rainbow

Dependencies:   mbed FastPWM

Committer:
Lightvalve
Date:
Thu Dec 19 11:39:31 2019 +0000
Revision:
40:3f2c0619c8c4
Parent:
38:118df027d851
Child:
41:abbd4e2af68b
191219

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 11
Lightvalve 31:66738bfecec5 12 ///191008////
Lightvalve 31:66738bfecec5 13
jobuuu 7:e9086c72bb22 14 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 15 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 16 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 17 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 18 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 19 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 20 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 21 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 22
Lightvalve 24:ef6e1092e9e6 23
jobuuu 7:e9086c72bb22 24 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 25 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 26 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 27
jobuuu 7:e9086c72bb22 28 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 29 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 30 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 31 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 32
jobuuu 7:e9086c72bb22 33 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 34 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 35 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 36 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 37 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 38 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 39 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 43
jobuuu 7:e9086c72bb22 44 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 45 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 46 CANMessage msg;
Lightvalve 11:82d8768d7351 47 void onMsgReceived()
Lightvalve 11:82d8768d7351 48 {
Lightvalve 11:82d8768d7351 49 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 50 }
jobuuu 2:a1c0a37df760 51
jobuuu 7:e9086c72bb22 52 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 53 State pos;
jobuuu 7:e9086c72bb22 54 State vel;
jobuuu 7:e9086c72bb22 55 State Vout;
jobuuu 7:e9086c72bb22 56 State torq;
jobuuu 7:e9086c72bb22 57 State pres_A;
jobuuu 7:e9086c72bb22 58 State pres_B;
jobuuu 7:e9086c72bb22 59 State cur;
Lightvalve 14:8e7590227d22 60 State valve_pos;
Lightvalve 14:8e7590227d22 61
Lightvalve 14:8e7590227d22 62 State INIT_Vout;
Lightvalve 14:8e7590227d22 63 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 64 State INIT_Pos;
Lightvalve 14:8e7590227d22 65 State INIT_torq;
jobuuu 5:a4319f79457b 66
Lightvalve 30:8d561f16383b 67 float V_out=0.0f;
Lightvalve 30:8d561f16383b 68 float V_rem=0.0f; // for anti-windup
Lightvalve 30:8d561f16383b 69 float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 70
Lightvalve 30:8d561f16383b 71 float PWM_out=0.0f;
Lightvalve 12:6f2531038ea4 72
Lightvalve 17:1865016ca2e7 73 int timer_while = 0;
Lightvalve 17:1865016ca2e7 74 int while_index = 0;
Lightvalve 17:1865016ca2e7 75
Lightvalve 19:23b7c1ad8683 76
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 78 extern int CID_RX_REF_POSITION;
Lightvalve 19:23b7c1ad8683 79 extern int CID_RX_REF_TORQUE;
Lightvalve 19:23b7c1ad8683 80 extern int CID_RX_REF_PRES_DIFF;
Lightvalve 19:23b7c1ad8683 81 extern int CID_RX_REF_VOUT;
Lightvalve 19:23b7c1ad8683 82 extern int CID_RX_REF_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 83 extern int CID_RX_REF_CURRENT;
Lightvalve 19:23b7c1ad8683 84
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 87 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 88 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 89 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 90 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 91
jobuuu 7:e9086c72bb22 92 // =============================================================================
jobuuu 7:e9086c72bb22 93 // =============================================================================
jobuuu 7:e9086c72bb22 94 // =============================================================================
jobuuu 7:e9086c72bb22 95
Lightvalve 12:6f2531038ea4 96 /*******************************************************************************
Lightvalve 12:6f2531038ea4 97 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 98 ******************************************************************************/
Lightvalve 13:747daba9cf59 99 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 100 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 101 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 102 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 103 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 104 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 105 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 106 };
Lightvalve 12:6f2531038ea4 107
Lightvalve 12:6f2531038ea4 108 /*******************************************************************************
Lightvalve 12:6f2531038ea4 109 * CONTROL MODE
Lightvalve 12:6f2531038ea4 110 ******************************************************************************/
Lightvalve 13:747daba9cf59 111 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 112 //control mode
Lightvalve 12:6f2531038ea4 113 MODE_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 114 MODE_VALVE_OPEN_LOOP, //1
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_CONTROL, //2
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 122 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 123 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 124
Lightvalve 12:6f2531038ea4 125 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 126 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 127
Lightvalve 14:8e7590227d22 128 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 129 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 130 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 131
Lightvalve 12:6f2531038ea4 132 //utility
Lightvalve 12:6f2531038ea4 133 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 134 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 135 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 136 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 137 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 138 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 139 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 140
Lightvalve 12:6f2531038ea4 141 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 142 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 143 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 144 };
Lightvalve 12:6f2531038ea4 145
GiJeongKim 0:51c43836c1d7 146 int main()
GiJeongKim 0:51c43836c1d7 147 {
jobuuu 6:df07d3491e3a 148 /*********************************
jobuuu 1:e04e563be5ce 149 *** Initialization
jobuuu 6:df07d3491e3a 150 *********************************/
Lightvalve 19:23b7c1ad8683 151 //LED = 1;
Lightvalve 19:23b7c1ad8683 152 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 153
GiJeongKim 0:51c43836c1d7 154 // i2c init
Lightvalve 8:5d2eebdad025 155 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 156 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 157 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 158 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 159 make_delay();
jobuuu 2:a1c0a37df760 160
GiJeongKim 0:51c43836c1d7 161 // // spi init
Lightvalve 16:903b5a4433b4 162 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 163 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 164 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 165 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 166 make_delay();
Lightvalve 21:e5f1a43ea6f9 167
Lightvalve 16:903b5a4433b4 168 //rom
Lightvalve 19:23b7c1ad8683 169 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 170 make_delay();
Lightvalve 13:747daba9cf59 171
GiJeongKim 0:51c43836c1d7 172 // ADC init
jobuuu 5:a4319f79457b 173 Init_ADC();
Lightvalve 11:82d8768d7351 174 make_delay();
jobuuu 2:a1c0a37df760 175
GiJeongKim 0:51c43836c1d7 176 // Pwm init
GiJeongKim 0:51c43836c1d7 177 Init_PWM();
GiJeongKim 0:51c43836c1d7 178 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 179 make_delay();
Lightvalve 13:747daba9cf59 180
Lightvalve 11:82d8768d7351 181 // TMR3 init
Lightvalve 11:82d8768d7351 182 Init_TMR3();
Lightvalve 11:82d8768d7351 183 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 184 make_delay();
Lightvalve 21:e5f1a43ea6f9 185
Lightvalve 20:806196fda269 186 // TMR5 init
Lightvalve 23:59218d4a256d 187 Init_TMR2();
Lightvalve 23:59218d4a256d 188 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 20:806196fda269 189 make_delay();
Lightvalve 21:e5f1a43ea6f9 190
GiJeongKim 0:51c43836c1d7 191 // CAN
jobuuu 2:a1c0a37df760 192 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 193 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 194 make_delay();
Lightvalve 34:bb2ca2fc2a8e 195
Lightvalve 23:59218d4a256d 196 //Timer priority
Lightvalve 23:59218d4a256d 197 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 23:59218d4a256d 198 NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 199 NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve 34:bb2ca2fc2a8e 200
Lightvalve 23:59218d4a256d 201 //can.reset();
Lightvalve 19:23b7c1ad8683 202 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 203
GiJeongKim 0:51c43836c1d7 204 // spi _ enc
GiJeongKim 0:51c43836c1d7 205 spi_enc_set_init();
Lightvalve 11:82d8768d7351 206 make_delay();
Lightvalve 13:747daba9cf59 207
Lightvalve 11:82d8768d7351 208 //DAC init
Lightvalve 38:118df027d851 209 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 38:118df027d851 210 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 11:82d8768d7351 211 make_delay();
Lightvalve 13:747daba9cf59 212
Lightvalve 19:23b7c1ad8683 213 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 214 if(i%2==0)
Lightvalve 38:118df027d851 215 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 216 else
Lightvalve 38:118df027d851 217 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 218 }
Lightvalve 13:747daba9cf59 219
jobuuu 6:df07d3491e3a 220 /************************************
jobuuu 1:e04e563be5ce 221 *** Program is operating!
jobuuu 6:df07d3491e3a 222 *************************************/
GiJeongKim 0:51c43836c1d7 223 while(1) {
Lightvalve 21:e5f1a43ea6f9 224 if(timer_while==1000) {
Lightvalve 28:2a62d73e3dd0 225 //pc.printf("cmd %d\n ");
Lightvalve 17:1865016ca2e7 226 //i2c
Lightvalve 17:1865016ca2e7 227 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 228 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 21:e5f1a43ea6f9 229
Lightvalve 19:23b7c1ad8683 230 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 231 // LED=0;
Lightvalve 19:23b7c1ad8683 232 // } else
Lightvalve 19:23b7c1ad8683 233 // LED = 1;
Lightvalve 17:1865016ca2e7 234 timer_while = 0;
Lightvalve 21:e5f1a43ea6f9 235
Lightvalve 17:1865016ca2e7 236 }
Lightvalve 17:1865016ca2e7 237 timer_while ++;
GiJeongKim 0:51c43836c1d7 238 }
jobuuu 1:e04e563be5ce 239 }
jobuuu 1:e04e563be5ce 240
Lightvalve 33:91b17819ec30 241 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 242 {
Lightvalve 14:8e7590227d22 243
Lightvalve 13:747daba9cf59 244 int i = 0;
Lightvalve 33:91b17819ec30 245 float Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 246 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 247 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 248 if(i==0) {
Lightvalve 38:118df027d851 249 if(JOINT_VEL[i+1] == JOINT_VEL[i]){
Lightvalve 38:118df027d851 250 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 38:118df027d851 251 }else{
Lightvalve 38:118df027d851 252 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 38:118df027d851 253 }
Lightvalve 14:8e7590227d22 254 } else {
Lightvalve 38:118df027d851 255 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]){
Lightvalve 38:118df027d851 256 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 38:118df027d851 257 }else{
Lightvalve 38:118df027d851 258 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 259 }
Lightvalve 13:747daba9cf59 260 }
Lightvalve 13:747daba9cf59 261 break;
Lightvalve 13:747daba9cf59 262 }
Lightvalve 13:747daba9cf59 263 }
Lightvalve 14:8e7590227d22 264 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 265 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 266 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 267 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 268 }
Lightvalve 36:a46e63505ed8 269
Lightvalve 35:34ce7b0347b8 270 //VELOCITY_COMP_GAIN = 20;
Lightvalve 35:34ce7b0347b8 271 //CAN_TX_PRES((int16_t)(Ref_Valve_Pos_FF), (int16_t) (7));
Lightvalve 33:91b17819ec30 272 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + DDV_CENTER;
Lightvalve 34:bb2ca2fc2a8e 273
Lightvalve 13:747daba9cf59 274 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 275 }
jobuuu 6:df07d3491e3a 276
jobuuu 6:df07d3491e3a 277
Lightvalve 30:8d561f16383b 278 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 279 {
Lightvalve 13:747daba9cf59 280 int i = 0;
Lightvalve 13:747daba9cf59 281
Lightvalve 38:118df027d851 282 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 283 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 284 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 285 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 286 }
Lightvalve 38:118df027d851 287
Lightvalve 13:747daba9cf59 288 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 289 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 290 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 291 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 292 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 293 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 294
Lightvalve 13:747daba9cf59 295 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 296
Lightvalve 38:118df027d851 297
Lightvalve 34:bb2ca2fc2a8e 298
Lightvalve 34:bb2ca2fc2a8e 299
Lightvalve 23:59218d4a256d 300 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve 23:59218d4a256d 301 // {
Lightvalve 23:59218d4a256d 302 // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve 30:8d561f16383b 303 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve 23:59218d4a256d 304 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve 30:8d561f16383b 305 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1];
Lightvalve 23:59218d4a256d 306 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve 30:8d561f16383b 307 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3];
Lightvalve 23:59218d4a256d 308 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve 30:8d561f16383b 309 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5];
Lightvalve 23:59218d4a256d 310 // }else
Lightvalve 23:59218d4a256d 311 // VALVE_PWM_RAW_FF = 12000.0;
Lightvalve 23:59218d4a256d 312 // }
Lightvalve 23:59218d4a256d 313 // else
Lightvalve 23:59218d4a256d 314 // {
Lightvalve 23:59218d4a256d 315 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve 30:8d561f16383b 316 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2];
Lightvalve 23:59218d4a256d 317 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve 30:8d561f16383b 318 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4];
Lightvalve 23:59218d4a256d 319 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve 30:8d561f16383b 320 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6];
Lightvalve 23:59218d4a256d 321 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve 30:8d561f16383b 322 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8];
Lightvalve 23:59218d4a256d 323 // }else
Lightvalve 23:59218d4a256d 324 // VALVE_PWM_RAW_FF = -12000.0;
Lightvalve 23:59218d4a256d 325 // }
Lightvalve 14:8e7590227d22 326
Lightvalve 18:b8adf1582ea3 327 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 328 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 329 if(i==0) {
Lightvalve 30:8d561f16383b 330 VALVE_PWM_RAW_FF = (float) 1000.0 / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 331 } else {
Lightvalve 30:8d561f16383b 332 VALVE_PWM_RAW_FF = (float) 1000.0* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 333 }
Lightvalve 13:747daba9cf59 334 break;
Lightvalve 13:747daba9cf59 335 }
Lightvalve 13:747daba9cf59 336 }
Lightvalve 19:23b7c1ad8683 337
Lightvalve 14:8e7590227d22 338 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 27:a2254a485f23 339 //V_out = VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 340 }
Lightvalve 13:747daba9cf59 341
Lightvalve 14:8e7590227d22 342 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 343 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 344 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 345 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 346 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 347 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 348 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 349 }; // duty
Lightvalve 30:8d561f16383b 350 float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve 34:bb2ca2fc2a8e 351 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 352 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 353 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 354 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 355 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 356 }; // mV
Lightvalve 13:747daba9cf59 357
Lightvalve 30:8d561f16383b 358 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 359 {
Lightvalve 30:8d561f16383b 360 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 361 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 362 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 363 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 364 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 365 } else {
Lightvalve 13:747daba9cf59 366 int idx = 0;
Lightvalve 13:747daba9cf59 367 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 368 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 369 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 370 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 371 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 372 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 373 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 374 break;
Lightvalve 13:747daba9cf59 375 }
Lightvalve 13:747daba9cf59 376 }
Lightvalve 13:747daba9cf59 377 }
Lightvalve 14:8e7590227d22 378
Lightvalve 13:747daba9cf59 379 return PWM_duty;
Lightvalve 13:747daba9cf59 380 }
jobuuu 6:df07d3491e3a 381
jobuuu 2:a1c0a37df760 382 /*******************************************************************************
jobuuu 2:a1c0a37df760 383 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 384 *******************************************************************************/
jobuuu 2:a1c0a37df760 385
Lightvalve 19:23b7c1ad8683 386 //unsigned long CNT_TMR4 = 0;
Lightvalve 30:8d561f16383b 387 float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve 30:8d561f16383b 388 float DT_TMR4 = (float)DT_10k;
jobuuu 1:e04e563be5ce 389 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 390 {
Lightvalve 23:59218d4a256d 391
Lightvalve 19:23b7c1ad8683 392 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 393
Lightvalve 21:e5f1a43ea6f9 394 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 395 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 396 ********************************************************/
Lightvalve 13:747daba9cf59 397
Lightvalve 19:23b7c1ad8683 398
Lightvalve 21:e5f1a43ea6f9 399 //Using LoadCell
Lightvalve 15:bd0d12728506 400 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 401 // //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 402 // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 403 // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve 30:8d561f16383b 404 // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 405
Lightvalve 19:23b7c1ad8683 406
Lightvalve 17:1865016ca2e7 407
Lightvalve 21:e5f1a43ea6f9 408 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 409 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 410 //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 411 float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 412 // float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 38:118df027d851 413 float pres_A_new = ((float)ADC1->DR);
Lightvalve 30:8d561f16383b 414 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 38:118df027d851 415 torq.sen = - (pres_A.sen-2048.0f)*10000.0f / 2048.0f; //N
Lightvalve 38:118df027d851 416
Lightvalve 19:23b7c1ad8683 417
Lightvalve 21:e5f1a43ea6f9 418 //Pressure sensor 1B
Lightvalve 38:118df027d851 419 //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 420 //float pres_B_new = ((float)ADC2->DR);
Lightvalve 38:118df027d851 421 //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 38:118df027d851 422 //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 423
Lightvalve 17:1865016ca2e7 424
Lightvalve 17:1865016ca2e7 425
Lightvalve 21:e5f1a43ea6f9 426 //Current
Lightvalve 21:e5f1a43ea6f9 427 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 428 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 429 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 430 //while((ADC3->SR & 0b10));
Lightvalve 30:8d561f16383b 431 float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 432 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 433 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 434 //cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 435
Lightvalve 21:e5f1a43ea6f9 436 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 437 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 438 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 439 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 440 }
Lightvalve 11:82d8768d7351 441 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 442 }
Lightvalve 19:23b7c1ad8683 443
Lightvalve 19:23b7c1ad8683 444
Lightvalve 18:b8adf1582ea3 445 int j =0;
Lightvalve 19:23b7c1ad8683 446 //unsigned long CNT_TMR3 = 0;
Lightvalve 30:8d561f16383b 447 //float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 30:8d561f16383b 448 float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve 30:8d561f16383b 449 //float DT_TMR3 = (float)DT_5k;
Lightvalve 30:8d561f16383b 450 float DT_TMR3 = (float)DT_1k;
Lightvalve 11:82d8768d7351 451 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 452 {
Lightvalve 19:23b7c1ad8683 453 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 454 ENC_UPDATE();
Lightvalve 13:747daba9cf59 455
Lightvalve 19:23b7c1ad8683 456 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 457
Lightvalve 14:8e7590227d22 458 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 459 case MODE_NO_ACT: {
Lightvalve 30:8d561f16383b 460 V_out = 0.0f;
Lightvalve 13:747daba9cf59 461 break;
Lightvalve 13:747daba9cf59 462 }
Lightvalve 14:8e7590227d22 463
Lightvalve 14:8e7590227d22 464 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 30:8d561f16383b 465 V_out = (float) Vout.ref;
Lightvalve 14:8e7590227d22 466 break;
Lightvalve 14:8e7590227d22 467 }
Lightvalve 14:8e7590227d22 468
Lightvalve 14:8e7590227d22 469 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 470 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 471 break;
Lightvalve 14:8e7590227d22 472 }
Lightvalve 14:8e7590227d22 473
Lightvalve 14:8e7590227d22 474 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 475 float PWM_RAW_POS_FB = 0.0f; // PWM by Position Feedback
Lightvalve 30:8d561f16383b 476 float PWM_RAW_POS_FF = 0.0f; // PWM by Position Feedforward
Lightvalve 30:8d561f16383b 477 float PWM_RAW_FORCE_FB = 0.0f; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 478
Lightvalve 13:747daba9cf59 479 // feedback input for position control
Lightvalve 30:8d561f16383b 480 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 481 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 482 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 483 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 484 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 485 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 486 // PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 30:8d561f16383b 487 PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 30:8d561f16383b 488 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 489
Lightvalve 13:747daba9cf59 490 // feedforward input for position control
Lightvalve 30:8d561f16383b 491 float Ref_Vel_Act = vel.ref/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 492 float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 493 if(Ref_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 494 if(Ref_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 495 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 496
Lightvalve 13:747daba9cf59 497 // torque feedback
Lightvalve 15:bd0d12728506 498 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 499 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 500 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 501 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 502 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 503 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 504 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 30:8d561f16383b 505 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 19:23b7c1ad8683 506
Lightvalve 30:8d561f16383b 507 PWM_RAW_FORCE_FB = 0.0f;
Lightvalve 14:8e7590227d22 508
Lightvalve 14:8e7590227d22 509 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 510
Lightvalve 13:747daba9cf59 511 break;
Lightvalve 13:747daba9cf59 512 }
Lightvalve 14:8e7590227d22 513
Lightvalve 14:8e7590227d22 514 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 515 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 30:8d561f16383b 516 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 30:8d561f16383b 517 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 518 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 519 // feedback input for position control
Lightvalve 30:8d561f16383b 520 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 521 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 522 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 523 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 524 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 525 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 32:4b8c0fedaf2c 526 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 30:8d561f16383b 527 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 528
Lightvalve 14:8e7590227d22 529
Lightvalve 13:747daba9cf59 530 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 531 // feedforward input for position control
Lightvalve 30:8d561f16383b 532 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 533 // float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 534 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 535 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 536 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 537
Lightvalve 38:118df027d851 538 //torque feedback
Lightvalve 38:118df027d851 539 torq.err = - torq.ref + torq.sen;
Lightvalve 38:118df027d851 540 torq.err_diff = torq.err - torq.err_old;
Lightvalve 38:118df027d851 541 torq.err_old = torq.err;
Lightvalve 38:118df027d851 542 torq.err_sum += torq.err;
Lightvalve 38:118df027d851 543 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 38:118df027d851 544 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 38:118df027d851 545 VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 38:118df027d851 546 VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve 14:8e7590227d22 547
Lightvalve 33:91b17819ec30 548 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 34:bb2ca2fc2a8e 549
Lightvalve 34:bb2ca2fc2a8e 550 if (valve_pos.ref > DDV_CENTER) {
Lightvalve 32:4b8c0fedaf2c 551 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS - DDV_CENTER;
Lightvalve 34:bb2ca2fc2a8e 552 } else if(valve_pos.ref < DDV_CENTER) {
Lightvalve 32:4b8c0fedaf2c 553 valve_pos.ref = valve_pos.ref - DDV_CENTER + VALVE_DEADZONE_MINUS;
Lightvalve 32:4b8c0fedaf2c 554 }
Lightvalve 14:8e7590227d22 555 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 556
Lightvalve 34:bb2ca2fc2a8e 557
Lightvalve 13:747daba9cf59 558 break;
Lightvalve 13:747daba9cf59 559 }
Lightvalve 14:8e7590227d22 560
Lightvalve 14:8e7590227d22 561 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 562
Lightvalve 13:747daba9cf59 563 break;
Lightvalve 13:747daba9cf59 564 }
Lightvalve 14:8e7590227d22 565
Lightvalve 14:8e7590227d22 566 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 567 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 568 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 569 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 570 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 571 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 572 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 573 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 574
Lightvalve 14:8e7590227d22 575 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 576 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 577 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 578 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 579 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 580 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 581 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 582
Lightvalve 30:8d561f16383b 583 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 14:8e7590227d22 584
Lightvalve 30:8d561f16383b 585 V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 586
Lightvalve 30:8d561f16383b 587 CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 30:8d561f16383b 588 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 589 if (DIR_VALVE > 0) {
Lightvalve 30:8d561f16383b 590 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 591 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve 30:8d561f16383b 592 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve 30:8d561f16383b 593 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve 30:8d561f16383b 594 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve 30:8d561f16383b 595 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 596 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve 30:8d561f16383b 597 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve 30:8d561f16383b 598 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve 30:8d561f16383b 599 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve 30:8d561f16383b 600 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve 30:8d561f16383b 601 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 602 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 603 } else {
Lightvalve 30:8d561f16383b 604 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 605 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve 30:8d561f16383b 606 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve 30:8d561f16383b 607 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve 30:8d561f16383b 608 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve 30:8d561f16383b 609 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 610 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve 30:8d561f16383b 611 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve 30:8d561f16383b 612 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve 30:8d561f16383b 613 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve 30:8d561f16383b 614 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve 30:8d561f16383b 615 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 616 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 617 }
Lightvalve 30:8d561f16383b 618 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 14:8e7590227d22 619
Lightvalve 30:8d561f16383b 620 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve 30:8d561f16383b 621 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve 14:8e7590227d22 622
Lightvalve 18:b8adf1582ea3 623 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 624 break;
Lightvalve 14:8e7590227d22 625 }
Lightvalve 14:8e7590227d22 626
Lightvalve 14:8e7590227d22 627 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 628 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 629 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 630 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 631 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 632 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 633 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 634 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 635
Lightvalve 15:bd0d12728506 636 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 637 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 638 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 639 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 640 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 641 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 642 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 643
Lightvalve 14:8e7590227d22 644 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 645 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 19:23b7c1ad8683 646
Lightvalve 14:8e7590227d22 647 break;
Lightvalve 14:8e7590227d22 648 }
Lightvalve 14:8e7590227d22 649
Lightvalve 14:8e7590227d22 650 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 651
Lightvalve 14:8e7590227d22 652 break;
Lightvalve 14:8e7590227d22 653 }
Lightvalve 14:8e7590227d22 654
Lightvalve 19:23b7c1ad8683 655
Lightvalve 19:23b7c1ad8683 656 case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 657 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 658 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 659 }
Lightvalve 19:23b7c1ad8683 660 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 661
Lightvalve 19:23b7c1ad8683 662 // Set Current Reference
Lightvalve 30:8d561f16383b 663 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 664 float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 665 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 30:8d561f16383b 666 I_REF = I_REF_MID + 1.0f;
Lightvalve 14:8e7590227d22 667 } else {
Lightvalve 30:8d561f16383b 668 I_REF = I_REF_MID - 1.0f;
Lightvalve 19:23b7c1ad8683 669 }
Lightvalve 30:8d561f16383b 670 // float T = 1.0; // wave period
Lightvalve 30:8d561f16383b 671 // I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 30:8d561f16383b 672 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 19:23b7c1ad8683 673
Lightvalve 14:8e7590227d22 674 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 675 //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 676 }
Lightvalve 14:8e7590227d22 677 break;
Lightvalve 14:8e7590227d22 678 }
Lightvalve 19:23b7c1ad8683 679
Lightvalve 19:23b7c1ad8683 680 case MODE_TEST_PWM_CONTROL: {
Lightvalve 14:8e7590227d22 681 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 682 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 683 }
Lightvalve 19:23b7c1ad8683 684 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 685
Lightvalve 14:8e7590227d22 686 // Set PWM reference
Lightvalve 30:8d561f16383b 687 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 688 //float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 689 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 690 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 691 } else {
Lightvalve 14:8e7590227d22 692 CUR_PWM = -1000;
Lightvalve 19:23b7c1ad8683 693 }
Lightvalve 19:23b7c1ad8683 694
Lightvalve 14:8e7590227d22 695 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 30:8d561f16383b 696 //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 14:8e7590227d22 697 }
Lightvalve 13:747daba9cf59 698 break;
Lightvalve 13:747daba9cf59 699 }
Lightvalve 19:23b7c1ad8683 700
Lightvalve 19:23b7c1ad8683 701
Lightvalve 14:8e7590227d22 702 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 703
Lightvalve 14:8e7590227d22 704 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 705 CurrentControl();
Lightvalve 14:8e7590227d22 706 break;
Lightvalve 14:8e7590227d22 707 }
Lightvalve 19:23b7c1ad8683 708
Lightvalve 14:8e7590227d22 709 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 710 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 711 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 712 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 713 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 714
Lightvalve 14:8e7590227d22 715 // feedback input for position control
Lightvalve 14:8e7590227d22 716 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 717 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 718 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 719 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 720 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 721 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 722
Lightvalve 14:8e7590227d22 723 // feedforward input for position control
Lightvalve 30:8d561f16383b 724 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 725 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 726 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 727 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 728 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 729 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 730
Lightvalve 14:8e7590227d22 731 // feedback input for position control
Lightvalve 30:8d561f16383b 732 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 733
Lightvalve 14:8e7590227d22 734 // feedforward input for position control
Lightvalve 30:8d561f16383b 735 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 736
Lightvalve 14:8e7590227d22 737 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 738
Lightvalve 14:8e7590227d22 739 CurrentControl();
Lightvalve 19:23b7c1ad8683 740
Lightvalve 13:747daba9cf59 741 break;
Lightvalve 13:747daba9cf59 742 }
Lightvalve 19:23b7c1ad8683 743
Lightvalve 14:8e7590227d22 744 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 745 //float T_REF = 0.0; // Torque Reference
Lightvalve 30:8d561f16383b 746 float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 747 float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 19:23b7c1ad8683 748
Lightvalve 14:8e7590227d22 749 // feedback input for position control
Lightvalve 30:8d561f16383b 750 //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 751 //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 752 //float K_spring = 0.7f;
Lightvalve 30:8d561f16383b 753 //float D_damper = 0.02f;
Lightvalve 14:8e7590227d22 754 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 19:23b7c1ad8683 755
Lightvalve 14:8e7590227d22 756 // torque feedback
Lightvalve 15:bd0d12728506 757 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 758 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 759 // torq.err_old = torq.err;
Lightvalve 30:8d561f16383b 760 torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 761 I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 19:23b7c1ad8683 762
Lightvalve 14:8e7590227d22 763 // velocity compensation for torque control
Lightvalve 30:8d561f16383b 764 float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 765 float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 30:8d561f16383b 766 float K_v = 0.0f; // Valve gain
Lightvalve 30:8d561f16383b 767 if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 30:8d561f16383b 768 if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 14:8e7590227d22 769 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 19:23b7c1ad8683 770
Lightvalve 14:8e7590227d22 771 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 772 // cur.ref = I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 773
Lightvalve 30:8d561f16383b 774 float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 30:8d561f16383b 775 float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 776 if(cur.ref > I_MAX) {
Lightvalve 30:8d561f16383b 777 float I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 778 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 779 cur.ref = I_MAX;
Lightvalve 30:8d561f16383b 780 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 781 } else if(cur.ref < -I_MAX) {
Lightvalve 30:8d561f16383b 782 float I_rem = cur.ref-(-I_MAX);
Lightvalve 19:23b7c1ad8683 783 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 784 cur.ref = -I_MAX;
Lightvalve 30:8d561f16383b 785 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 786 }
Lightvalve 19:23b7c1ad8683 787
Lightvalve 14:8e7590227d22 788 CurrentControl();
Lightvalve 19:23b7c1ad8683 789
Lightvalve 19:23b7c1ad8683 790
Lightvalve 14:8e7590227d22 791 /*
Lightvalve 30:8d561f16383b 792 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 793 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 794 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 795 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 796
Lightvalve 14:8e7590227d22 797 // feedback input for position control
Lightvalve 14:8e7590227d22 798 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 799 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 800 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 801 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 802 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 803 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 804
Lightvalve 14:8e7590227d22 805 // feedforward input for position control
Lightvalve 30:8d561f16383b 806 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 807 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 808 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 809 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 810 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 811 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 812
Lightvalve 14:8e7590227d22 813 // feedback input for position control
Lightvalve 30:8d561f16383b 814 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 815
Lightvalve 14:8e7590227d22 816 // feedforward input for position control
Lightvalve 30:8d561f16383b 817 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 818
Lightvalve 14:8e7590227d22 819 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 820
Lightvalve 14:8e7590227d22 821 CurrentControl();
Lightvalve 14:8e7590227d22 822 */
Lightvalve 19:23b7c1ad8683 823
Lightvalve 13:747daba9cf59 824 break;
Lightvalve 13:747daba9cf59 825 }
Lightvalve 14:8e7590227d22 826
Lightvalve 14:8e7590227d22 827 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 828 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 829 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 830 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 831
Lightvalve 14:8e7590227d22 832 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 833 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 834 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 835
Lightvalve 30:8d561f16383b 836 TORQUE_VREF += 0.0001f * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 837
Lightvalve 30:8d561f16383b 838 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 839 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 19:23b7c1ad8683 840
Lightvalve 16:903b5a4433b4 841 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 842
Lightvalve 16:903b5a4433b4 843 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 844 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 845 }
Lightvalve 13:747daba9cf59 846 } else {
Lightvalve 13:747daba9cf59 847 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 848 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 849 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 850 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 851
Lightvalve 16:903b5a4433b4 852 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 853
Lightvalve 16:903b5a4433b4 854 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 855
Lightvalve 17:1865016ca2e7 856 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 857 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 858
Lightvalve 13:747daba9cf59 859 }
Lightvalve 14:8e7590227d22 860 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 861 break;
Lightvalve 19:23b7c1ad8683 862 }
Lightvalve 14:8e7590227d22 863
Lightvalve 14:8e7590227d22 864 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 865 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 866 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 867 else temp_time = 0;
Lightvalve 13:747daba9cf59 868 }
Lightvalve 13:747daba9cf59 869 if (need_enc_init) {
Lightvalve 30:8d561f16383b 870 if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 871 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 872 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 873 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 874 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 875 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 876 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 877 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 878 }
Lightvalve 14:8e7590227d22 879
Lightvalve 14:8e7590227d22 880 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 881 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 882 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 883
Lightvalve 30:8d561f16383b 884 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 885 V_out = 0;
Lightvalve 13:747daba9cf59 886 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 887 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 888 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 889 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 890 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 891 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 892 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 893 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 894 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 895
Lightvalve 13:747daba9cf59 896 // Position of Dead Zone
Lightvalve 13:747daba9cf59 897 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 898 // | / | / |/
Lightvalve 13:747daba9cf59 899 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 900 // |/ / | / |
Lightvalve 13:747daba9cf59 901 // /| / | / |
Lightvalve 13:747daba9cf59 902 // 0V 0V 0V
Lightvalve 14:8e7590227d22 903
Lightvalve 13:747daba9cf59 904 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 905 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 906 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 907 } else {
Lightvalve 18:b8adf1582ea3 908 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 909 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 910 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 911 }
Lightvalve 13:747daba9cf59 912 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 913 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 914 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 915 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 916 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 917 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 918 }
Lightvalve 13:747daba9cf59 919 } else {
Lightvalve 14:8e7590227d22 920 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 921 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 922 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 923 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 924 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 925 }
Lightvalve 18:b8adf1582ea3 926 V_out = 0;
Lightvalve 19:23b7c1ad8683 927
Lightvalve 16:903b5a4433b4 928 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 929
Lightvalve 16:903b5a4433b4 930 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 931 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 932
Lightvalve 13:747daba9cf59 933 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 934 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 935 }
Lightvalve 13:747daba9cf59 936 }
Lightvalve 14:8e7590227d22 937 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 938 break;
Lightvalve 13:747daba9cf59 939 }
Lightvalve 14:8e7590227d22 940
Lightvalve 14:8e7590227d22 941 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 942 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 943 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 944 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 945 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 946 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 947 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 948 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 40:3f2c0619c8c4 949 CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
Lightvalve 29:69f3f5445d6d 950 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 951 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 952 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 953 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 954 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 955 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 956 }
Lightvalve 29:69f3f5445d6d 957 cnt_findhome++;
Lightvalve 30:8d561f16383b 958 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 959
Lightvalve 29:69f3f5445d6d 960 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 961 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 962 } else {
Lightvalve 29:69f3f5445d6d 963 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 964 }
Lightvalve 19:23b7c1ad8683 965
Lightvalve 30:8d561f16383b 966 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 967 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 968 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 969 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 970 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 971 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 972 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 973 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 974 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 975 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 976
Lightvalve 30:8d561f16383b 977 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 978 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 979 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 980 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 981 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 982 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 983 } else {
Lightvalve 29:69f3f5445d6d 984 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 985 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 986 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 987 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 988 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 989 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 990 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 991 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 992 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 993 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 994 }
Lightvalve 29:69f3f5445d6d 995 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 996 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 997 pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 30:8d561f16383b 998 vel.ref_home_pos = 0.0f;
Lightvalve 40:3f2c0619c8c4 999 CAN_TX_PRES((int16_t)(pos.ref_home_pos), (int16_t) (6));
Lightvalve 19:23b7c1ad8683 1000
Lightvalve 29:69f3f5445d6d 1001 // input for position control
Lightvalve 40:3f2c0619c8c4 1002 pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve 30:8d561f16383b 1003 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 1004 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 1005 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 1006 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1007 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1008
Lightvalve 19:23b7c1ad8683 1009
Lightvalve 29:69f3f5445d6d 1010 // if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 30:8d561f16383b 1011 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1012 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve 29:69f3f5445d6d 1013 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1014 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1015 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1016 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1017 // // L thetadot(rad/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1018 // } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve 30:8d561f16383b 1019 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1020 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 29:69f3f5445d6d 1021 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1022 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1023 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1024 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1025 // // L xdot(mm/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1026 // }
Lightvalve 29:69f3f5445d6d 1027
Lightvalve 29:69f3f5445d6d 1028 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1029 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1030 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1031 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1032 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1033 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1034 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1035 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1036 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 1037 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 29:69f3f5445d6d 1038 }
Lightvalve 13:747daba9cf59 1039 }
Lightvalve 19:23b7c1ad8683 1040
Lightvalve 13:747daba9cf59 1041 break;
Lightvalve 13:747daba9cf59 1042 }
Lightvalve 14:8e7590227d22 1043
Lightvalve 14:8e7590227d22 1044 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1045 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1046 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1047 else {
Lightvalve 18:b8adf1582ea3 1048 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1049 temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1050 }
Lightvalve 13:747daba9cf59 1051 }
Lightvalve 13:747daba9cf59 1052 if (need_enc_init) {
Lightvalve 30:8d561f16383b 1053 if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1054 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1055 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1056 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1057 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1058 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1059 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1060 need_enc_init = false;
Lightvalve 30:8d561f16383b 1061 check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 30:8d561f16383b 1062 check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1063 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1064 }
Lightvalve 13:747daba9cf59 1065 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1066 }
Lightvalve 14:8e7590227d22 1067 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1068 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1069 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 30:8d561f16383b 1070 VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1071 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1072 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1073 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1074 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1075 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 30:8d561f16383b 1076 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 13:747daba9cf59 1077 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1078 }
Lightvalve 13:747daba9cf59 1079 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 30:8d561f16383b 1080 VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1081 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1082 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1083 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1084 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1085 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 30:8d561f16383b 1086 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 13:747daba9cf59 1087 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1088 }
Lightvalve 13:747daba9cf59 1089 }
Lightvalve 13:747daba9cf59 1090 if (fl_temp_cnt2 == 100) {
Lightvalve 19:23b7c1ad8683 1091
Lightvalve 16:903b5a4433b4 1092 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1093
Lightvalve 30:8d561f16383b 1094 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 13:747daba9cf59 1095 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1096 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1097 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1098 flag_flowrate++;
Lightvalve 13:747daba9cf59 1099 }
Lightvalve 13:747daba9cf59 1100 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1101 V_out = 0;
Lightvalve 13:747daba9cf59 1102 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1103 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1104 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1105 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1106 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1107 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1108 }
Lightvalve 14:8e7590227d22 1109
Lightvalve 13:747daba9cf59 1110 }
Lightvalve 13:747daba9cf59 1111 break;
Lightvalve 13:747daba9cf59 1112 }
Lightvalve 14:8e7590227d22 1113
Lightvalve 13:747daba9cf59 1114 }
Lightvalve 14:8e7590227d22 1115
Lightvalve 14:8e7590227d22 1116 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1117 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1118 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1119 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1120 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1121
Lightvalve 14:8e7590227d22 1122 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1123 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1124 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1125 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1126 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1127
Lightvalve 38:118df027d851 1128 float VREF_NullingGain = 0.0003f;
Lightvalve 38:118df027d851 1129 PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 38:118df027d851 1130 PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1131
Lightvalve 30:8d561f16383b 1132 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1133 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1134 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1135 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1136
Lightvalve 30:8d561f16383b 1137 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1138 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1139 }
Lightvalve 13:747daba9cf59 1140 } else {
Lightvalve 13:747daba9cf59 1141 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1142 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1143 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1144 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1145 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1146 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1147
Lightvalve 16:903b5a4433b4 1148 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1149
Lightvalve 30:8d561f16383b 1150 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1151 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1152 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1153 }
Lightvalve 14:8e7590227d22 1154 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1155 break;
Lightvalve 13:747daba9cf59 1156 }
Lightvalve 14:8e7590227d22 1157
Lightvalve 14:8e7590227d22 1158 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1159 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1160 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1161 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1162 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1163 }
Lightvalve 14:8e7590227d22 1164 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1165 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1166 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1167 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1168 }
Lightvalve 13:747daba9cf59 1169 } else {
Lightvalve 13:747daba9cf59 1170 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1171 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1172 V_out = 0;
Lightvalve 30:8d561f16383b 1173 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 30:8d561f16383b 1174 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 30:8d561f16383b 1175 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 30:8d561f16383b 1176 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 13:747daba9cf59 1177 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1178 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1179 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1180 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 1181
Lightvalve 16:903b5a4433b4 1182 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1183
Lightvalve 30:8d561f16383b 1184 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 30:8d561f16383b 1185 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 13:747daba9cf59 1186 }
Lightvalve 14:8e7590227d22 1187 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1188 break;
Lightvalve 13:747daba9cf59 1189 }
Lightvalve 14:8e7590227d22 1190
Lightvalve 14:8e7590227d22 1191 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 30:8d561f16383b 1192 if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 30:8d561f16383b 1193 V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 18:b8adf1582ea3 1194 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 18:b8adf1582ea3 1195 else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1196 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1197 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1198 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 30:8d561f16383b 1199 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1200 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1201 }
Lightvalve 13:747daba9cf59 1202 break;
Lightvalve 13:747daba9cf59 1203 }
Lightvalve 14:8e7590227d22 1204
Lightvalve 14:8e7590227d22 1205 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1206 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1207
Lightvalve 14:8e7590227d22 1208 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1209 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1210 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1211 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1212 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1213 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1214 data_num = 0;
Lightvalve 14:8e7590227d22 1215 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1216 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1217 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1218 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1219 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1220 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1221 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1222 }
Lightvalve 14:8e7590227d22 1223
Lightvalve 17:1865016ca2e7 1224 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1225 int i;
Lightvalve 13:747daba9cf59 1226 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1227 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1228 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1229 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1230 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1231 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1232 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1233 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1234 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1235 }
Lightvalve 13:747daba9cf59 1236 }
Lightvalve 27:a2254a485f23 1237 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1238 ID_index = 0;
Lightvalve 13:747daba9cf59 1239 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1240 }
Lightvalve 14:8e7590227d22 1241
Lightvalve 14:8e7590227d22 1242
Lightvalve 13:747daba9cf59 1243 break;
Lightvalve 13:747daba9cf59 1244 }
Lightvalve 14:8e7590227d22 1245
Lightvalve 14:8e7590227d22 1246 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1247
Lightvalve 13:747daba9cf59 1248 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1249 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1250 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1251 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1252 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1253 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1254 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1255 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1256 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1257 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1258 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1259 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1260 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1261 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1262 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1263 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1264 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1265 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1266 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1267 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1268 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1269 START_POS = pos.sen;
Lightvalve 23:59218d4a256d 1270 //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1271 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1272 data_num = 0;
Lightvalve 14:8e7590227d22 1273
Lightvalve 30:8d561f16383b 1274 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1275 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1276 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1277 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1278
Lightvalve 30:8d561f16383b 1279 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1280 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1281 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1282 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1283 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1284 else
Lightvalve 13:747daba9cf59 1285 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1286 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1287 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1288 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1289 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1290 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1291 // {
Lightvalve 14:8e7590227d22 1292 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1293 // }
Lightvalve 14:8e7590227d22 1294 // else
Lightvalve 14:8e7590227d22 1295 // {
Lightvalve 14:8e7590227d22 1296 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1297 // }
Lightvalve 14:8e7590227d22 1298 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1299 // {
Lightvalve 14:8e7590227d22 1300 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1301 // }
Lightvalve 14:8e7590227d22 1302
Lightvalve 14:8e7590227d22 1303 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1304 DZ_case = 1;
Lightvalve 14:8e7590227d22 1305 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1306 DZ_case = -1;
Lightvalve 14:8e7590227d22 1307 } else {
Lightvalve 13:747daba9cf59 1308 DZ_case = 0;
Lightvalve 13:747daba9cf59 1309 }
Lightvalve 14:8e7590227d22 1310
Lightvalve 14:8e7590227d22 1311 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1312 first_check = 1;
Lightvalve 13:747daba9cf59 1313 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1314 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1315 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1316 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1317 DZ_index = 1;
Lightvalve 18:b8adf1582ea3 1318 //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1319
Lightvalve 13:747daba9cf59 1320 }
Lightvalve 19:23b7c1ad8683 1321 } else {
Lightvalve 14:8e7590227d22 1322 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1323 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1324 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1325 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1326 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1327 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1328 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1329 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1330 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1331 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1332 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1333 }
Lightvalve 14:8e7590227d22 1334 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1335 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1336 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1337 else
Lightvalve 13:747daba9cf59 1338 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1339 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1340 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1341 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1342 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1343 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1344 // else
Lightvalve 14:8e7590227d22 1345 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1346 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1347 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1348
Lightvalve 14:8e7590227d22 1349 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1350 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1351 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1352 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1353 } else {
Lightvalve 13:747daba9cf59 1354 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1355 }
Lightvalve 14:8e7590227d22 1356
Lightvalve 14:8e7590227d22 1357 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1358
Lightvalve 13:747daba9cf59 1359 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1360 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1361 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1362 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1363 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1364 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1365 DZ_index = 1;
Lightvalve 13:747daba9cf59 1366 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1367 }
Lightvalve 14:8e7590227d22 1368
Lightvalve 13:747daba9cf59 1369 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1370 }
Lightvalve 14:8e7590227d22 1371 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1372 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1373 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1374 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1375 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1376 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1377 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1378 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1379 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1380 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1381 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1382 }
Lightvalve 14:8e7590227d22 1383 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1384 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1385 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1386 else
Lightvalve 13:747daba9cf59 1387 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1388 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1389 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1390 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1391 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1392 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1393 // else
Lightvalve 14:8e7590227d22 1394 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1395 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1396 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1397
Lightvalve 14:8e7590227d22 1398 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1399 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1400 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1401 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1402 } else {
Lightvalve 13:747daba9cf59 1403 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1404 }
Lightvalve 14:8e7590227d22 1405
Lightvalve 14:8e7590227d22 1406 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1407
Lightvalve 14:8e7590227d22 1408
Lightvalve 13:747daba9cf59 1409 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1410 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1411 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1412 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1413 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1414 first_check = 0;
Lightvalve 33:91b17819ec30 1415 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1416 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1417
Lightvalve 16:903b5a4433b4 1418 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1419
Lightvalve 13:747daba9cf59 1420 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1421 DZ_index = 1;
Lightvalve 13:747daba9cf59 1422 }
Lightvalve 14:8e7590227d22 1423
Lightvalve 23:59218d4a256d 1424 //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1425 }
Lightvalve 14:8e7590227d22 1426 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1427 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1428 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1429 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1430 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1431 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1432 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1433 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1434 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1435 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1436 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1437 }
Lightvalve 14:8e7590227d22 1438 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1439 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1440 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1441 else
Lightvalve 13:747daba9cf59 1442 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1443 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1444 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1445 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1446 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1447 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1448 // else
Lightvalve 14:8e7590227d22 1449 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1450 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1451 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1452
Lightvalve 14:8e7590227d22 1453 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1454 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1455 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1456 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1457 } else {
Lightvalve 13:747daba9cf59 1458 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1459 }
Lightvalve 14:8e7590227d22 1460
Lightvalve 14:8e7590227d22 1461 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1462 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1463 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1464 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1465 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1466 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1467 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1468 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1469 DZ_index = 1;
Lightvalve 13:747daba9cf59 1470 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1471 }
Lightvalve 13:747daba9cf59 1472 }
Lightvalve 14:8e7590227d22 1473 } else {
Lightvalve 30:8d561f16383b 1474 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1475 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1476 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1477 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1478 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1479 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1480 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1481 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1482 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1483 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1484 }
Lightvalve 14:8e7590227d22 1485 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1486 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1487 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1488 else
Lightvalve 13:747daba9cf59 1489 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1490 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1491 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1492 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1493 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1494 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1495 else
Lightvalve 13:747daba9cf59 1496 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1497 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1498 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1499
Lightvalve 14:8e7590227d22 1500 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1501
Lightvalve 14:8e7590227d22 1502
Lightvalve 13:747daba9cf59 1503 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1504 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1505 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1506 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1507 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1508 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1509 first_check = 0;
Lightvalve 33:91b17819ec30 1510 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1511 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1512
Lightvalve 13:747daba9cf59 1513 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1514 DZ_index = 1;
Lightvalve 13:747daba9cf59 1515 }
Lightvalve 14:8e7590227d22 1516
Lightvalve 13:747daba9cf59 1517 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1518 }
Lightvalve 13:747daba9cf59 1519 }
Lightvalve 14:8e7590227d22 1520 }
Lightvalve 13:747daba9cf59 1521 break;
Lightvalve 13:747daba9cf59 1522 }
Lightvalve 14:8e7590227d22 1523
Lightvalve 14:8e7590227d22 1524 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1525 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1526 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1527 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1528 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 23:59218d4a256d 1529 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1530 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1531 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1532 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1533 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1534 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1535 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1536 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1537 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 18:b8adf1582ea3 1538 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1539 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1540 first_check = 1;
Lightvalve 13:747daba9cf59 1541 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1542 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1543 ID_index = 0;
Lightvalve 13:747daba9cf59 1544 max_check = 0;
Lightvalve 13:747daba9cf59 1545 min_check = 0;
Lightvalve 13:747daba9cf59 1546 }
Lightvalve 14:8e7590227d22 1547 } else {
Lightvalve 30:8d561f16383b 1548 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1549 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1550 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1551 data_num = 0;
Lightvalve 33:91b17819ec30 1552 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1553
Lightvalve 14:8e7590227d22 1554 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1555 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1556 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 33:91b17819ec30 1557 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1558 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1559 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1560 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1561 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1562 one_period_end = 1;
Lightvalve 13:747daba9cf59 1563 }
Lightvalve 30:8d561f16383b 1564 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1565 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1566 one_period_end = 1;
Lightvalve 13:747daba9cf59 1567 }
Lightvalve 14:8e7590227d22 1568
Lightvalve 14:8e7590227d22 1569 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1570 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1571 max_check = 1;
Lightvalve 14:8e7590227d22 1572 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1573 min_check = 1;
Lightvalve 13:747daba9cf59 1574 }
Lightvalve 13:747daba9cf59 1575 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1576
Lightvalve 19:23b7c1ad8683 1577 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1578
Lightvalve 16:903b5a4433b4 1579 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1580 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1581 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1582 one_period_end = 0;
Lightvalve 13:747daba9cf59 1583 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1584 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 30:8d561f16383b 1585 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1586 }
Lightvalve 14:8e7590227d22 1587
Lightvalve 14:8e7590227d22 1588 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1589
Lightvalve 16:903b5a4433b4 1590 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1591 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1592 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1593 ID_index = 0;
Lightvalve 13:747daba9cf59 1594 first_check = 0;
Lightvalve 13:747daba9cf59 1595 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1596 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1597 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1598 }
Lightvalve 13:747daba9cf59 1599 }
Lightvalve 13:747daba9cf59 1600 break;
Lightvalve 13:747daba9cf59 1601 }
Lightvalve 14:8e7590227d22 1602
Lightvalve 12:6f2531038ea4 1603 default:
Lightvalve 12:6f2531038ea4 1604 break;
Lightvalve 12:6f2531038ea4 1605 }
Lightvalve 14:8e7590227d22 1606
Lightvalve 13:747daba9cf59 1607 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1608 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1609 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1610 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1611 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1612 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1613 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1614 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1615 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1616
Lightvalve 14:8e7590227d22 1617 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1618 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1619
Lightvalve 14:8e7590227d22 1620 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1621
Lightvalve 13:747daba9cf59 1622 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 30:8d561f16383b 1623 float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 30:8d561f16383b 1624 float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1625
Lightvalve 14:8e7590227d22 1626 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1627 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1628 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1629 } else {
Lightvalve 17:1865016ca2e7 1630 V_out = V_out;
Lightvalve 13:747daba9cf59 1631 }
Lightvalve 14:8e7590227d22 1632
jobuuu 7:e9086c72bb22 1633 /*******************************************************
jobuuu 7:e9086c72bb22 1634 *** PWM
jobuuu 7:e9086c72bb22 1635 ********************************************************/
Lightvalve 34:bb2ca2fc2a8e 1636 if (V_out >= 12000.0f) {
Lightvalve 30:8d561f16383b 1637 V_out = 12000.0f;
Lightvalve 34:bb2ca2fc2a8e 1638 } else if(V_out<=-12000.0f) {
Lightvalve 30:8d561f16383b 1639 V_out = -12000.0f;
Lightvalve 27:a2254a485f23 1640 }
Lightvalve 18:b8adf1582ea3 1641 PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1642
jobuuu 2:a1c0a37df760 1643 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1644 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1645 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1646
Lightvalve 19:23b7c1ad8683 1647 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1648 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1649 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1650
Lightvalve 30:8d561f16383b 1651 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1652 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1653 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1654 } else {
jobuuu 2:a1c0a37df760 1655 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1656 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1657 }
Lightvalve 13:747daba9cf59 1658
jobuuu 1:e04e563be5ce 1659 //pwm
Lightvalve 30:8d561f16383b 1660 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1661 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1662
jobuuu 1:e04e563be5ce 1663 }
Lightvalve 11:82d8768d7351 1664 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1665
jobuuu 7:e9086c72bb22 1666 }
jobuuu 7:e9086c72bb22 1667
Lightvalve 20:806196fda269 1668
Lightvalve 20:806196fda269 1669
Lightvalve 20:806196fda269 1670 //unsigned long CNT_TMR5 = 0;
Lightvalve 30:8d561f16383b 1671 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 30:8d561f16383b 1672 //float DT_TMR5 = (float)DT_500;
Lightvalve 23:59218d4a256d 1673 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1674 {
Lightvalve 23:59218d4a256d 1675 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1676
Lightvalve 20:806196fda269 1677 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1678 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1679 //position+velocity
Lightvalve 20:806196fda269 1680 CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 20:806196fda269 1681 //CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve 20:806196fda269 1682 //CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve 20:806196fda269 1683 //pc.printf("can good");
Lightvalve 20:806196fda269 1684 // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve 20:806196fda269 1685 }
Lightvalve 20:806196fda269 1686
Lightvalve 20:806196fda269 1687 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1688 //torque
Lightvalve 20:806196fda269 1689 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1690 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 20:806196fda269 1691 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 20:806196fda269 1692 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 20:806196fda269 1693 }
Lightvalve 20:806196fda269 1694
Lightvalve 20:806196fda269 1695 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1696 //pressure A and B
Lightvalve 38:118df027d851 1697 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF * 1000.0)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 38:118df027d851 1698 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1699 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1700 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1701 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1702
Lightvalve 20:806196fda269 1703 }
Lightvalve 20:806196fda269 1704
Lightvalve 20:806196fda269 1705 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1706 //PWM
Lightvalve 20:806196fda269 1707 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 20:806196fda269 1708 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1709 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1710 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1711
Lightvalve 20:806196fda269 1712 }
Lightvalve 20:806196fda269 1713
Lightvalve 20:806196fda269 1714 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1715 //valve position
Lightvalve 27:a2254a485f23 1716 CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 33:91b17819ec30 1717 //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 20:806196fda269 1718
Lightvalve 20:806196fda269 1719 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 1720 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 1721 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 1722 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 1723 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 1724 }
Lightvalve 20:806196fda269 1725
Lightvalve 20:806196fda269 1726 }
Lightvalve 23:59218d4a256d 1727 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 1728 }
Lightvalve 20:806196fda269 1729
Lightvalve 20:806196fda269 1730
Lightvalve 20:806196fda269 1731
Lightvalve 13:747daba9cf59 1732 void CurrentControl()
Lightvalve 13:747daba9cf59 1733 {
jobuuu 7:e9086c72bb22 1734 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1735 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1736 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1737 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1738
Lightvalve 30:8d561f16383b 1739 float R_model = 150.0f; // ohm
Lightvalve 30:8d561f16383b 1740 float L_model = 0.3f;
Lightvalve 30:8d561f16383b 1741 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 30:8d561f16383b 1742 float KP_I = L_model*w0;
Lightvalve 30:8d561f16383b 1743 float KI_I = R_model*w0;
Lightvalve 30:8d561f16383b 1744 float KD_I = 0.0f;
jobuuu 7:e9086c72bb22 1745
Lightvalve 30:8d561f16383b 1746 float FF_gain = 0.0f;
jobuuu 7:e9086c72bb22 1747 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1748 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1749 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1750
Lightvalve 30:8d561f16383b 1751 float Ka = 5.0f/KP_I;
jobuuu 7:e9086c72bb22 1752 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1753 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1754 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1755 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1756 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1757 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1758 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1759 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1760 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1761 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1762 }
Lightvalve 21:e5f1a43ea6f9 1763 }
Lightvalve 23:59218d4a256d 1764
Lightvalve 28:2a62d73e3dd0 1765
Lightvalve 30:8d561f16383b 1766
Lightvalve 32:4b8c0fedaf2c 1767
Lightvalve 36:a46e63505ed8 1768