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Original Version of STM Board
main.cpp@68:328e1be06f5d, 2020-05-12 (annotated)
- Committer:
- Lightvalve
- Date:
- Tue May 12 11:25:00 2020 +0000
- Revision:
- 68:328e1be06f5d
- Parent:
- 67:c2812cf26c38
- Child:
- 69:3995ffeaa786
200512_3
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 | 65:a2d7c63419c2 | 10 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 11 | |
Lightvalve | 61:bc8c8270f0ab | 12 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 13 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 14 | |
Lightvalve | 31:66738bfecec5 | 15 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 16 | |
jobuuu | 7:e9086c72bb22 | 17 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 18 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 20 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 22 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 25 | |
Lightvalve | 24:ef6e1092e9e6 | 26 | |
jobuuu | 7:e9086c72bb22 | 27 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 28 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 29 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 30 | |
jobuuu | 7:e9086c72bb22 | 31 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 32 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 33 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 34 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 35 | |
jobuuu | 7:e9086c72bb22 | 36 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 37 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 38 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 39 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 40 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 41 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 42 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 43 | |
jobuuu | 7:e9086c72bb22 | 44 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 45 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 46 | |
jobuuu | 7:e9086c72bb22 | 47 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 48 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 49 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 50 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 51 | { |
Lightvalve | 11:82d8768d7351 | 52 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 53 | } |
jobuuu | 2:a1c0a37df760 | 54 | |
jobuuu | 7:e9086c72bb22 | 55 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 56 | State pos; |
jobuuu | 7:e9086c72bb22 | 57 | State vel; |
jobuuu | 7:e9086c72bb22 | 58 | State Vout; |
jobuuu | 7:e9086c72bb22 | 59 | State torq; |
jobuuu | 7:e9086c72bb22 | 60 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 62 | State cur; |
Lightvalve | 14:8e7590227d22 | 63 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 64 | |
Lightvalve | 14:8e7590227d22 | 65 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 69 | |
Lightvalve | 19:23b7c1ad8683 | 70 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 72 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 73 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 74 | |
Lightvalve | 19:23b7c1ad8683 | 75 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 81 | |
Lightvalve | 61:bc8c8270f0ab | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
jobuuu | 7:e9086c72bb22 | 85 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | |
Lightvalve | 12:6f2531038ea4 | 89 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 90 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 91 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 92 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 93 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 94 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 99 | }; |
Lightvalve | 12:6f2531038ea4 | 100 | |
Lightvalve | 12:6f2531038ea4 | 101 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 102 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 103 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 104 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 105 | //control mode |
Lightvalve | 12:6f2531038ea4 | 106 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 107 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 109 | |
Lightvalve | 47:fdcb8bd86fd6 | 110 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 111 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 112 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 113 | |
Lightvalve | 12:6f2531038ea4 | 114 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 117 | |
Lightvalve | 12:6f2531038ea4 | 118 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 120 | |
Lightvalve | 14:8e7590227d22 | 121 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 122 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 124 | |
Lightvalve | 12:6f2531038ea4 | 125 | //utility |
Lightvalve | 12:6f2531038ea4 | 126 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 129 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 130 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 133 | |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 137 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 138 | }; |
Lightvalve | 12:6f2531038ea4 | 139 | |
Lightvalve | 65:a2d7c63419c2 | 140 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 141 | { |
Lightvalve | 65:a2d7c63419c2 | 142 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | |
Lightvalve | 65:a2d7c63419c2 | 145 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 146 | */ |
Lightvalve | 65:a2d7c63419c2 | 147 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 149 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 150 | */ |
Lightvalve | 65:a2d7c63419c2 | 151 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 162 | { |
Lightvalve | 65:a2d7c63419c2 | 163 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 164 | } |
Lightvalve | 65:a2d7c63419c2 | 165 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 166 | */ |
Lightvalve | 65:a2d7c63419c2 | 167 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 168 | { |
Lightvalve | 65:a2d7c63419c2 | 169 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 170 | } |
Lightvalve | 65:a2d7c63419c2 | 171 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 172 | */ |
Lightvalve | 65:a2d7c63419c2 | 173 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 174 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 175 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 179 | |
Lightvalve | 65:a2d7c63419c2 | 180 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 181 | { |
Lightvalve | 65:a2d7c63419c2 | 182 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 183 | } |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 68:328e1be06f5d | 187 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 188 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 189 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 190 | |
Lightvalve | 66:a8e6799dbce3 | 191 | float input[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 192 | |
Lightvalve | 66:a8e6799dbce3 | 193 | const float h1[num_input][32] = { |
Lightvalve | 67:c2812cf26c38 | 194 | {-4.230629920959473f,3.7482995986938477f,0.10087299346923828f,-1.249260663986206f,0.4228786528110504f,-0.5900165438652039f,-0.28529417514801025f,4.176730632781982f,-0.22588196396827698f,-3.8898375034332275f,-0.18891912698745728f,0.591685950756073f,-0.18402203917503357f,0.2365148514509201f,-0.20103082060813904f,-0.9443630576133728f,0.11390197277069092f,0.23753002285957336f,-0.3451942503452301f,1.7862669229507446f,-0.3459416627883911f,0.1018887460231781f,-0.31691664457321167f,-0.07546886801719666f,0.9590144157409668f,0.1750296652317047f,-0.16833457350730896f,0.05917641147971153f,0.3100067973136902f,-0.17902883887290955f,0.22342900931835175f,0.07611003518104553f}, |
Lightvalve | 67:c2812cf26c38 | 195 | {-2.969736337661743f,2.6268742084503174f,0.2844829857349396f,-1.2572543621063232f,0.2949725389480591f,-0.40602585673332214f,0.09208345413208008f,2.812852144241333f,-0.1288408488035202f,-2.4199726581573486f,-0.27550092339515686f,0.3135509788990021f,0.020206838846206665f,0.15749837458133698f,0.04370078444480896f,-0.6972789764404297f,-0.07285691052675247f,0.059967368841171265f,0.27244070172309875f,1.3432673215866089f,-0.05647682026028633f,-0.11504809558391571f,-0.0905606746673584f,0.2640003263950348f,0.6242079734802246f,0.2797521650791168f,0.12084531784057617f,0.2831539213657379f,-0.14650659263134003f,0.09343862533569336f,-0.05422786623239517f,0.09386715292930603f}, |
Lightvalve | 67:c2812cf26c38 | 196 | {-0.9856688976287842f,1.2492953538894653f,-0.004022121429443359f,-0.2416287362575531f,0.08375676721334457f,-0.31567850708961487f,-0.014427455142140388f,1.2782719135284424f,0.019761085510253906f,-1.0968167781829834f,0.26836007833480835f,0.12039636820554733f,-0.031272560358047485f,0.16259945929050446f,-0.3021453320980072f,-0.4570225477218628f,0.29755106568336487f,-0.25322937965393066f,0.1318707913160324f,0.6320580840110779f,0.18409328162670135f,-0.14585837721824646f,0.1290973722934723f,-0.23490183055400848f,0.21291287243366241f,0.13848352432250977f,-0.14778463542461395f,0.18564558029174805f,-0.369647353887558f,0.28840622305870056f,-0.3577423691749573f,-0.18625950813293457f}, |
Lightvalve | 67:c2812cf26c38 | 197 | {0.6824329495429993f,-0.5322751998901367f,-0.19558930397033691f,-0.2689341902732849f,-0.5242046117782593f,0.013336426578462124f,-0.05194856598973274f,-0.6233313083648682f,0.2818599343299866f,0.4670529365539551f,0.1137142926454544f,0.05919991806149483f,-0.11249050498008728f,0.2839790880680084f,-0.12209486961364746f,-0.020275995135307312f,-0.1303829848766327f,-0.22630342841148376f,-0.24653835594654083f,-0.31501466035842896f,-0.2647970914840698f,-0.08376853168010712f,-0.14013314247131348f,-0.277662992477417f,-0.22086156904697418f,0.1348792016506195f,0.12745562195777893f,-0.10462278127670288f,-0.016341594979166985f,0.1260412633419037f,-0.21633583307266235f,0.16906705498695374f}, |
Lightvalve | 67:c2812cf26c38 | 198 | {2.6963932514190674f,-2.061609983444214f,0.08011308312416077f,0.3819923400878906f,-0.7255011200904846f,0.13847801089286804f,-0.13927656412124634f,-2.6796464920043945f,-0.21323607861995697f,2.575685501098633f,-0.23677363991737366f,-0.27583199739456177f,0.20140400528907776f,0.16035087406635284f,-0.2388615608215332f,0.46706220507621765f,-0.33553919196128845f,-0.17562326788902283f,0.10578251630067825f,-1.319668173789978f,0.1036451905965805f,0.22469106316566467f,-0.2337813377380371f,-0.07104292511940002f,-0.7000943422317505f,-0.32632216811180115f,0.038649410009384155f,-0.4758243262767792f,-0.16495253145694733f,-0.15546131134033203f,-0.20156465470790863f,0.025572150945663452f}, |
Lightvalve | 67:c2812cf26c38 | 199 | {5.074757099151611f,-4.697023391723633f,0.2906685173511505f,1.6116559505462646f,-0.9414765238761902f,0.3160191774368286f,-0.2238575667142868f,-4.803736209869385f,-0.3351536691188812f,4.746501922607422f,0.2679271101951599f,-1.120054006576538f,-0.029951006174087524f,-0.020948145538568497f,0.20863232016563416f,0.342511385679245f,-0.6690735220909119f,-0.30441316962242126f,-0.3538511395454407f,-2.1590168476104736f,0.10130328685045242f,-0.009217172861099243f,0.11990180611610413f,0.3152395784854889f,-1.3119330406188965f,0.19827589392662048f,-0.278697669506073f,-0.05627449229359627f,-0.5008052587509155f,-0.0012509822845458984f,-0.6269418001174927f,-0.053316205739974976f}, |
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Lightvalve | 65:a2d7c63419c2 | 216 | }; |
Lightvalve | 65:a2d7c63419c2 | 217 | |
Lightvalve | 66:a8e6799dbce3 | 218 | const float h2[32][32] = { |
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Lightvalve | 65:a2d7c63419c2 | 251 | }; |
Lightvalve | 65:a2d7c63419c2 | 252 | |
Lightvalve | 66:a8e6799dbce3 | 253 | const float h3[32][32] = { |
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Lightvalve | 66:a8e6799dbce3 | 282 | {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f}, |
Lightvalve | 67:c2812cf26c38 | 283 | {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.10505693405866623f,0.06556430459022522f,0.29767414927482605f,0.26687973737716675f,-0.16670267283916473f,-0.14499664306640625f,-0.06570860743522644f,-0.015925198793411255f,0.15823403000831604f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.24263548851013184f,0.14348316192626953f,-0.04174882173538208f,-0.11559568345546722f,-0.09051717817783356f,0.21069613099098206f,-0.19532959163188934f,-0.21369075775146484f,0.020931687206029892f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f}, |
Lightvalve | 67:c2812cf26c38 | 284 | {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.062329649925231934f,-0.22588664293289185f,-0.06877543032169342f,-0.19175797700881958f,0.02903696894645691f,-0.2614779472351074f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.30105409026145935f,0.08271035552024841f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.07014858722686768f,-0.19175665080547333f,0.28649166226387024f,0.05041047930717468f,-0.27260470390319824f,-0.025072306394577026f,0.2722422182559967f,-0.007939159870147705f,-0.22979341447353363f,0.11936154961585999f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.15906798839569092f}, |
Lightvalve | 67:c2812cf26c38 | 285 | {0.07638216018676758f,0.07996532320976257f,-0.30373215675354004f,-0.2870197892189026f,0.13120616972446442f,0.014201237820088863f,0.2795381247997284f,-0.25668495893478394f,-0.08007447421550751f,0.17683254182338715f,-0.026776641607284546f,0.02524423599243164f,0.11132927238941193f,0.25622642040252686f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.011876672506332397f,0.12332364171743393f,0.26962023973464966f,0.13634969294071198f,-0.001175098237581551f,-0.15799765288829803f,-0.17324526607990265f,0.21663552522659302f,0.1901901364326477f,-0.2591228187084198f,-0.061639491468667984f,-0.10711086541414261f,0.22636333107948303f,-0.2677184045314789f,0.19854798913002014f}, |
Lightvalve | 66:a8e6799dbce3 | 286 | }; |
Lightvalve | 65:a2d7c63419c2 | 287 | |
Lightvalve | 67:c2812cf26c38 | 288 | const float hout[32] = { 0.3285340666770935f,0.32875439524650574f,0.010172058828175068f,-0.11305646598339081f,-0.021411199122667313f,0.2888892889022827f,-0.10024870932102203f,0.09909168630838394f,-0.07379823178052902f,-0.01775532402098179f,0.022316712886095047f,-0.06981132924556732f,-0.17286384105682373f,0.14635762572288513f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.14480170607566833f,-0.07469630241394043f,-0.19646649062633514f,-0.03418174758553505f,-0.008110888302326202f,-0.14705289900302887f,-0.03402183949947357f,0.07437916845083237f,0.124146468937397f,-0.3058450520038605f,-0.21908646821975708f,-0.05386931076645851f,-0.3257754445075989f,-0.23496197164058685f,-0.007552365306764841f }; |
Lightvalve | 66:a8e6799dbce3 | 289 | |
Lightvalve | 67:c2812cf26c38 | 290 | const float b1[32] = { 0.33975231647491455f,2.7712650299072266f,-1.7145336866378784f,-0.1526036560535431f,1.1354074478149414f,0.623417854309082f,-0.2046075314283371f,1.8505465984344482f,0.5339886546134949f,-2.64107346534729f,0.5785035490989685f,1.5429713726043701f,-0.3425353467464447f,-0.8584070205688477f,-1.087764859199524f,0.945876955986023f,0.6164156794548035f,-0.26377663016319275f,0.21929186582565308f,0.9238426089286804f,-0.31435057520866394f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.9988690614700317f,-2.0880801677703857f,-1.0489267110824585f,0.6953904032707214f,0.39424675703048706f,-1.0887231826782227f,1.480643391609192f,-0.4426153898239136f }; |
Lightvalve | 65:a2d7c63419c2 | 291 | |
Lightvalve | 67:c2812cf26c38 | 292 | const float b2[32] = {-0.2411857545375824f,-0.7642630338668823f,-1.4564176797866821f,-0.5187940001487732f,-0.6939148902893066f,-0.043579138815402985f,-0.04268971085548401f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,-0.08107675611972809f,-0.16169233620166779f,-0.21833471953868866f,1.7211838960647583f,-0.05936155840754509f,0.6158673167228699f,-1.798204779624939f,-1.5844906568527222f,-0.02391055040061474f,-0.3057551085948944f,-0.19083930552005768f,-0.07528141140937805f,-0.062231115996837616f,-1.0450503826141357f,-1.8296034336090088f,0.02526227943599224f,-0.31291842460632324f,-1.3643138408660889f,-0.6323830485343933f,-0.5739799737930298f,-1.178520679473877f,-1.3432109355926514f }; |
Lightvalve | 65:a2d7c63419c2 | 293 | |
Lightvalve | 67:c2812cf26c38 | 294 | const float b3[32] = { -1.963319182395935f,-0.49465635418891907f,-0.03699754178524017f,-0.2572087049484253f,-0.3335331678390503f,0.04053334891796112f,-0.5232781171798706f,-0.8866004347801208f,-1.5523405075073242f,0.026659280061721802f,-1.5444074869155884f,-0.07711746543645859f,-0.6993189454078674f,-1.9827897548675537f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.1742689609527588f,-0.4667721092700958f,-0.1322062909603119f,-0.7905310988426208f,0.1004210114479065f,-1.1005918979644775f,-0.9819951057434082f,0.026299534365534782f,-0.5231139063835144f,-0.23480124771595f,0.03585260361433029f,0.10936892032623291f,-2.3236680030822754f,-0.11923135071992874f,0.3063691556453705f }; |
Lightvalve | 66:a8e6799dbce3 | 295 | |
Lightvalve | 67:c2812cf26c38 | 296 | const float bout[1] = { -0.09089279919862747f}; |
Lightvalve | 61:bc8c8270f0ab | 297 | |
Lightvalve | 61:bc8c8270f0ab | 298 | |
GiJeongKim | 0:51c43836c1d7 | 299 | int main() |
GiJeongKim | 0:51c43836c1d7 | 300 | { |
Lightvalve | 66:a8e6799dbce3 | 301 | |
Lightvalve | 65:a2d7c63419c2 | 302 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 303 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 304 | |
jobuuu | 6:df07d3491e3a | 305 | /********************************* |
jobuuu | 1:e04e563be5ce | 306 | *** Initialization |
jobuuu | 6:df07d3491e3a | 307 | *********************************/ |
Lightvalve | 57:f4819de54e7a | 308 | LED = 1; |
Lightvalve | 61:bc8c8270f0ab | 309 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 310 | |
GiJeongKim | 0:51c43836c1d7 | 311 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 312 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 313 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 314 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 315 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 316 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 317 | |
GiJeongKim | 0:51c43836c1d7 | 318 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 319 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 320 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 321 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 322 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 323 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 324 | |
Lightvalve | 16:903b5a4433b4 | 325 | //rom |
Lightvalve | 19:23b7c1ad8683 | 326 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 327 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 328 | |
GiJeongKim | 0:51c43836c1d7 | 329 | // ADC init |
jobuuu | 5:a4319f79457b | 330 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 331 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 332 | |
GiJeongKim | 0:51c43836c1d7 | 333 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 334 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 335 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 336 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 337 | |
Lightvalve | 11:82d8768d7351 | 338 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 339 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 340 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 341 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 342 | |
Lightvalve | 50:3c630b5eba9f | 343 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 344 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 345 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 346 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 347 | |
GiJeongKim | 0:51c43836c1d7 | 348 | // CAN |
jobuuu | 2:a1c0a37df760 | 349 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 350 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 351 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 352 | |
Lightvalve | 23:59218d4a256d | 353 | //Timer priority |
Lightvalve | 23:59218d4a256d | 354 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 355 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 356 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 357 | |
Lightvalve | 23:59218d4a256d | 358 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 359 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 360 | |
GiJeongKim | 0:51c43836c1d7 | 361 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 362 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 363 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 364 | |
Lightvalve | 11:82d8768d7351 | 365 | //DAC init |
Lightvalve | 58:2eade98630e2 | 366 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 367 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 368 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 369 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 370 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 371 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 372 | } |
Lightvalve | 11:82d8768d7351 | 373 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 374 | |
Lightvalve | 19:23b7c1ad8683 | 375 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 376 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 377 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 378 | else |
Lightvalve | 38:118df027d851 | 379 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 380 | } |
Lightvalve | 61:bc8c8270f0ab | 381 | |
Lightvalve | 61:bc8c8270f0ab | 382 | |
jobuuu | 6:df07d3491e3a | 383 | /************************************ |
jobuuu | 1:e04e563be5ce | 384 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 385 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 386 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 387 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 388 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 389 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 390 | |
Lightvalve | 65:a2d7c63419c2 | 391 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 392 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 393 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 394 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 395 | // } else |
Lightvalve | 65:a2d7c63419c2 | 396 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 397 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 398 | //} |
Lightvalve | 66:a8e6799dbce3 | 399 | |
Lightvalve | 66:a8e6799dbce3 | 400 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 401 | |
Lightvalve | 66:a8e6799dbce3 | 402 | |
Lightvalve | 66:a8e6799dbce3 | 403 | if(NN_Control_Flag == 1) { |
Lightvalve | 66:a8e6799dbce3 | 404 | float output1[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 405 | float output2[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 406 | float output3[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 407 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 408 | |
Lightvalve | 66:a8e6799dbce3 | 409 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 68:328e1be06f5d | 410 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 411 | output1[index2] = output1[index2] |
Lightvalve | 66:a8e6799dbce3 | 412 | + h1[index1][index2] * input[index1]; |
Lightvalve | 66:a8e6799dbce3 | 413 | } |
Lightvalve | 66:a8e6799dbce3 | 414 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 415 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 416 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 417 | } |
Lightvalve | 66:a8e6799dbce3 | 418 | } |
Lightvalve | 65:a2d7c63419c2 | 419 | |
Lightvalve | 66:a8e6799dbce3 | 420 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 421 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 422 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 423 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 424 | } |
Lightvalve | 66:a8e6799dbce3 | 425 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 426 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 427 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 428 | } |
Lightvalve | 66:a8e6799dbce3 | 429 | } |
Lightvalve | 65:a2d7c63419c2 | 430 | |
Lightvalve | 66:a8e6799dbce3 | 431 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 432 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 433 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 434 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 435 | } |
Lightvalve | 66:a8e6799dbce3 | 436 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 437 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 438 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 439 | } |
Lightvalve | 65:a2d7c63419c2 | 440 | } |
Lightvalve | 66:a8e6799dbce3 | 441 | |
Lightvalve | 66:a8e6799dbce3 | 442 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 443 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 444 | output = output + hout[index2] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 445 | } |
Lightvalve | 66:a8e6799dbce3 | 446 | output = output + bout[index2]; |
Lightvalve | 66:a8e6799dbce3 | 447 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 66:a8e6799dbce3 | 448 | } |
Lightvalve | 66:a8e6799dbce3 | 449 | |
Lightvalve | 68:328e1be06f5d | 450 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 66:a8e6799dbce3 | 451 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 452 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 453 | } else { |
Lightvalve | 66:a8e6799dbce3 | 454 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 455 | } |
Lightvalve | 65:a2d7c63419c2 | 456 | } |
Lightvalve | 62:b5452adfb2cd | 457 | |
Lightvalve | 65:a2d7c63419c2 | 458 | if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 459 | LED=0; |
Lightvalve | 65:a2d7c63419c2 | 460 | } else |
Lightvalve | 65:a2d7c63419c2 | 461 | LED = 1; |
Lightvalve | 66:a8e6799dbce3 | 462 | |
GiJeongKim | 0:51c43836c1d7 | 463 | } |
jobuuu | 1:e04e563be5ce | 464 | } |
jobuuu | 1:e04e563be5ce | 465 | |
Lightvalve | 33:91b17819ec30 | 466 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 467 | { |
Lightvalve | 14:8e7590227d22 | 468 | |
Lightvalve | 13:747daba9cf59 | 469 | int i = 0; |
Lightvalve | 48:889798ff9329 | 470 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 471 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 472 | 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 | 473 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 474 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 475 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 476 | } else { |
Lightvalve | 57:f4819de54e7a | 477 | Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; |
Lightvalve | 38:118df027d851 | 478 | } |
Lightvalve | 14:8e7590227d22 | 479 | } else { |
Lightvalve | 50:3c630b5eba9f | 480 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 481 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 482 | } else { |
Lightvalve | 57:f4819de54e7a | 483 | 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]); |
Lightvalve | 38:118df027d851 | 484 | } |
Lightvalve | 13:747daba9cf59 | 485 | } |
Lightvalve | 13:747daba9cf59 | 486 | break; |
Lightvalve | 13:747daba9cf59 | 487 | } |
Lightvalve | 13:747daba9cf59 | 488 | } |
Lightvalve | 14:8e7590227d22 | 489 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 490 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 491 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 492 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 493 | } |
Lightvalve | 36:a46e63505ed8 | 494 | |
Lightvalve | 57:f4819de54e7a | 495 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 496 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 497 | |
Lightvalve | 13:747daba9cf59 | 498 | } |
jobuuu | 6:df07d3491e3a | 499 | |
jobuuu | 6:df07d3491e3a | 500 | |
Lightvalve | 30:8d561f16383b | 501 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 502 | { |
Lightvalve | 13:747daba9cf59 | 503 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 504 | |
Lightvalve | 38:118df027d851 | 505 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 506 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 507 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 508 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 509 | } |
Lightvalve | 38:118df027d851 | 510 | |
Lightvalve | 13:747daba9cf59 | 511 | valve_pos_err = REF_VALVE_POS - value; |
Lightvalve | 13:747daba9cf59 | 512 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 513 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 514 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 515 | if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; |
Lightvalve | 13:747daba9cf59 | 516 | if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; |
Lightvalve | 13:747daba9cf59 | 517 | |
Lightvalve | 13:747daba9cf59 | 518 | 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 | 519 | |
Lightvalve | 18:b8adf1582ea3 | 520 | for(i=0; i<24; i++) { |
Lightvalve | 14:8e7590227d22 | 521 | 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 | 522 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 523 | 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]); |
Lightvalve | 14:8e7590227d22 | 524 | } else { |
Lightvalve | 48:889798ff9329 | 525 | 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]; |
Lightvalve | 13:747daba9cf59 | 526 | } |
Lightvalve | 13:747daba9cf59 | 527 | break; |
Lightvalve | 13:747daba9cf59 | 528 | } |
Lightvalve | 13:747daba9cf59 | 529 | } |
Lightvalve | 59:f308b1656d9c | 530 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 531 | } |
Lightvalve | 13:747daba9cf59 | 532 | |
Lightvalve | 14:8e7590227d22 | 533 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 534 | 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 | 535 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 536 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 537 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 538 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 539 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 540 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 541 | 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, |
Lightvalve | 67:c2812cf26c38 | 542 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 543 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 544 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 545 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 546 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 547 | }; // mV |
Lightvalve | 13:747daba9cf59 | 548 | |
Lightvalve | 30:8d561f16383b | 549 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 550 | { |
Lightvalve | 30:8d561f16383b | 551 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 552 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 553 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 554 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 555 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 556 | } else { |
Lightvalve | 13:747daba9cf59 | 557 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 558 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 559 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 560 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 561 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 562 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 563 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 564 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 565 | break; |
Lightvalve | 13:747daba9cf59 | 566 | } |
Lightvalve | 13:747daba9cf59 | 567 | } |
Lightvalve | 13:747daba9cf59 | 568 | } |
Lightvalve | 14:8e7590227d22 | 569 | |
Lightvalve | 13:747daba9cf59 | 570 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 571 | } |
jobuuu | 6:df07d3491e3a | 572 | |
Lightvalve | 57:f4819de54e7a | 573 | |
Lightvalve | 57:f4819de54e7a | 574 | |
Lightvalve | 57:f4819de54e7a | 575 | |
Lightvalve | 57:f4819de54e7a | 576 | |
jobuuu | 2:a1c0a37df760 | 577 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 578 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 579 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 580 | |
Lightvalve | 51:b46bed7fec80 | 581 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 582 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 583 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 584 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 585 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 586 | { |
Lightvalve | 19:23b7c1ad8683 | 587 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 588 | |
Lightvalve | 21:e5f1a43ea6f9 | 589 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 590 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 591 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 592 | |
Lightvalve | 57:f4819de54e7a | 593 | //Encoder |
Lightvalve | 57:f4819de54e7a | 594 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 595 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 596 | } |
Lightvalve | 61:bc8c8270f0ab | 597 | |
Lightvalve | 61:bc8c8270f0ab | 598 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 599 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 600 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 601 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 602 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 603 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 604 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 605 | |
Lightvalve | 67:c2812cf26c38 | 606 | |
Lightvalve | 67:c2812cf26c38 | 607 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 608 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 609 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 610 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 611 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 612 | |
Lightvalve | 17:1865016ca2e7 | 613 | |
Lightvalve | 58:2eade98630e2 | 614 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 615 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 616 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 617 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 618 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 619 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 620 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 621 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 622 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 623 | |
Lightvalve | 58:2eade98630e2 | 624 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 625 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm |
Lightvalve | 58:2eade98630e2 | 626 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 627 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N |
Lightvalve | 58:2eade98630e2 | 628 | } |
Lightvalve | 58:2eade98630e2 | 629 | } |
Lightvalve | 61:bc8c8270f0ab | 630 | |
Lightvalve | 58:2eade98630e2 | 631 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 632 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 633 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 634 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 635 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 636 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 637 | // 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. |
Lightvalve | 58:2eade98630e2 | 638 | // |
Lightvalve | 58:2eade98630e2 | 639 | // |
Lightvalve | 58:2eade98630e2 | 640 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 641 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 642 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 643 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 644 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 645 | |
Lightvalve | 17:1865016ca2e7 | 646 | |
Lightvalve | 21:e5f1a43ea6f9 | 647 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 648 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 649 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 650 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 651 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 652 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 653 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 654 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 655 | |
Lightvalve | 57:f4819de54e7a | 656 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 657 | } |
Lightvalve | 11:82d8768d7351 | 658 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 659 | } |
Lightvalve | 19:23b7c1ad8683 | 660 | |
Lightvalve | 19:23b7c1ad8683 | 661 | |
Lightvalve | 18:b8adf1582ea3 | 662 | int j =0; |
Lightvalve | 54:647072f5307a | 663 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 664 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 665 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 666 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 667 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 668 | |
Lightvalve | 11:82d8768d7351 | 669 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 670 | { |
Lightvalve | 19:23b7c1ad8683 | 671 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 672 | |
Lightvalve | 57:f4819de54e7a | 673 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 674 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 675 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 676 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 677 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 678 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 679 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 680 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 681 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 682 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 683 | } |
Lightvalve | 50:3c630b5eba9f | 684 | |
Lightvalve | 50:3c630b5eba9f | 685 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 686 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 687 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 688 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 689 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 690 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 691 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 692 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 693 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 694 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 695 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 696 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 697 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 698 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 699 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 700 | } else { |
Lightvalve | 58:2eade98630e2 | 701 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 702 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 703 | } |
Lightvalve | 45:35fa6884d0c6 | 704 | |
Lightvalve | 50:3c630b5eba9f | 705 | |
Lightvalve | 57:f4819de54e7a | 706 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 707 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 708 | |
Lightvalve | 57:f4819de54e7a | 709 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 710 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 711 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 712 | } else { |
Lightvalve | 57:f4819de54e7a | 713 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 714 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 715 | } |
Lightvalve | 56:6f50d9d3bfee | 716 | |
Lightvalve | 56:6f50d9d3bfee | 717 | |
Lightvalve | 56:6f50d9d3bfee | 718 | |
Lightvalve | 57:f4819de54e7a | 719 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 720 | |
Lightvalve | 57:f4819de54e7a | 721 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 722 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 723 | break; |
Lightvalve | 13:747daba9cf59 | 724 | } |
Lightvalve | 14:8e7590227d22 | 725 | |
Lightvalve | 14:8e7590227d22 | 726 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 727 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 728 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 729 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 730 | |
Lightvalve | 14:8e7590227d22 | 731 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 732 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 733 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 734 | |
Lightvalve | 59:f308b1656d9c | 735 | TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 736 | |
Lightvalve | 30:8d561f16383b | 737 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 738 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 739 | |
Lightvalve | 16:903b5a4433b4 | 740 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 741 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 742 | } |
Lightvalve | 13:747daba9cf59 | 743 | } else { |
Lightvalve | 58:2eade98630e2 | 744 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 745 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 746 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 747 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 748 | |
Lightvalve | 16:903b5a4433b4 | 749 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 750 | |
Lightvalve | 30:8d561f16383b | 751 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 752 | |
Lightvalve | 13:747daba9cf59 | 753 | } |
Lightvalve | 14:8e7590227d22 | 754 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 755 | break; |
Lightvalve | 19:23b7c1ad8683 | 756 | } |
Lightvalve | 14:8e7590227d22 | 757 | |
Lightvalve | 50:3c630b5eba9f | 758 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 759 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 760 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 761 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 762 | // } |
Lightvalve | 50:3c630b5eba9f | 763 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 764 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 765 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 766 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 767 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 768 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 769 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 770 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 771 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 772 | // } |
Lightvalve | 50:3c630b5eba9f | 773 | // |
Lightvalve | 50:3c630b5eba9f | 774 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 775 | // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); |
Lightvalve | 50:3c630b5eba9f | 776 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 777 | // |
Lightvalve | 50:3c630b5eba9f | 778 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 779 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 780 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 781 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 782 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 783 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 784 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 785 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 786 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 787 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 788 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 789 | // |
Lightvalve | 50:3c630b5eba9f | 790 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 791 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 792 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 793 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 794 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 795 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 796 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 797 | // |
Lightvalve | 50:3c630b5eba9f | 798 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 799 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 800 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 801 | // } else { |
Lightvalve | 50:3c630b5eba9f | 802 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 803 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 804 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 805 | // } |
Lightvalve | 50:3c630b5eba9f | 806 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 807 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 808 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 809 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 810 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 811 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 812 | // } |
Lightvalve | 50:3c630b5eba9f | 813 | // } else { |
Lightvalve | 50:3c630b5eba9f | 814 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 815 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 816 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 817 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 818 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 819 | // } |
Lightvalve | 50:3c630b5eba9f | 820 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 821 | // |
Lightvalve | 50:3c630b5eba9f | 822 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 823 | // |
Lightvalve | 50:3c630b5eba9f | 824 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 825 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 826 | // |
Lightvalve | 50:3c630b5eba9f | 827 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 828 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 829 | // } |
Lightvalve | 50:3c630b5eba9f | 830 | // } |
Lightvalve | 50:3c630b5eba9f | 831 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 832 | // break; |
Lightvalve | 50:3c630b5eba9f | 833 | // } |
Lightvalve | 14:8e7590227d22 | 834 | |
Lightvalve | 14:8e7590227d22 | 835 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 836 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 837 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 838 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 839 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 840 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 841 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 842 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 843 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 844 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 845 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 846 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 847 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 848 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 849 | } |
Lightvalve | 29:69f3f5445d6d | 850 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 851 | |
Lightvalve | 29:69f3f5445d6d | 852 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 853 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 854 | } else { |
Lightvalve | 29:69f3f5445d6d | 855 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 856 | } |
Lightvalve | 19:23b7c1ad8683 | 857 | |
Lightvalve | 57:f4819de54e7a | 858 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 859 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 860 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 861 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 862 | |
Lightvalve | 59:f308b1656d9c | 863 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 864 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 865 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 866 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 867 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 868 | |
Lightvalve | 59:f308b1656d9c | 869 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 870 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 871 | |
Lightvalve | 34:bb2ca2fc2a8e | 872 | |
Lightvalve | 29:69f3f5445d6d | 873 | } else { |
Lightvalve | 29:69f3f5445d6d | 874 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 875 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 876 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 877 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 878 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 879 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 880 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 881 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 882 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 883 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 884 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 885 | |
Lightvalve | 67:c2812cf26c38 | 886 | |
Lightvalve | 67:c2812cf26c38 | 887 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 888 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 889 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 890 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 891 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 892 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 893 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 894 | |
Lightvalve | 67:c2812cf26c38 | 895 | |
Lightvalve | 29:69f3f5445d6d | 896 | } |
Lightvalve | 29:69f3f5445d6d | 897 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 898 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 899 | 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; |
Lightvalve | 67:c2812cf26c38 | 900 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 901 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 902 | |
Lightvalve | 29:69f3f5445d6d | 903 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 904 | |
Lightvalve | 67:c2812cf26c38 | 905 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 906 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 907 | |
Lightvalve | 67:c2812cf26c38 | 908 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 909 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 910 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 911 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 912 | |
Lightvalve | 67:c2812cf26c38 | 913 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 914 | |
Lightvalve | 67:c2812cf26c38 | 915 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 916 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 917 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 918 | |
Lightvalve | 67:c2812cf26c38 | 919 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 920 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 921 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 922 | |
Lightvalve | 67:c2812cf26c38 | 923 | if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 924 | 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 |
Lightvalve | 67:c2812cf26c38 | 925 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 926 | } else if ((OPERATING_MODE && 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 927 | 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 |
Lightvalve | 67:c2812cf26c38 | 928 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 929 | } |
Lightvalve | 67:c2812cf26c38 | 930 | 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)))); |
Lightvalve | 67:c2812cf26c38 | 931 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 932 | |
Lightvalve | 67:c2812cf26c38 | 933 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 934 | |
Lightvalve | 67:c2812cf26c38 | 935 | |
Lightvalve | 67:c2812cf26c38 | 936 | |
Lightvalve | 67:c2812cf26c38 | 937 | } else { |
Lightvalve | 67:c2812cf26c38 | 938 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 939 | 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)); |
Lightvalve | 67:c2812cf26c38 | 940 | |
Lightvalve | 67:c2812cf26c38 | 941 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 942 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 943 | } else { |
Lightvalve | 67:c2812cf26c38 | 944 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 945 | } |
Lightvalve | 67:c2812cf26c38 | 946 | |
Lightvalve | 67:c2812cf26c38 | 947 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 948 | |
Lightvalve | 67:c2812cf26c38 | 949 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 950 | |
Lightvalve | 67:c2812cf26c38 | 951 | } |
Lightvalve | 67:c2812cf26c38 | 952 | |
Lightvalve | 67:c2812cf26c38 | 953 | |
Lightvalve | 67:c2812cf26c38 | 954 | |
Lightvalve | 67:c2812cf26c38 | 955 | |
Lightvalve | 59:f308b1656d9c | 956 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 957 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 958 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 959 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 960 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 961 | |
Lightvalve | 29:69f3f5445d6d | 962 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 963 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 964 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 965 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 966 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 967 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 968 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 969 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 970 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 971 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 972 | } |
Lightvalve | 13:747daba9cf59 | 973 | } |
Lightvalve | 19:23b7c1ad8683 | 974 | |
Lightvalve | 13:747daba9cf59 | 975 | break; |
Lightvalve | 13:747daba9cf59 | 976 | } |
Lightvalve | 14:8e7590227d22 | 977 | |
Lightvalve | 50:3c630b5eba9f | 978 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 979 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 980 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 981 | // else { |
Lightvalve | 50:3c630b5eba9f | 982 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 983 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 984 | // } |
Lightvalve | 50:3c630b5eba9f | 985 | // } |
Lightvalve | 50:3c630b5eba9f | 986 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 987 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 988 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 989 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 990 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 991 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 992 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 993 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 994 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 995 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 996 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 997 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 998 | // } |
Lightvalve | 50:3c630b5eba9f | 999 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1000 | // } |
Lightvalve | 50:3c630b5eba9f | 1001 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1002 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1003 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1004 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1005 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1006 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1007 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1008 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1009 | // 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 |
Lightvalve | 50:3c630b5eba9f | 1010 | // // 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 | 50:3c630b5eba9f | 1011 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1012 | // } |
Lightvalve | 50:3c630b5eba9f | 1013 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1014 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1015 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1016 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1017 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1018 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1019 | // 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 | 50:3c630b5eba9f | 1020 | // // 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 | 50:3c630b5eba9f | 1021 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1022 | // } |
Lightvalve | 50:3c630b5eba9f | 1023 | // } |
Lightvalve | 50:3c630b5eba9f | 1024 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1025 | // |
Lightvalve | 50:3c630b5eba9f | 1026 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1027 | // |
Lightvalve | 50:3c630b5eba9f | 1028 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1029 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1030 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1031 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1032 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1033 | // } |
Lightvalve | 50:3c630b5eba9f | 1034 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1035 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1036 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1037 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1038 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1039 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1040 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1041 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1042 | // } |
Lightvalve | 50:3c630b5eba9f | 1043 | // |
Lightvalve | 50:3c630b5eba9f | 1044 | // } |
Lightvalve | 50:3c630b5eba9f | 1045 | // break; |
Lightvalve | 50:3c630b5eba9f | 1046 | // } |
Lightvalve | 50:3c630b5eba9f | 1047 | // |
Lightvalve | 50:3c630b5eba9f | 1048 | // } |
Lightvalve | 14:8e7590227d22 | 1049 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1050 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1051 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1052 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1053 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1054 | |
Lightvalve | 14:8e7590227d22 | 1055 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1056 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1057 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1058 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1059 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1060 | |
Lightvalve | 38:118df027d851 | 1061 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1062 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1063 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1064 | |
Lightvalve | 30:8d561f16383b | 1065 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1066 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1067 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1068 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1069 | |
Lightvalve | 30:8d561f16383b | 1070 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1071 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1072 | } |
Lightvalve | 13:747daba9cf59 | 1073 | } else { |
Lightvalve | 57:f4819de54e7a | 1074 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1075 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1076 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1077 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1078 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1079 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1080 | |
Lightvalve | 16:903b5a4433b4 | 1081 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1082 | |
Lightvalve | 30:8d561f16383b | 1083 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1084 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1085 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1086 | } |
Lightvalve | 14:8e7590227d22 | 1087 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1088 | break; |
Lightvalve | 13:747daba9cf59 | 1089 | } |
Lightvalve | 14:8e7590227d22 | 1090 | |
Lightvalve | 50:3c630b5eba9f | 1091 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1092 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1093 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1094 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1095 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1096 | // } |
Lightvalve | 50:3c630b5eba9f | 1097 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1098 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1099 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1100 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1101 | // } |
Lightvalve | 50:3c630b5eba9f | 1102 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1103 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1104 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1105 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1106 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1107 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1108 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1109 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1110 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1111 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1112 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1113 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1114 | // |
Lightvalve | 50:3c630b5eba9f | 1115 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1116 | // |
Lightvalve | 50:3c630b5eba9f | 1117 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1118 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1119 | // } |
Lightvalve | 50:3c630b5eba9f | 1120 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1121 | // break; |
Lightvalve | 50:3c630b5eba9f | 1122 | // } |
Lightvalve | 19:23b7c1ad8683 | 1123 | |
Lightvalve | 50:3c630b5eba9f | 1124 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1125 | // 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 | 50:3c630b5eba9f | 1126 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1127 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1128 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1129 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1130 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1131 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1132 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1133 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1134 | // } |
Lightvalve | 50:3c630b5eba9f | 1135 | // break; |
Lightvalve | 50:3c630b5eba9f | 1136 | // } |
Lightvalve | 14:8e7590227d22 | 1137 | |
Lightvalve | 14:8e7590227d22 | 1138 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1139 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1140 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1141 | |
Lightvalve | 14:8e7590227d22 | 1142 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1143 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1144 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1145 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1146 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1147 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1148 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1149 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1150 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1151 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1152 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1153 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1154 | } else { |
Lightvalve | 13:747daba9cf59 | 1155 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1156 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1157 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1158 | } |
Lightvalve | 14:8e7590227d22 | 1159 | |
Lightvalve | 17:1865016ca2e7 | 1160 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1161 | int i; |
Lightvalve | 13:747daba9cf59 | 1162 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1163 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1164 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1165 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1166 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1167 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1168 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1169 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1170 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1171 | } |
Lightvalve | 13:747daba9cf59 | 1172 | } |
Lightvalve | 59:f308b1656d9c | 1173 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1174 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1175 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1176 | } |
Lightvalve | 14:8e7590227d22 | 1177 | |
Lightvalve | 14:8e7590227d22 | 1178 | |
Lightvalve | 13:747daba9cf59 | 1179 | break; |
Lightvalve | 13:747daba9cf59 | 1180 | } |
Lightvalve | 14:8e7590227d22 | 1181 | |
Lightvalve | 14:8e7590227d22 | 1182 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1183 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1184 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1185 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1186 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1187 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1188 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1189 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1190 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1191 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1192 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1193 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1194 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1195 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1196 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1197 | 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; |
Lightvalve | 30:8d561f16383b | 1198 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1199 | 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; |
Lightvalve | 13:747daba9cf59 | 1200 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1201 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1202 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1203 | 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; |
Lightvalve | 13:747daba9cf59 | 1204 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1205 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1206 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1207 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1208 | |
Lightvalve | 30:8d561f16383b | 1209 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1210 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1211 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1212 | |
Lightvalve | 30:8d561f16383b | 1213 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1214 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1215 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1216 | |
Lightvalve | 30:8d561f16383b | 1217 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1218 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1219 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1220 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1221 | |
Lightvalve | 60:64181f1d3e60 | 1222 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1223 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1224 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1225 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1226 | } else { |
Lightvalve | 13:747daba9cf59 | 1227 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1228 | } |
Lightvalve | 61:bc8c8270f0ab | 1229 | |
Lightvalve | 60:64181f1d3e60 | 1230 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1231 | |
Lightvalve | 13:747daba9cf59 | 1232 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1233 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1234 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1235 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1236 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1237 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1238 | |
Lightvalve | 13:747daba9cf59 | 1239 | } |
Lightvalve | 19:23b7c1ad8683 | 1240 | } else { |
Lightvalve | 14:8e7590227d22 | 1241 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1242 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1243 | 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; |
Lightvalve | 60:64181f1d3e60 | 1244 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1245 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1246 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1247 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1248 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1249 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1250 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1251 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1252 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1253 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1254 | } |
Lightvalve | 14:8e7590227d22 | 1255 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1256 | |
Lightvalve | 30:8d561f16383b | 1257 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1258 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1259 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1260 | |
Lightvalve | 14:8e7590227d22 | 1261 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1262 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1263 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1264 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1265 | } else { |
Lightvalve | 13:747daba9cf59 | 1266 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1267 | } |
Lightvalve | 14:8e7590227d22 | 1268 | |
Lightvalve | 13:747daba9cf59 | 1269 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1270 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1271 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1272 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1273 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1274 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1275 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1276 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1277 | } |
Lightvalve | 13:747daba9cf59 | 1278 | } |
Lightvalve | 14:8e7590227d22 | 1279 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1280 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1281 | 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; |
Lightvalve | 60:64181f1d3e60 | 1282 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1283 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1284 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1285 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1286 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1287 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1288 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1289 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1290 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1291 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1292 | } |
Lightvalve | 14:8e7590227d22 | 1293 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1294 | |
Lightvalve | 30:8d561f16383b | 1295 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1296 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1297 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1298 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1299 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1300 | |
Lightvalve | 14:8e7590227d22 | 1301 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1302 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1303 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1304 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1305 | } else { |
Lightvalve | 60:64181f1d3e60 | 1306 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1307 | } |
Lightvalve | 14:8e7590227d22 | 1308 | |
Lightvalve | 13:747daba9cf59 | 1309 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1310 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1311 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1312 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1313 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1314 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1315 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1316 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1317 | |
Lightvalve | 16:903b5a4433b4 | 1318 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1319 | |
Lightvalve | 60:64181f1d3e60 | 1320 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1321 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1322 | } |
Lightvalve | 13:747daba9cf59 | 1323 | } |
Lightvalve | 14:8e7590227d22 | 1324 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1325 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1326 | 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; |
Lightvalve | 60:64181f1d3e60 | 1327 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1328 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1329 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1330 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1331 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1332 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1333 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1334 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1335 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1336 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1337 | } |
Lightvalve | 14:8e7590227d22 | 1338 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1339 | |
Lightvalve | 30:8d561f16383b | 1340 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1341 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1342 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1343 | |
Lightvalve | 14:8e7590227d22 | 1344 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1345 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1346 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1347 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1348 | } else { |
Lightvalve | 13:747daba9cf59 | 1349 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1350 | } |
Lightvalve | 13:747daba9cf59 | 1351 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1352 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1353 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1354 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1355 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1356 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1357 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1358 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1359 | } |
Lightvalve | 13:747daba9cf59 | 1360 | } |
Lightvalve | 14:8e7590227d22 | 1361 | } else { |
Lightvalve | 30:8d561f16383b | 1362 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1363 | 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; |
Lightvalve | 60:64181f1d3e60 | 1364 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1365 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1366 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1367 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1368 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1369 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1370 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1371 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1372 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1373 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1374 | } |
Lightvalve | 14:8e7590227d22 | 1375 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1376 | |
Lightvalve | 30:8d561f16383b | 1377 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1378 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 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 | 61:bc8c8270f0ab | 1382 | |
Lightvalve | 60:64181f1d3e60 | 1383 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1384 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1385 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1386 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1387 | } else { |
Lightvalve | 13:747daba9cf59 | 1388 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1389 | } |
Lightvalve | 14:8e7590227d22 | 1390 | |
Lightvalve | 13:747daba9cf59 | 1391 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1392 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1393 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1394 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1395 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1396 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1397 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1398 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1399 | |
Lightvalve | 59:f308b1656d9c | 1400 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1401 | |
Lightvalve | 57:f4819de54e7a | 1402 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1403 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1404 | } |
Lightvalve | 13:747daba9cf59 | 1405 | } |
Lightvalve | 13:747daba9cf59 | 1406 | } |
Lightvalve | 14:8e7590227d22 | 1407 | } |
Lightvalve | 13:747daba9cf59 | 1408 | break; |
Lightvalve | 13:747daba9cf59 | 1409 | } |
Lightvalve | 14:8e7590227d22 | 1410 | |
Lightvalve | 14:8e7590227d22 | 1411 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1412 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1413 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1414 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1415 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1416 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1417 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1418 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1419 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1420 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1421 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1422 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1423 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1424 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1425 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1426 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1427 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1428 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1429 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1430 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1431 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1432 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1433 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1434 | } |
Lightvalve | 14:8e7590227d22 | 1435 | } else { |
Lightvalve | 30:8d561f16383b | 1436 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1437 | //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; |
Lightvalve | 59:f308b1656d9c | 1438 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1439 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1440 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1441 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1442 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1443 | |
Lightvalve | 14:8e7590227d22 | 1444 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1445 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1446 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1447 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1448 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1449 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1450 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1451 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1452 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1453 | } |
Lightvalve | 30:8d561f16383b | 1454 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1455 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1456 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1457 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1458 | } |
Lightvalve | 14:8e7590227d22 | 1459 | |
Lightvalve | 14:8e7590227d22 | 1460 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1461 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1462 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1463 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1464 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1465 | } |
Lightvalve | 13:747daba9cf59 | 1466 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1467 | |
Lightvalve | 13:747daba9cf59 | 1468 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1469 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1470 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1471 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1472 | } |
Lightvalve | 14:8e7590227d22 | 1473 | |
Lightvalve | 14:8e7590227d22 | 1474 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1475 | |
Lightvalve | 13:747daba9cf59 | 1476 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1477 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1478 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1479 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1480 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1481 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1482 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1483 | } |
Lightvalve | 13:747daba9cf59 | 1484 | } |
Lightvalve | 13:747daba9cf59 | 1485 | break; |
Lightvalve | 13:747daba9cf59 | 1486 | } |
Lightvalve | 58:2eade98630e2 | 1487 | |
Lightvalve | 57:f4819de54e7a | 1488 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1489 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1490 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1491 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1492 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1493 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1494 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1495 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1496 | } |
Lightvalve | 57:f4819de54e7a | 1497 | break; |
Lightvalve | 57:f4819de54e7a | 1498 | } |
Lightvalve | 58:2eade98630e2 | 1499 | |
Lightvalve | 58:2eade98630e2 | 1500 | |
Lightvalve | 57:f4819de54e7a | 1501 | |
Lightvalve | 57:f4819de54e7a | 1502 | default: |
Lightvalve | 57:f4819de54e7a | 1503 | break; |
Lightvalve | 57:f4819de54e7a | 1504 | } |
Lightvalve | 57:f4819de54e7a | 1505 | |
Lightvalve | 57:f4819de54e7a | 1506 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1507 | |
Lightvalve | 57:f4819de54e7a | 1508 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1509 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1510 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1511 | break; |
Lightvalve | 57:f4819de54e7a | 1512 | } |
Lightvalve | 57:f4819de54e7a | 1513 | |
Lightvalve | 57:f4819de54e7a | 1514 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1515 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1516 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1517 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1518 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1519 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1520 | } else { |
Lightvalve | 67:c2812cf26c38 | 1521 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1522 | } |
Lightvalve | 58:2eade98630e2 | 1523 | |
Lightvalve | 57:f4819de54e7a | 1524 | break; |
Lightvalve | 57:f4819de54e7a | 1525 | } |
Lightvalve | 57:f4819de54e7a | 1526 | |
Lightvalve | 57:f4819de54e7a | 1527 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1528 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1529 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1530 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1531 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1532 | |
Lightvalve | 67:c2812cf26c38 | 1533 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1534 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1535 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1536 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1537 | |
Lightvalve | 67:c2812cf26c38 | 1538 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1539 | |
Lightvalve | 57:f4819de54e7a | 1540 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1541 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1542 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1543 | |
Lightvalve | 57:f4819de54e7a | 1544 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1545 | |
Lightvalve | 57:f4819de54e7a | 1546 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1547 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1548 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1549 | |
Lightvalve | 57:f4819de54e7a | 1550 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1551 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1552 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1553 | |
Lightvalve | 57:f4819de54e7a | 1554 | if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1555 | 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 |
Lightvalve | 57:f4819de54e7a | 1556 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1557 | } else if ((OPERATING_MODE && 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1558 | 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 |
Lightvalve | 57:f4819de54e7a | 1559 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1560 | } |
Lightvalve | 57:f4819de54e7a | 1561 | 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)))); |
Lightvalve | 57:f4819de54e7a | 1562 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1563 | |
Lightvalve | 57:f4819de54e7a | 1564 | // velocity compensation for torque control |
Lightvalve | 57:f4819de54e7a | 1565 | if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1566 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1567 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s |
Lightvalve | 57:f4819de54e7a | 1568 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1569 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1570 | } else if ((OPERATING_MODE && 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1571 | 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. |
Lightvalve | 57:f4819de54e7a | 1572 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1573 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1574 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1575 | } |
Lightvalve | 57:f4819de54e7a | 1576 | 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)))); |
Lightvalve | 57:f4819de54e7a | 1577 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1578 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1579 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1580 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1581 | |
Lightvalve | 57:f4819de54e7a | 1582 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1583 | |
Lightvalve | 67:c2812cf26c38 | 1584 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1585 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1586 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1587 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1588 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1589 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1590 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1591 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1592 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1593 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1594 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1595 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1596 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1597 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1598 | } |
Lightvalve | 67:c2812cf26c38 | 1599 | } |
Lightvalve | 57:f4819de54e7a | 1600 | |
Lightvalve | 57:f4819de54e7a | 1601 | } else { |
Lightvalve | 57:f4819de54e7a | 1602 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1603 | |
Lightvalve | 57:f4819de54e7a | 1604 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f |
Lightvalve | 57:f4819de54e7a | 1605 | + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 57:f4819de54e7a | 1606 | |
Lightvalve | 57:f4819de54e7a | 1607 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 57:f4819de54e7a | 1608 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1609 | } else { |
Lightvalve | 57:f4819de54e7a | 1610 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1611 | } |
Lightvalve | 57:f4819de54e7a | 1612 | |
Lightvalve | 57:f4819de54e7a | 1613 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1614 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1615 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1616 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1617 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1618 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1619 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1620 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1621 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1622 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1623 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1624 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1625 | } |
Lightvalve | 57:f4819de54e7a | 1626 | } |
Lightvalve | 61:bc8c8270f0ab | 1627 | |
Lightvalve | 57:f4819de54e7a | 1628 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1629 | |
Lightvalve | 67:c2812cf26c38 | 1630 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1631 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1632 | |
Lightvalve | 57:f4819de54e7a | 1633 | } |
Lightvalve | 58:2eade98630e2 | 1634 | |
Lightvalve | 57:f4819de54e7a | 1635 | break; |
Lightvalve | 57:f4819de54e7a | 1636 | } |
Lightvalve | 58:2eade98630e2 | 1637 | |
Lightvalve | 57:f4819de54e7a | 1638 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1639 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1640 | break; |
Lightvalve | 57:f4819de54e7a | 1641 | } |
Lightvalve | 14:8e7590227d22 | 1642 | |
Lightvalve | 12:6f2531038ea4 | 1643 | default: |
Lightvalve | 12:6f2531038ea4 | 1644 | break; |
Lightvalve | 12:6f2531038ea4 | 1645 | } |
Lightvalve | 14:8e7590227d22 | 1646 | |
Lightvalve | 57:f4819de54e7a | 1647 | |
Lightvalve | 57:f4819de54e7a | 1648 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1649 | |
Lightvalve | 57:f4819de54e7a | 1650 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1651 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1652 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1653 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1654 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1655 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1656 | |
Lightvalve | 57:f4819de54e7a | 1657 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1658 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1659 | |
Lightvalve | 57:f4819de54e7a | 1660 | |
Lightvalve | 57:f4819de54e7a | 1661 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1662 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1663 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1664 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1665 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1666 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1667 | |
Lightvalve | 57:f4819de54e7a | 1668 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1669 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1670 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1671 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1672 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1673 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1674 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1675 | } |
Lightvalve | 57:f4819de54e7a | 1676 | |
Lightvalve | 57:f4819de54e7a | 1677 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1678 | |
Lightvalve | 67:c2812cf26c38 | 1679 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1680 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1681 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1682 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1683 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1684 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1685 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1686 | |
Lightvalve | 57:f4819de54e7a | 1687 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1688 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1689 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1690 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1691 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1692 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1693 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1694 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1695 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1696 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1697 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1698 | } |
Lightvalve | 57:f4819de54e7a | 1699 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1700 | } else { |
Lightvalve | 57:f4819de54e7a | 1701 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1702 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1703 | } |
Lightvalve | 57:f4819de54e7a | 1704 | |
Lightvalve | 57:f4819de54e7a | 1705 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1706 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1707 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1708 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1709 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1710 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1711 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1712 | |
Lightvalve | 57:f4819de54e7a | 1713 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1714 | |
Lightvalve | 57:f4819de54e7a | 1715 | } else { |
Lightvalve | 57:f4819de54e7a | 1716 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1717 | } |
Lightvalve | 57:f4819de54e7a | 1718 | |
Lightvalve | 57:f4819de54e7a | 1719 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1720 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1721 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1722 | |
Lightvalve | 57:f4819de54e7a | 1723 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1724 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1725 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1726 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1727 | } |
Lightvalve | 67:c2812cf26c38 | 1728 | |
Lightvalve | 67:c2812cf26c38 | 1729 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1730 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1731 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1732 | |
jobuuu | 7:e9086c72bb22 | 1733 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1734 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1735 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1736 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1737 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1738 | } |
Lightvalve | 67:c2812cf26c38 | 1739 | |
Lightvalve | 49:e7bcfc244d40 | 1740 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1741 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1742 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1743 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1744 | } |
Lightvalve | 49:e7bcfc244d40 | 1745 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1746 | |
Lightvalve | 19:23b7c1ad8683 | 1747 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1748 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1749 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1750 | |
Lightvalve | 30:8d561f16383b | 1751 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1752 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1753 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1754 | } else { |
jobuuu | 2:a1c0a37df760 | 1755 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1756 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1757 | } |
Lightvalve | 13:747daba9cf59 | 1758 | |
jobuuu | 1:e04e563be5ce | 1759 | //pwm |
Lightvalve | 30:8d561f16383b | 1760 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1761 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1762 | |
Lightvalve | 61:bc8c8270f0ab | 1763 | |
Lightvalve | 57:f4819de54e7a | 1764 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1765 | |
Lightvalve | 54:647072f5307a | 1766 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1767 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1768 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1769 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1770 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1771 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1772 | 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)); |
Lightvalve | 54:647072f5307a | 1773 | } |
Lightvalve | 57:f4819de54e7a | 1774 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1775 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1776 | 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))); |
Lightvalve | 54:647072f5307a | 1777 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1778 | 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)); |
Lightvalve | 54:647072f5307a | 1779 | } |
Lightvalve | 52:8ea76864368a | 1780 | } |
Lightvalve | 52:8ea76864368a | 1781 | } |
Lightvalve | 56:6f50d9d3bfee | 1782 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1783 | //valve position |
Lightvalve | 54:647072f5307a | 1784 | double t_value = 0; |
Lightvalve | 67:c2812cf26c38 | 1785 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 67:c2812cf26c38 | 1786 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1787 | } else { |
Lightvalve | 67:c2812cf26c38 | 1788 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1789 | } |
Lightvalve | 67:c2812cf26c38 | 1790 | // if(OPERATING_MODE==5) { |
Lightvalve | 67:c2812cf26c38 | 1791 | // t_value = (double) value; |
Lightvalve | 67:c2812cf26c38 | 1792 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 67:c2812cf26c38 | 1793 | // t_value = cur.sen; |
Lightvalve | 57:f4819de54e7a | 1794 | // } else { |
Lightvalve | 67:c2812cf26c38 | 1795 | // t_value = V_out; |
Lightvalve | 67:c2812cf26c38 | 1796 | // } |
Lightvalve | 67:c2812cf26c38 | 1797 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1798 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1799 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1800 | } |
Lightvalve | 58:2eade98630e2 | 1801 | |
Lightvalve | 58:2eade98630e2 | 1802 | |
Lightvalve | 56:6f50d9d3bfee | 1803 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 56:6f50d9d3bfee | 1804 | //pressure A and B |
Lightvalve | 57:f4819de54e7a | 1805 | CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400 |
Lightvalve | 55:b25725257569 | 1806 | } |
Lightvalve | 58:2eade98630e2 | 1807 | |
Lightvalve | 57:f4819de54e7a | 1808 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1809 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1810 | ; |
Lightvalve | 57:f4819de54e7a | 1811 | } |
Lightvalve | 58:2eade98630e2 | 1812 | |
Lightvalve | 56:6f50d9d3bfee | 1813 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1814 | //PWM |
Lightvalve | 67:c2812cf26c38 | 1815 | CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 54:647072f5307a | 1816 | } |
Lightvalve | 57:f4819de54e7a | 1817 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1818 | // ; |
Lightvalve | 57:f4819de54e7a | 1819 | // } |
Lightvalve | 56:6f50d9d3bfee | 1820 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1821 | //valve position |
Lightvalve | 57:f4819de54e7a | 1822 | CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600 |
Lightvalve | 54:647072f5307a | 1823 | } |
Lightvalve | 20:806196fda269 | 1824 | |
Lightvalve | 54:647072f5307a | 1825 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1826 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1827 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1828 | // } |
Lightvalve | 54:647072f5307a | 1829 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1830 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1831 | //} |
Lightvalve | 52:8ea76864368a | 1832 | |
Lightvalve | 54:647072f5307a | 1833 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1834 | } |
Lightvalve | 54:647072f5307a | 1835 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1836 | |
Lightvalve | 20:806196fda269 | 1837 | } |
Lightvalve | 52:8ea76864368a | 1838 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1839 | |
Lightvalve | 58:2eade98630e2 | 1840 | } |