const float b2[16] = { -0.4115595817565918f,-0.9893220663070679f,-1.4564176797866821f,-0.6809304356575012f,-0.6939148902893066f,0.851951003074646f,0.2943524718284607f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.34689339995384216f,0.4671037793159485f,-0.29071569442749023f,1.8405826091766357f,0.031147237867116928f,0.7181730270385742f }; const float b3[16] = { -1.963319182395935f,-0.35128119587898254f,-0.738315761089325f,0.008791283704340458f,0.12798717617988586f,0.5596712231636047f,-0.45353031158447266f,-0.6562485098838806f,-0.024550003930926323f,0.033852044492959976f,-0.14371006190776825f,-0.07968594133853912f,-0.6261923909187317f,-0.08120972663164139f,-1.2201191186904907f,-0.45568379759788513f }; const float bout[1] = { -0.30194076895713806f }; float VALVE_POS_RAW_NN = 0.0f; float DDV_JOINT_POS_FF(float REF_JOINT_VEL); int main() { HAL_Init(); SystemClock_Config(); /********************************* *** Initialization *********************************/ LED = 0; pc.baud(9600); // i2c init i2c.frequency(400 * 1000); // 0.4 mHz wait_ms(2); // Power Up wait look_for_hardware_i2c(); // Hardware present init_as5510(i2c_slave_addr1); make_delay(); // // spi init //eeprom.format(8,3); //eeprom.frequency(5000000); //5M enc.format(8,0); enc.frequency(5000000); //5M make_delay(); //rom ROM_CALL_DATA(); make_delay(); // ADC init Init_ADC(); make_delay(); // Pwm init Init_PWM(); TIM4->CR1 ^= TIM_CR1_UDIS; make_delay(); // TMR3 init Init_TMR3(); TIM3->CR1 ^= TIM_CR1_UDIS; make_delay(); // TMR2 init // Init_TMR2(); // TIM2->CR1 ^= TIM_CR1_UDIS; // make_delay(); // CAN can.attach(&CAN_RX_HANDLER); CAN_ID_INIT(); make_delay(); //Timer priority NVIC_SetPriority(TIM3_IRQn, 2); //NVIC_SetPriority(TIM2_IRQn, 3); NVIC_SetPriority(TIM4_IRQn, 3); //can.reset(); can.filter(msg.id, 0xFFFFF000, CANStandard); // spi _ enc spi_enc_set_init(); make_delay(); //DAC init if (SENSING_MODE == 0) { dac_1 = TORQUE_VREF / 3.3f; dac_2 = 0.0f; } else if (SENSING_MODE == 1) { dac_1 = PRES_A_VREF / 3.3f; dac_2 = PRES_B_VREF / 3.3f; } make_delay(); for (int i=0; i<50; i++) { if(i%2==0) ID_index_array[i] = - i * 0.5f; else ID_index_array[i] = (i+1) * 0.5f; } /************************************ *** Program is operating! *************************************/ while(1) { // if(timer_while==1000 && OPERATING_MODE==5) { //if(timer_while==1000) { //i2c read_field(i2c_slave_addr1); if(DIR_VALVE_ENC < 0) value = 1023 - value; // if(LED==1) { // LED=0; // } else // LED = 1; timer_while = 0; //} timer_while ++; //LED = 0; if(NN_Control_Flag == 0) { LED = 0; } else if(NN_Control_Flag == 1) { int ind = 0; for(int i=0; i<numpast_u; i++) { input_NN[ind] = u_past[time_interval*i]; ind = ind + 1; } for(int i=0; i<numpast_x; i++) { input_NN[ind] = x_past[time_interval*i] / 60.0f; ind = ind + 1; } input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f; ind = ind + 1; // for(int i=0; i<numfuture_x; i++) { // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f; // ind = ind + 1; // } for(int i=0; i<numpast_f; i++) { input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f; ind = ind + 1; } input_NN[ind] = torq.sen / 10000.0f + 0.5f; ind = ind + 1; for(int i=0; i<numfuture_f; i++) { input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f; // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f; ind = ind + 1; } float output1[16] = { 0.0f }; float output2[16] = { 0.0f }; float output3[16] = { 0.0f }; float output = 0.0f; for (int index2 = 0; index2 < 16; index2++) { for (int index1 = 0; index1 < num_input; index1++) { output1[index2] = output1[index2] + h1[index1][index2] * input_NN[index1]; } output1[index2] = output1[index2] + b1[index2]; if (output1[index2] < 0) { output1[index2] = 0; } } for (int index2 = 0; index2 < 16; index2++) { for (int index1 = 0; index1 < 16; index1++) { output2[index2] = output2[index2] + h2[index1][index2] * output1[index1]; } output2[index2] = output2[index2] + b2[index2]; if (output2[index2] < 0) { output2[index2] = 0; } } for (int index2 = 0; index2 < 16; index2++) { for (int index1 = 0; index1 < 16; index1++) { output3[index2] = output3[index2] + h3[index1][index2] * output2[index1]; } output3[index2] = output3[index2] + b3[index2]; if (output3[index2] < 0) { output3[index2] = 0; } } for (int index2 = 0; index2 < 1; index2++) { for (int index1 = 0; index1 < 16; index1++) { output = output + hout[index1] * output3[index1]; } output = output + bout[index2]; } output = 1.0f/(1.0f+exp(-output)); output_normalized = output; output = output * 20000.0f - 10000.0f; if(output>=0) { valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } else { valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } // // torque feedback // torq.err = f_past[0] - torq.sen; //[N] //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] // torq.err_sum += torq.err/(float) 1500.0f; //[N] // // // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f; // // if(I_GAIN_JOINT_TORQUE != 0) { // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; // if(valve_pos.ref>VALVE_MAX_POS) { // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; // valve_pos_rem = valve_pos_rem * Ka; // valve_pos.ref = VALVE_MAX_POS; // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; // } else if(valve_pos.ref < VALVE_MIN_POS) { // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; // valve_pos_rem = valve_pos_rem * Ka; // valve_pos.ref = VALVE_MIN_POS; // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; // } // } if(LED==1) { LED=0; } else LED = 1; } //LED = 1; } } float DDV_JOINT_POS_FF(float REF_JOINT_VEL) { int i = 0; float Ref_Valve_Pos_FF = 0.0f; for(i=0; i<VALVE_POS_NUM; i++) { if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) { if(i==0) { if(JOINT_VEL[i+1] == JOINT_VEL[i]) { Ref_Valve_Pos_FF = (float) VALVE_CENTER; } else { Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; } } else { if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { Ref_Valve_Pos_FF = (float) VALVE_CENTER; } else { Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]); } } break; } } if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; } Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); return Ref_Valve_Pos_FF; } void VALVE_POS_CONTROL(float REF_VALVE_POS) { int i = 0; if(REF_VALVE_POS > VALVE_MAX_POS) { REF_VALVE_POS = VALVE_MAX_POS; } else if(REF_VALVE_POS < VALVE_MIN_POS) { REF_VALVE_POS = VALVE_MIN_POS; } valve_pos_err = (float) (REF_VALVE_POS - value); valve_pos_err_diff = valve_pos_err - valve_pos_err_old; valve_pos_err_old = valve_pos_err; valve_pos_err_sum += valve_pos_err; if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; 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; for(i=0; i<24; i++) { if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) { if(i==0) { VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); } else { VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1]; } break; } } Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; } #define LT_MAX_IDX 57 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, -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f }; // duty float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f }; // mV float PWM_duty_byLT(float Ref_V) { float PWM_duty = 0.0f; if(Ref_V<LT_Voltage_Output[0]) { PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; } else { int idx = 0; for(idx=0; idx<LT_MAX_IDX-1; idx++) { float ini_x = LT_Voltage_Output[idx]; float fin_x = LT_Voltage_Output[idx+1]; float ini_y = LT_PWM_duty[idx]; float fin_y = LT_PWM_duty[idx+1]; if(Ref_V>=ini_x && Ref_V<fin_x) { PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; break; } } } return PWM_duty; } /******************************************************************************* TIMER INTERRUPT *******************************************************************************/ float FREQ_TMR4 = (float)FREQ_20k; float DT_TMR4 = (float)DT_20k; long CNT_TMR4 = 0; int TMR4_FREQ_10k = (int)FREQ_10k; extern "C" void TIM4_IRQHandler(void) { if (TIM4->SR & TIM_SR_UIF ) { /******************************************************* *** Sensor Read & Data Handling ********************************************************/ //Encoder if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { ENC_UPDATE(); } ADC1->CR2 |= 0x40000000; if (SENSING_MODE == 0) { // Torque Sensing (0~210)bar ============================================= float pres_A_new = (((float) ADC1->DR) - 2047.5f); double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; // float pres_A_new = ((float)ADC1->DR); // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 } else if (SENSING_MODE == 1) { // Pressure Sensing (0~210)bar ============================================= float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator 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)); // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); // float pres_A_new = ((float)ADC1->DR); // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. // // // //Pressure sensor B // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); // float pres_B_new = ((float)ADC2->DR); // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; //Current //ADC3->CR2 |= 0x40000000; // adc _ 12bit //int raw_cur = ADC3->DR; //while((ADC3->SR & 0b10)); float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); //cur.sen = raw_cur; CNT_TMR4++; } TIM4->SR = 0x0; // reset the status register } int j =0; float FREQ_TMR3 = (float)FREQ_5k; float DT_TMR3 = (float)DT_5k; int cnt_trans = 0; double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; int can_rest =0; extern "C" void TIM3_IRQHandler(void) { if (TIM3->SR & TIM_SR_UIF ) { if (((OPERATING_MODE&0b110)>>1) == 0) { K_v = 0.4f; // Moog (LPM >> mA) , 100bar mV_PER_mA = 500.0f; // 5000mV/10mA mV_PER_pulse = 0.5f; // 5000mV/10000pulse mA_PER_pulse = 0.001f; // 10mA/10000pulse } else if (((OPERATING_MODE&0b110)>>1) == 1) { K_v = 0.5f; // KNR (LPM >> mA) , 100bar mV_PER_mA = 166.6666f; // 5000mV/30mA mV_PER_pulse = 0.5f; // 5000mV/10000pulse mA_PER_pulse = 0.003f; // 30mA/10000pulse } if(MODE_POS_FT_TRANS == 1) { alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; cnt_trans++; torq.err_sum = 0; if((float)cnt_trans * DT_TMR3 > 3.0f) MODE_POS_FT_TRANS = 2; } else if(MODE_POS_FT_TRANS == 3) { alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; cnt_trans++; torq.err_sum = 0; if((float) cnt_trans * DT_TMR3 > 3.0f ) MODE_POS_FT_TRANS = 0; } else if(MODE_POS_FT_TRANS == 2) { alpha_trans = 1.0f; cnt_trans = 0; } else { alpha_trans = 0.0f; cnt_trans = 0; } int UTILITY_MODE = 0; int CONTROL_MODE = 0; if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { UTILITY_MODE = CONTROL_UTILITY_MODE; CONTROL_MODE = MODE_NO_ACT; } else { CONTROL_MODE = CONTROL_UTILITY_MODE; UTILITY_MODE = MODE_NO_ACT; } // UTILITY MODE ------------------------------------------------------------ switch (UTILITY_MODE) { case MODE_NO_ACT: { break; } case MODE_TORQUE_SENSOR_NULLING: { // DAC Voltage reference set if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { CUR_TORQUE_sum += torq.sen; if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; CUR_TORQUE_sum = 0; TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); dac_1 = TORQUE_VREF / 3.3f; } } else { CONTROL_UTILITY_MODE = MODE_NO_ACT; TMR3_COUNT_TORQUE_NULL = 0; CUR_TORQUE_sum = 0; CUR_TORQUE_mean = 0; ROM_RESET_DATA(); dac_1 = TORQUE_VREF / 3.3f; } TMR3_COUNT_TORQUE_NULL++; break; } // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { // if (TMR3_COUNT_DEADZONE == 0) { // if (pos_plus_end == pos_minus_end) need_enc_init = true; // else temp_time = 0; // } // if (need_enc_init) { // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_plus_end = pos.sen; // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_minus_end = pos.sen; // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; // temp_time = TMR_FREQ_5k; // } // // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; // // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { // V_out = 0; // CUR_VELOCITY_sum += CUR_VELOCITY; // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; // else DZ_temp_cnt2 = DZ_end; // CUR_VELOCITY_sum = 0; // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; // // // Position of Dead Zone // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) // // | / | / |/ // // | ______/ ___|___/ ______/| // // |/ / | / | // // /| / | / | // // 0V 0V 0V // // if (DZ_temp_cnt2 < DZ_end) { // if (TMR3_COUNT_DEADZONE % 20 != 0) { // CUR_VELOCITY_sum += CUR_VELOCITY; // } else { // V_out -= DZ_dir; // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; // CUR_VELOCITY_sum = 0; // } // if (DZ_temp_cnt == 5) { // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; // else VALVE_DEADZONE_PLUS = (int16_t) V_out; // DZ_dir = -DZ_dir; // DZ_temp_cnt = 0; // DZ_temp_cnt2++; // } // } else { // TMR3_COUNT_DEADZONE = -1; // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { // VALVE_DEADZONE_PLUS = VALVE_CENTER; // VALVE_DEADZONE_MINUS = VALVE_CENTER; // } // V_out = 0; // // ROM_RESET_DATA(); // // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); // // CONTROL_MODE = MODE_NO_ACT; // DZ_temp_cnt2 = 0; // } // } // TMR3_COUNT_DEADZONE++; // break; // } case MODE_FIND_HOME: { if (FINDHOME_STAGE == FINDHOME_INIT) { cnt_findhome = 0; cnt_vel_findhome = 0; //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO pos.ref = pos.sen; vel.ref = 0.0f; FINDHOME_STAGE = FINDHOME_GOTOLIMIT; } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { int cnt_check_enc = (TMR_FREQ_5k/20); if(cnt_findhome%cnt_check_enc == 0) { FINDHOME_POSITION = pos.sen; FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; FINDHOME_POSITION_OLD = FINDHOME_POSITION; } cnt_findhome++; if (abs(FINDHOME_VELOCITY) <= 1) { cnt_vel_findhome = cnt_vel_findhome + 1; } else { cnt_vel_findhome = 0; } if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec //REFERENCE_MODE = MODE_REF_NO_ACT; if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; else pos.ref = pos.ref - 12.0f; // 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); // ENC_SET_ZERO(); INIT_REF_POS = HOMEPOS_OFFSET; REF_POSITION = 0; REF_VELOCITY = 0; FINDHOME_POSITION = 0; FINDHOME_POSITION_OLD = 0; FINDHOME_VELOCITY = 0; cnt_findhome = 0; cnt_vel_findhome = 0; FINDHOME_STAGE = FINDHOME_ZEROPOSE; cnt_findhome = 0; pos.ref = 0.0f; vel.ref = 0.0f; pos.ref_home_pos = 0.0f; vel.ref_home_pos = 0.0f; //FINDHOME_STAGE = FINDHOME_INIT; //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; } } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { int T_move = 2*TMR_FREQ_5k; pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; //pos.ref = 0.0f; vel.ref = 0.0f; // input for position control // CONTROL_MODE = MODE_JOINT_CONTROL; alpha_trans = 0.0f; double torq_ref = 0.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { double I_REF_POS = 0.0f; double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback double I_REF_VC = 0.0f; // I_REF for velocity compensation double temp_vel_pos = 0.0f; double temp_vel_torq = 0.0f; double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } else if ((OPERATING_MODE & 0x01) == 1) { temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); I_REF = I_REF_POS; } else { float VALVE_POS_RAW_FORCE_FB = 0.0f; VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); if (VALVE_POS_RAW_FORCE_FB >= 0) { valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; } else { valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; } VALVE_POS_CONTROL(valve_pos.ref); V_out = (float) Vout.ref; } // pos.err = pos.ref - (float)pos.sen; // float VALVE_POS_RAW_POS_FB = 0.0f; // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; // VALVE_POS_CONTROL(valve_pos.ref); cnt_findhome++; if (cnt_findhome >= T_move) { //REFERENCE_MODE = MODE_REF_DIRECT; cnt_findhome = 0; pos.ref = 0.0f; vel.ref = 0.0f; pos.ref_home_pos = 0.0f; vel.ref_home_pos = 0.0f; FINDHOME_STAGE = FINDHOME_INIT; CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; } } break; } // case MODE_VALVE_GAIN_SETTING: { // if (TMR3_COUNT_FLOWRATE == 0) { // if (pos_plus_end == pos_minus_end) need_enc_init = true; // else { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); // } // } // if (need_enc_init) { // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_plus_end = pos.sen; // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // pos_minus_end = pos.sen; // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { // need_enc_init = false; // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; // } // temp_time = TMR_FREQ_5k; // } // TMR3_COUNT_FLOWRATE++; // if (TMR3_COUNT_FLOWRATE > temp_time) { // if (flag_flowrate % 2 == 0) { // (+) // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); // V_out = VALVE_VOLTAGE; // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { // fl_temp_cnt++; // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec // fl_temp_cnt2++; // } // } else if (flag_flowrate % 2 == 1) { // (-) // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); // V_out = VALVE_VOLTAGE; // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { // fl_temp_cnt++; // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { // 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); // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec // fl_temp_cnt2++; // } // } // if (fl_temp_cnt2 == 100) { // // ROM_RESET_DATA(); // // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); // cur_vel_sum = 0; // fl_temp_cnt = 0; // fl_temp_cnt2 = 0; // flag_flowrate++; // } // if (flag_flowrate == 10) { // V_out = 0; // flag_flowrate = 0; // TMR3_COUNT_FLOWRATE = 0; // valve_gain_repeat_cnt++; // if (valve_gain_repeat_cnt >= 1) { // CONTROL_MODE = MODE_NO_ACT; // valve_gain_repeat_cnt = 0; // } // // } // break; // } // // } case MODE_PRESSURE_SENSOR_NULLING: { // DAC Voltage reference set if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { CUR_PRES_A_sum += pres_A.sen; CUR_PRES_B_sum += pres_B.sen; if (TMR3_COUNT_PRES_NULL % 10 == 0) { CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; float VREF_NullingGain = 0.0003f; PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; dac_1 = PRES_A_VREF / 3.3f; dac_2 = PRES_B_VREF / 3.3f; } } else { CONTROL_UTILITY_MODE = MODE_NO_ACT; TMR3_COUNT_PRES_NULL = 0; CUR_PRES_A_sum = 0; CUR_PRES_B_sum = 0; CUR_PRES_A_mean = 0; CUR_PRES_B_mean = 0; ROM_RESET_DATA(); dac_1 = PRES_A_VREF / 3.3f; dac_2 = PRES_B_VREF / 3.3f; //pc.printf("nulling end"); } TMR3_COUNT_PRES_NULL++; break; } // case MODE_PRESSURE_SENSOR_CALIB: { // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { // CUR_PRES_A_sum += CUR_PRES_A; // } // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { // CUR_PRES_B_sum += CUR_PRES_B; // } // } else { // CONTROL_MODE = MODE_NO_ACT; // TMR3_COUNT_PRES_CALIB = 0; // V_out = 0; // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); // CUR_PRES_A_sum = 0; // CUR_PRES_B_sum = 0; // CUR_PRES_A_mean = 0; // CUR_PRES_B_mean = 0; // // ROM_RESET_DATA(); // // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); // } // TMR3_COUNT_PRES_CALIB++; // break; // } // case MODE_ROTARY_FRICTION_TUNING: { // 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); // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; // TMR3_COUNT_ROTARY_FRIC_TUNE++; // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; // V_out = 0.0f; // CONTROL_MODE = MODE_NO_ACT; // } // break; // } case MODE_DDV_POS_VS_PWM_ID: { CONTROL_MODE = MODE_VALVE_OPEN_LOOP; VALVE_ID_timer = VALVE_ID_timer + 1; if(VALVE_ID_timer < TMR_FREQ_5k*1) { Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { Vout.ref = 1000.0f*(ID_index_array[ID_index]); } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { VALVE_POS_TMP = 0; data_num = 0; } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { data_num = data_num + 1; VALVE_POS_TMP = VALVE_POS_TMP + value; } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { Vout.ref = 0.0f; } else { VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; VALVE_ID_timer = 0; ID_index= ID_index +1; } if(ID_index>=25) { int i; VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; for(i=0; i<25; i++) { VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { VALVE_MAX_POS = VALVE_POS_AVG[i]; VALVE_POS_AVG_OLD = VALVE_MAX_POS; } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { VALVE_MIN_POS = VALVE_POS_AVG[i]; VALVE_POS_AVG_OLD = VALVE_MIN_POS; } } ROM_RESET_DATA(); ID_index = 0; CONTROL_UTILITY_MODE = MODE_NO_ACT; } break; } case MODE_DDV_DEADZONE_AND_CENTER: { CONTROL_MODE = MODE_VALVE_OPEN_LOOP; VALVE_DZ_timer = VALVE_DZ_timer + 1; if(first_check == 0) { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; pos_plus_end = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; pos_minus_end = pos.sen; } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; data_num = data_num + 1; VALVE_POS_TMP = VALVE_POS_TMP + value; } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; DDV_POS_AVG = VALVE_POS_TMP / data_num; START_POS = pos.sen; VALVE_POS_TMP = 0; data_num = 0; } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = DDV_POS_AVG; VALVE_POS_CONTROL(valve_pos.ref); FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>200) { DZ_case = 1; } else if((FINAL_POS - START_POS)<-200) { DZ_case = -1; } else { DZ_case = 0; } CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); first_check = 1; DZ_DIRECTION = 1; VALVE_DZ_timer = 0; Ref_Valve_Pos_Old = DDV_POS_AVG; DZ_NUM = 1; DZ_index = 1; } } else { if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref >= VALVE_MAX_POS) { 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; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1 * DZ_case; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1 * DZ_case; } else { DZ_DIRECTION = 1 * DZ_case; } VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { FIRST_DZ = valve_pos.ref; DZ_NUM = 2; Ref_Valve_Pos_Old = FIRST_DZ; DZ_index = 1; DZ_DIRECTION = 1; } } } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref >= VALVE_MAX_POS) { 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)) { Ref_Valve_Pos_Old = valve_pos.ref; FINAL_POS = pos.sen; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1 * DZ_case; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1 * DZ_case; } else { DZ_DIRECTION = -1 * DZ_case; } VALVE_DZ_timer = 0; DZ_index= DZ_index * 2; if(DZ_index >= 128) { SECOND_DZ = valve_pos.ref; VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); first_check = 0; VALVE_DEADZONE_MINUS = (float) FIRST_DZ; VALVE_DEADZONE_PLUS = (float) SECOND_DZ; ROM_RESET_DATA(); CONTROL_UTILITY_MODE = MODE_NO_ACT; DZ_index = 1; } } } else if(DZ_case == 0 && DZ_NUM ==1) { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref >= VALVE_MAX_POS) { 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; if((FINAL_POS - START_POS)>100) { DZ_DIRECTION = 1; } else if((FINAL_POS - START_POS)<-100) { DZ_DIRECTION = -1; } else { DZ_DIRECTION = 1; } VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { FIRST_DZ = valve_pos.ref; DZ_NUM = 2; Ref_Valve_Pos_Old = FIRST_DZ; DZ_index = 1; DZ_DIRECTION = 1; } } } else { if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; //CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { START_POS = pos.sen; } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; if(valve_pos.ref <= VALVE_MIN_POS) { valve_pos.ref = VALVE_MIN_POS; } else if(valve_pos.ref > VALVE_MAX_POS) { valve_pos.ref = VALVE_MAX_POS - 1; } 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)) { 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) { DZ_DIRECTION = -1; } else { DZ_DIRECTION = 1; } VALVE_DZ_timer = 0; DZ_index= DZ_index *2; if(DZ_index >= 128) { SECOND_DZ = valve_pos.ref; VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); first_check = 0; VALVE_DEADZONE_MINUS = (float) FIRST_DZ; VALVE_DEADZONE_PLUS = (float) SECOND_DZ; ROM_RESET_DATA(); CONTROL_UTILITY_MODE = MODE_NO_ACT; DZ_index = 1; } } } } break; } case MODE_DDV_POS_VS_FLOWRATE: { CONTROL_MODE = MODE_VALVE_OPEN_LOOP; VALVE_FR_timer = VALVE_FR_timer + 1; if(first_check == 0) { if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; pos_plus_end = pos.sen; // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; pos_minus_end = pos.sen; first_check = 1; VALVE_FR_timer = 0; valve_pos.ref = (float) VALVE_CENTER; ID_index = 0; max_check = 0; min_check = 0; } } else { if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; CONTROL_MODE = MODE_JOINT_CONTROL; } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { data_num = 0; valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; VALVE_POS_CONTROL(valve_pos.ref); START_POS = pos.sen; } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; VALVE_POS_CONTROL(valve_pos.ref); data_num = data_num + 1; if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { FINAL_POS = pos.sen; one_period_end = 1; } } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { FINAL_POS = pos.sen; one_period_end = 1; V_out = 0.0f; } if(one_period_end == 1) { if(valve_pos.ref > VALVE_MAX_POS) { max_check = 1; } else if(valve_pos.ref < VALVE_MIN_POS) { min_check = 1; } JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec VALVE_FR_timer = 0; one_period_end = 0; ID_index= ID_index +1; V_out = 0.0f; } if(max_check == 1 && min_check == 1) { VALVE_POS_NUM = ID_index; ROM_RESET_DATA(); ID_index = 0; first_check = 0; VALVE_FR_timer = 0; CONTROL_UTILITY_MODE = MODE_NO_ACT; // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); } } break; } case MODE_SYSTEM_ID: { freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); CONTROL_MODE = MODE_VALVE_OPEN_LOOP; cnt_sysid++; if (freq_sysid_Iref >= 300) { cnt_sysid = 0; CONTROL_UTILITY_MODE = MODE_NO_ACT; } break; } default: break; } // CONTROL MODE ------------------------------------------------------------ switch (CONTROL_MODE) { case MODE_NO_ACT: { V_out = 0.0f; break; } case MODE_VALVE_POSITION_CONTROL: { if (OPERATING_MODE == 5) { //SW Valve VALVE_POS_CONTROL(valve_pos.ref); V_out = Vout.ref; } else if (CURRENT_CONTROL_MODE == 0) { //PWM V_out = valve_pos.ref; } else { I_REF = valve_pos.ref * 0.001f; } break; } case MODE_JOINT_CONTROL: { double torq_ref = 0.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] //K & D Low Pass Filter float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] torq_ref = torq.ref; // torque feedback torq.err = torq_ref - torq.sen; //[N] torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { double I_REF_POS = 0.0f; double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback double I_REF_VC = 0.0f; // I_REF for velocity compensation double temp_vel_pos = 0.0f; double temp_vel_torq = 0.0f; double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } else if ((OPERATING_MODE & 0x01) == 1) { temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s // L when P-gain = 100, f_cut = 10Hz L feedforward velocity } if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); // velocity compensation for torque control if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s // L feedforward velocity } else if ((OPERATING_MODE & 0x01) == 1) { I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive. // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s // L feedforward velocity } if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); // L velocity(rad/s or mm/s) >> I_ref(mA) // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); // Anti-windup for FT if (I_GAIN_JOINT_TORQUE != 0) { double I_MAX = 10.0f; // Maximum Current : 10mV double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); if (I_REF > I_MAX) { double I_rem = I_REF - I_MAX; I_rem = Ka*I_rem; I_REF = I_MAX; torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; } else if (I_REF < -I_MAX) { double I_rem = I_REF - (-I_MAX); I_rem = Ka*I_rem; I_REF = -I_MAX; torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; } } } else { float VALVE_POS_RAW_FORCE_FB = 0.0f; float VALVE_POS_RAW_FORCE_FF = 0.0f; float VALVE_POS_RAW = 0.0f; VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; if (VALVE_POS_RAW >= 0) { valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; } else { valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; } if(I_GAIN_JOINT_TORQUE != 0) { double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; if(valve_pos.ref>VALVE_MAX_POS) { double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; valve_pos_rem = valve_pos_rem * Ka; valve_pos.ref = VALVE_MAX_POS; torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; } else if(valve_pos.ref < VALVE_MIN_POS) { double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; valve_pos_rem = valve_pos_rem * Ka; valve_pos.ref = VALVE_MIN_POS; 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; } torq_ref_past = torq_ref; break; } case MODE_VALVE_OPEN_LOOP: { V_out = (float) Vout.ref; break; } case MODE_JOINT_ADAPTIVE_BACKSTEPPING: { float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3 // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3 V = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076 float g3_prime = 0.0f; if (torq.sen > Amm*(Ps-Pt)*0.000001f){ g3_prime = 1.0f; } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) { g3_prime = -1.0f; } else { if ((value-VALVE_CENTER) > 0) { g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f); // g3_prime = sqrt(Ps-Pt); } else { g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f); // g3_prime = sqrt(Ps-Pt); } } float tau = 0.01f; float K_valve = 0.0004f; float x_v = 0.0f; //x_v : -1~1 if(value>=VALVE_CENTER) { x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } float f4 = -x_v/tau; float g4 = K_valve/tau; float torq_ref_dot = torq.ref_diff * 500.0f; pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] torq.err = torq.ref - torq.sen; //[N] torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] float k3 = 20000.0f; //2000 float k4 = 10.0f; float rho3 = 3.2f; float rho4 = 25000000.0f; float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime); if (x_4_des > 1) x_4_des = 1; else if (x_4_des < -1) x_4_des = -1; if (x_4_des > 0) { valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER; } else { valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER; } float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k; x_4_des_old = x_4_des; V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4; float rho_gamma = 50000.0f;//5000 float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des)); gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k; break; } default: break; } if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve //////////////////////////////////////////////////////////////////////////// //////////////////////////// CURRENT CONTROL ////////////////////////////// //////////////////////////////////////////////////////////////////////////// if (CURRENT_CONTROL_MODE) { double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; I_ERR = I_REF_fil - cur.sen; I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; // Moog Valve Current Control Gain double R_model = 500.0f; // ohm double L_model = 1.2f; double w0 = 2.0f * 3.14f * 150.0f; double KP_I = 0.1f * L_model*w0; double KI_I = 0.1f * R_model*w0; // KNR Valve Current Control Gain if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve R_model = 163.0f; // ohm L_model = 1.0f; w0 = 2.0f * 3.14f * 80.0f; KP_I = 1.0f * L_model*w0; KI_I = 0.08f * R_model*w0; } double FF_gain = 1.0f; VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV I_REF_fil_diff = I_REF_fil - I_REF_fil_old; I_REF_fil_old = I_REF_fil; // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV double Ka = 3.0f / KP_I; if (VALVE_PWM_RAW > V_MAX) { V_rem = VALVE_PWM_RAW - V_MAX; V_rem = Ka*V_rem; VALVE_PWM_RAW = V_MAX; I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; } else if (VALVE_PWM_RAW < -V_MAX) { V_rem = VALVE_PWM_RAW - (-V_MAX); V_rem = Ka*V_rem; VALVE_PWM_RAW = -V_MAX; I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; } Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; } else { VALVE_PWM_RAW = I_REF * mV_PER_mA; Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; } //////////////////////////////////////////////////////////////////////////// ///////////////// Dead Zone Cancellation & Linearization ////////////////// //////////////////////////////////////////////////////////////////////////// // Dead Zone Cancellation (Mechanical Valve dead-zone) if (FLAG_VALVE_DEADZONE) { if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV } else { VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; } // Output Voltage Linearization double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 // Dead Zone Cancellation (Electrical dead-zone) if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); else V_out = (float) (CUR_PWM_lin); } else { //////////////////////////sw valve // Output Voltage Linearization // double CUR_PWM_nonlin = V_out; // Unit : mV // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 // Dead Zone Cancellation (Electrical dead-zone) // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); // else V_out = (float) (CUR_PWM_lin); if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; else V_out = 0.0f; } // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); // else V_out = V_out; /******************************************************* *** PWM ********************************************************/ if(DIR_VALVE<0){ V_out = -V_out; } if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { V_out = VALVE_VOLTAGE_LIMIT*1000.0f; } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; } PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV // Saturation of output voltage to 12.0V if(PWM_out > 1.0f) PWM_out=1.0f; else if (PWM_out < -1.0f) PWM_out=-1.0f; if (PWM_out>0.0f) { dtc_v=0.0f; dtc_w=PWM_out; } else { dtc_v=-PWM_out; dtc_w=0.0f; } //pwm TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { // Position, Velocity, and Torque (ID:1200) if (flag_data_request[0] == HIGH) { if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator if (SENSING_MODE == 0) { CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); } else if (SENSING_MODE == 1) { CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); } } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator if (SENSING_MODE == 0) { CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); } else if (SENSING_MODE == 1) { CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); } } } if (flag_data_request[1] == HIGH) { //valve position double t_value = 0; if(valve_pos.ref>=(float) VALVE_CENTER) { t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } // if(OPERATING_MODE==5) { // if(valve_pos.ref>=(float) VALVE_CENTER) { // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); // } else { // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); // } //t_value = (double) value; // } else if(CURRENT_CONTROL_MODE==1) { // t_value = cur.sen * 1000.0f; // } else { // t_value = V_out; // } CAN_TX_TORQUE((int16_t) (t_value)); //1300 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 } if (flag_data_request[2] == LOW) { //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 double t_value = 0; if(valve_pos.ref>=(float) VALVE_CENTER) { t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); } else { t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); } CAN_TX_PRES((int16_t) (t_value), (int16_t) (torq.ref)); // 1400 } //If it doesn't rest, below can can not work. for (can_rest = 0; can_rest < 10000; can_rest++) { ; } if (flag_data_request[3] == LOW) { //PWM //CAN_TX_PWM((int16_t) value); //1500 CAN_TX_PWM((int16_t) gamma_hat); //1500 } //for (i = 0; i < 10000; i++) { // ; // } if (flag_data_request[4] == HIGH) { //valve position CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600 } // Others : Reference position, Reference FT, PWM, Current (ID:1300) // if (flag_data_request[1] == HIGH) { // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); // } //if (flag_delay_test == 1){ //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); //} TMR2_COUNT_CAN_TX = 0; } TMR2_COUNT_CAN_TX++; } TIM3->SR = 0x0; // reset the status register }