![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
Original Version of STM Board
Diff: main.cpp
- Revision:
- 66:a8e6799dbce3
- Parent:
- 65:a2d7c63419c2
- Child:
- 67:c2812cf26c38
diff -r a2d7c63419c2 -r a8e6799dbce3 main.cpp --- a/main.cpp Tue Apr 14 01:07:30 2020 +0000 +++ b/main.cpp Tue May 12 06:23:46 2020 +0000 @@ -183,998 +183,106 @@ } } -const float input[22] = { 0.052414f, 0.066907f, 0.085407f, 0.109023f, - 0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f, - 0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f, - 0.139169f, 0.177651f, 0.052414f, 0.066907f, 0.085407f, 0.109023f }; -const float h1[22][32] = { { -0.02454003319144249f, 0.13071660697460175f, - 0.08675816655158997f, 0.1402530074119568f, -0.24982963502407074f, - 0.12202739715576172f, -0.13030944764614105f, -0.11353740841150284f, - -0.2542628347873688f, -0.04588286578655243f, -0.14282149076461792f, - -0.2201535552740097f, -0.18691661953926086f, 0.30389177799224854f, - -0.1729012429714203f, -0.12240276485681534f, -0.11355798691511154f, - 0.2349482625722885f, -0.24878336489200592f, 0.07184267044067383f, - -0.3221011161804199f, 0.08763179183006287f, 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+{0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.13894453644752502f,0.06556430459022522f,0.29767414927482605f,0.24966773390769958f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.17675906419754028f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.23596063256263733f,0.1602974534034729f,-0.04174882173538208f,-0.11559568345546722f,-0.06235519051551819f,0.21069613099098206f,-0.19532959163188934f,-0.2486409693956375f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f}, +{-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.03896602615714073f,-0.1559528261423111f,-0.14272382855415344f,-0.19175797700881958f,0.02903696894645691f,-0.21793057024478912f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.2574335038661957f,0.011410274542868137f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.12396217882633209f,-0.17956478893756866f,0.32670894265174866f,-0.021142370998859406f,-0.1977243274450302f,-0.025072306394577026f,0.1991090476512909f,-0.007939159870147705f,-0.15539970993995667f,0.19354887306690216f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.23252393305301666f}, +{0.07638216018676758f,0.10178792476654053f,-0.3632030189037323f,-0.235545814037323f,0.09491447359323502f,0.007485899608582258f,0.16700564324855804f,-0.25668495893478394f,0.026961220428347588f,0.30681201815605164f,0.036471329629421234f,0.02524423599243164f,-0.10277769714593887f,0.22266533970832825f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.042979199439287186f,0.38466188311576843f,0.28802499175071716f,0.25258976221084595f,-0.025679901242256165f,-0.13952423632144928f,-0.4421646296977997f,0.20129328966140747f,0.1901901364326477f,-0.14958564937114716f,-0.07797150313854218f,-1.3495779037475586f,0.22636333107948303f,-0.28991997241973877f,0.19003361463546753f}, +}; -const float b2[32] = { -0.10466054826974869f, -0.7642630338668823f, - -1.4564176797866821f, -0.528777003288269f, -0.7297643423080444f, - 0.2625555098056793f, 0.389851450920105f, -0.33048292994499207f, - -1.20063054561615f, -1.912178635597229f, 0.31253743171691895f, - 0.6883504390716553f, -0.04988760128617287f, 2.26581072807312f, - 0.13501279056072235f, 1.132785677909851f, -1.8237234354019165f, - -1.5844906568527222f, 0.26375624537467957f, -0.23789723217487335f, - 0.17283980548381805f, 0.3692796230316162f, 0.09335066378116608f, - -1.0231001377105713f, 1.2738454341888428f, 1.44853675365448f, - 0.9071134924888611f, 8.9274239144288e-05f, -0.6323830485343933f, - -0.4208582937717438f, -1.1864360570907593f, -1.3916414976119995f }; +const float hout[32] = { 0.3285340666770935f,0.2312968373298645f,-0.1630605310201645f,-0.052534740418195724f,-0.10057443380355835f,0.2961001396179199f,0.017061835154891014f,0.10350137203931808f,-0.07044677436351776f,-0.6716802716255188f,0.1657922863960266f,-0.19491273164749146f,-0.09723297506570816f,0.11400538682937622f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.18661867082118988f,-0.20936886966228485f,-0.06724883615970612f,-0.012077437713742256f,0.13819065690040588f,-0.36261582374572754f,-0.1528124064207077f,0.21429504454135895f,0.2520971894264221f,-0.25227150321006775f,-0.31772324442863464f,0.180665984749794f,-0.3257754445075989f,-0.39810308814048767f,-0.2707440257072449f }; + +const float b1[32] = { 0.41725802421569824f,0.677618682384491f,-1.7145336866378784f,0.4289698898792267f,1.0923852920532227f,0.6965276002883911f,-0.33025991916656494f,0.911361813545227f,0.5523963570594788f,-0.9239171743392944f,0.5504469275474548f,1.4532619714736938f,-0.3425353467464447f,-0.9522353410720825f,-1.087764859199524f,1.1365444660186768f,0.6634984612464905f,0.07243652641773224f,0.34714072942733765f,0.4831358790397644f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.5655348300933838f,-2.0880801677703857f,-1.0489267110824585f,0.6718418598175049f,0.3125588893890381f,-1.0887231826782227f,1.4772096872329712f,-0.44261544942855835f }; -const float b3[32] = { -1.963319182395935f, -0.4028509557247162f, - 0.3184174597263336f, 0.1579766422510147f, 0.1897633820772171f, - 0.866980791091919f, -0.45353031158447266f, -0.6562485098838806f, - 0.5865635275840759f, 0.5033581852912903f, -0.14371006190776825f, - 0.050810977816581726f, -0.5131177306175232f, 0.5688209533691406f, - -1.1428403854370117f, -0.3598397970199585f, -1.3594286441802979f, - -1.0192245244979858f, -0.2365882694721222f, 0.5294732451438904f, - 1.530857801437378f, 1.2039998769760132f, -1.0573883056640625f, - -0.7962622046470642f, 0.7248114347457886f, -0.36519983410835266f, - -0.07752024382352829f, 0.767806887626648f, 0.2635451555252075f, - -2.3236680030822754f, 0.06150589883327484f, 1.0375205278396606f }; +const float b2[32] = { -0.1328246146440506f,-0.7642630338668823f,-1.4564176797866821f,-0.5193768739700317f,-0.770237147808075f,0.2291887253522873f,0.42305076122283936f,-0.330333411693573f,-1.200630784034729f,-1.912178635597229f,0.3195040225982666f,0.6411747336387634f,-0.12948329746723175f,2.127977132797241f,0.03474299982190132f,1.0651566982269287f,-1.798204779624939f,-1.6275829076766968f,0.24063049256801605f,-0.33282727003097534f,0.15034039318561554f,0.3341216742992401f,0.09335067123174667f,-1.0914796590805054f,1.1630909442901611f,1.3906062841415405f,0.9115413427352905f,-0.08930502086877823f,-0.6323830485343933f,-0.4208582937717438f,-1.2135889530181885f,-1.3041324615478516f }; -const float bout[1] = { -0.3124803602695465f }; +const float b3[32] = { -1.963319182395935f,-0.24137775599956512f,0.16939261555671692f,-0.010520849376916885f,0.16716189682483673f,0.8664999008178711f,-0.5060869455337524f,-0.675765335559845f,0.4948726296424866f,0.49107488989830017f,-0.3517422378063202f,0.050810977816581726f,-0.5689442157745361f,0.5305911302566528f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0502030849456787f,-0.22544679045677185f,0.391804963350296f,1.3067524433135986f,1.170665979385376f,-0.7901832461357117f,-0.7575708627700806f,0.7138406038284302f,-0.36519986391067505f,-0.0393984317779541f,0.7097650170326233f,0.27854597568511963f,-2.3236680030822754f,0.025814389809966087f,0.9480384588241577f }; + +const float bout[1] = { -0.28343671560287476f }; int main() { - //F401_init84 myinit(0); - //F401_init84 SystemClock_Config_84MHz_internal(); + HAL_Init(); SystemClock_Config(); - __HAL_RCC_SYSCFG_CLK_ENABLE(); - __HAL_RCC_PWR_CLK_ENABLE(); - HAL_IncTick(); /********************************* *** Initialization @@ -1258,9 +366,10 @@ *** Program is operating! *************************************/ while(1) { - //if(timer_while==1000 && OPERATING_MODE==5) { - if(timer_while==1000) { +// if(timer_while==1000 && OPERATING_MODE==5) { + //if(timer_while==1000) { //i2c + read_field(i2c_slave_addr1); if(DIR_VALVE_ENC < 0) value = 1023 - value; // if(LED==1) { @@ -1268,91 +377,74 @@ // } else // LED = 1; timer_while = 0; - } + //} + + timer_while ++; + + + if(NN_Control_Flag == 1) { + float output1[32] = { 0.0f }; + float output2[32] = { 0.0f }; + float output3[32] = { 0.0f }; + float output = 0.0f; - float output1[32] = { 0.0f }; - float output2[32] = { 0.0f }; - float output3[32] = { 0.0f }; - float output = 0.0f; + - timer_while ++; + for (int index2 = 0; index2 < 32; index2++) { + for (int index1 = 0; index1 < 22; index1++) { + output1[index2] = output1[index2] + + h1[index1][index2] * input[index1]; + } + output1[index2] = output1[index2] + b1[index2]; + if (output1[index2] < 0) { + output1[index2] = 0; + } + } -// t.reset(); -// t.start(); + for (int index2 = 0; index2 < 32; index2++) { + for (int index1 = 0; index1 < 32; index1++) { + output2[index2] = output2[index2] + + h2[index1][index2] * output1[index1]; + } + output2[index2] = output2[index2] + b2[index2]; + if (output2[index2] < 0) { + output2[index2] = 0; + } + } - for (int index2 = 0; index2 < 32; index2++) { - for (int index1 = 0; index1 < 22; index1++) { - output1[index2] = output1[index2] - + h1[index1][index2] * input[index1]; + for (int index2 = 0; index2 < 32; index2++) { + for (int index1 = 0; index1 < 32; index1++) { + output3[index2] = output3[index2] + + h3[index1][index2] * output2[index1]; + } + output3[index2] = output3[index2] + b3[index2]; + if (output3[index2] < 0) { + output3[index2] = 0; + } } - output1[index2] = output1[index2] + b1[index2]; - if (output1[index2] < 0) { - output1[index2] = 0; + + for (int index2 = 0; index2 < 1; index2++) { + for (int index1 = 0; index1 < 32; index1++) { + output = output + hout[index2] * output3[index1]; + } + output = output + bout[index2]; + output = 1.0f/(1.0f+exp(-output)); + } + + output = output * 24000.0f - 12000.0f; + if(output>=0) { + valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; + } else { + valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; } } - - for (int index2 = 0; index2 < 32; index2++) { - for (int index1 = 0; index1 < 32; index1++) { - output2[index2] = output2[index2] - + h2[index1][index2] * output1[index1]; - } - output2[index2] = output2[index2] + b2[index2]; - if (output2[index2] < 0) { - output2[index2] = 0; - } - } - - for (int index2 = 0; index2 < 32; index2++) { - for (int index1 = 0; index1 < 32; index1++) { - output3[index2] = output3[index2] - + h3[index1][index2] * output2[index1]; - } - output3[index2] = output3[index2] + b3[index2]; - if (output3[index2] < 0) { - output3[index2] = 0; - } - } - - for (int index2 = 0; index2 < 1; index2++) { - for (int index1 = 0; index1 < 32; index1++) { - output = output + hout[index2] * output3[index1]; - } - output = output + bout[index2]; - output = 1.0f/(1.0f+exp(-output)); - } -// t.stop(); - //printf("NNoutput : %f\n", NNoutput); - //printf("time : %f\n", t.read()); - - //wait(1); - - //if(timer_while%10000==0) if(LED==1) { LED=0; } else LED = 1; - -// CAN_TX_PWM((int16_t) (t.read() * 1000000.0f)); //1500 - -// PWM_out = NNoutput * 24000.0f - 12000.0f; -// -// -// if (PWM_out>0.0f) { -// dtc_v=0.0f; -// dtc_w=PWM_out; -// } else { -// dtc_v=-PWM_out; -// dtc_w=0.0f; -// } -// -// //pwm -// TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); -// TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); - - - + } } @@ -2436,7 +1528,7 @@ VALVE_POS_CONTROL(valve_pos.ref); - Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); + //Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); V_out = (float) Vout.ref; } @@ -2588,7 +1680,8 @@ // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); // } else { // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); -// } +// } + if(OPERATING_MODE==5) { t_value = (double) value; } else if(CURRENT_CONTROL_MODE==1) { @@ -2614,10 +1707,6 @@ //PWM CAN_TX_PWM((int16_t) cur.sen); //1500 } - if (flag_data_request[3] == LOW) { - //PWM - CAN_TX_PWM((int16_t) 79); //1500 - } //for (i = 0; i < 10000; i++) { // ; // }