Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2

rainbow

Dependencies:   mbed FastPWM

setting.h@252:3ffd78cbd029, 23 months ago (annotated)

Committer:
Lightvalve
Date:
Wed Jul 20 07:50:48 2022 +0000
Revision:
252:3ffd78cbd029
Parent:
244:e9c5ec04e378 
220720

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
GiJeongKim 0:51c43836c1d7 4 // pwm
Lightvalve 244:e9c5ec04e378 5 #define PIN_H1 PA_8
Lightvalve 252:3ffd78cbd029 6 #define PIN_L1 PA_9
Lightvalve 244:e9c5ec04e378 7
Lightvalve 224:985dba42f261 8 //#define PWM_ARR 0x465 // loop 80k, pwm 40k
jobuuu 2:a1c0a37df760 9 //#define PWM_ARR 0x8CA // loop 40k, pwm 20k
Lightvalve 244:e9c5ec04e378 10 //#define PWM_ARR 0x1194 // loop 20k, pwm 10k
Lightvalve 244:e9c5ec04e378 11 #define PWM_ARR 0x2328 // loop 10k, pwm 5k
Lightvalve 240:fb5b57e3f157 12 //#define PWM_ARR 0xAFC8 // loop 2 k, pwm 1k
Lightvalve 240:fb5b57e3f157 13
Lightvalve 243:30896263bd8b 14 //#define TMR3_COUNT 0xAFC8 // loop 2 k, pwm 1k
Lightvalve 243:30896263bd8b 15 #define TMR3_COUNT 0x1194
Lightvalve 240:fb5b57e3f157 16 //#define TMR2_COUNT 0x2710 // loop 500hz with prescale 18
Lightvalve 240:fb5b57e3f157 17 #define TMR2_COUNT 0x4650 // loop 5 k
Lightvalve 243:30896263bd8b 18 #define TMR1_COUNT 0x1194
jobuuu 2:a1c0a37df760 19
Lightvalve 30:8d561f16383b 20 #define FREQ_500 500.0f
Lightvalve 30:8d561f16383b 21 #define FREQ_1k 1000.0f
Lightvalve 30:8d561f16383b 22 #define FREQ_5k 5000.0f
Lightvalve 30:8d561f16383b 23 #define FREQ_10k 10000.0f
Lightvalve 30:8d561f16383b 24 #define FREQ_20k 20000.0f
Lightvalve 30:8d561f16383b 25 #define FREQ_40k 40000.0f
Lightvalve 30:8d561f16383b 26 #define DT_500 0.002f
jobuuu 230:2c3e5ecbe7e1 27 #define DT_1k 0.001f
Lightvalve 30:8d561f16383b 28 #define DT_5k 0.0002f
Lightvalve 30:8d561f16383b 29 #define DT_10k 0.0001f
Lightvalve 30:8d561f16383b 30 #define DT_20k 0.00005f
Lightvalve 30:8d561f16383b 31 #define DT_40k 0.000025f
jobuuu 5:a4319f79457b 32
jobuuu 230:2c3e5ecbe7e1 33 //#define TMR_FREQ_10k 10000
jobuuu 230:2c3e5ecbe7e1 34 #define TMR_FREQ_5k 5000
Lightvalve 241:27eca07c9591 35 #define TMR_FREQ_1k 1000
jobuuu 230:2c3e5ecbe7e1 36
jobuuu 7:e9086c72bb22 37 extern AnalogOut dac_1;
jobuuu 7:e9086c72bb22 38 extern AnalogOut dac_2;
jobuuu 7:e9086c72bb22 39
Lightvalve 244:e9c5ec04e378 40 extern float PWM_duty;
GiJeongKim 0:51c43836c1d7 41
GiJeongKim 0:51c43836c1d7 42 // SPI
Lightvalve 170:42c938a40313 43 extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 44 extern DigitalOut eeprom_cs;
GiJeongKim 0:51c43836c1d7 45 extern SPI enc;
GiJeongKim 0:51c43836c1d7 46 extern DigitalOut enc_cs;
GiJeongKim 0:51c43836c1d7 47
GiJeongKim 0:51c43836c1d7 48 // UART
jobuuu 7:e9086c72bb22 49 extern Serial pc; //Serial pc(PA_9,PA_10); _ UART
jobuuu 7:e9086c72bb22 50
jobuuu 7:e9086c72bb22 51 // CAN
jobuuu 7:e9086c72bb22 52 extern CAN can;
jobuuu 7:e9086c72bb22 53 extern CANMessage msg;
jobuuu 7:e9086c72bb22 54
Lightvalve 244:e9c5ec04e378 55
jobuuu 7:e9086c72bb22 56 // Board Information
jobuuu 7:e9086c72bb22 57
jobuuu 7:e9086c72bb22 58
jobuuu 7:e9086c72bb22 59 // User Function
jobuuu 7:e9086c72bb22 60 void CurrentControl();
jobuuu 7:e9086c72bb22 61 void ValveControl(unsigned int ControlMode);
Lightvalve 11:82d8768d7351 62
Lightvalve 11:82d8768d7351 63
Lightvalve 11:82d8768d7351 64 /*******************************************************************************
Lightvalve 11:82d8768d7351 65 * COMMON Settings
Lightvalve 11:82d8768d7351 66 ******************************************************************************/
Lightvalve 11:82d8768d7351 67 #define LATEST_VERSION 19032
Lightvalve 11:82d8768d7351 68
Lightvalve 11:82d8768d7351 69
Lightvalve 11:82d8768d7351 70 /*******************************************************************************
Lightvalve 11:82d8768d7351 71 * COMMON CONSTANTS
Lightvalve 11:82d8768d7351 72 ******************************************************************************/
Lightvalve 30:8d561f16383b 73 #define RAD_30 0.523598775598299f
Lightvalve 30:8d561f16383b 74 #define RAD_60 1.047197551196598f
Lightvalve 30:8d561f16383b 75 #define RAD_120 2.094395102393195f
Lightvalve 30:8d561f16383b 76 #define RAD_180 3.141592653589793f
Lightvalve 30:8d561f16383b 77 #define RAD_240 4.188790204786391f
Lightvalve 30:8d561f16383b 78 #define RAD_300 5.235987755982989f
Lightvalve 30:8d561f16383b 79 #define RAD_360 6.283185307179586f
Lightvalve 11:82d8768d7351 80
Lightvalve 11:82d8768d7351 81 #define SYSFREQ 200000000
Lightvalve 11:82d8768d7351 82 #define PBCLK 100000000
Lightvalve 11:82d8768d7351 83
Lightvalve 11:82d8768d7351 84 #define FALSE 0
Lightvalve 11:82d8768d7351 85 #define TRUE 1
Lightvalve 11:82d8768d7351 86 #define OUTPUT 0
Lightvalve 11:82d8768d7351 87 #define INPUT 1
Lightvalve 11:82d8768d7351 88 #define LOW 0
Lightvalve 11:82d8768d7351 89 #define HIGH 1
Lightvalve 11:82d8768d7351 90 #define DIGITAL 0
Lightvalve 11:82d8768d7351 91 #define ANALOG 1
Lightvalve 11:82d8768d7351 92
Lightvalve 30:8d561f16383b 93 #define PI 3.141592653589793f
Lightvalve 30:8d561f16383b 94 #define D2R 0.017453292519943f
Lightvalve 30:8d561f16383b 95 #define R2D 57.295779513082323f
Lightvalve 11:82d8768d7351 96
Lightvalve 11:82d8768d7351 97
Lightvalve 11:82d8768d7351 98 /*******************************************************************************
Lightvalve 11:82d8768d7351 99 * HEADER INCLUDE
Lightvalve 11:82d8768d7351 100 ******************************************************************************/
Lightvalve 11:82d8768d7351 101
Lightvalve 11:82d8768d7351 102 /*******************************************************************************
Lightvalve 11:82d8768d7351 103 * VARIABLE
Lightvalve 11:82d8768d7351 104 ******************************************************************************/
Lightvalve 11:82d8768d7351 105
Lightvalve 11:82d8768d7351 106 // Board Information
Lightvalve 11:82d8768d7351 107 extern uint8_t BNO;
Lightvalve 11:82d8768d7351 108 extern uint8_t CONTROL_MODE;
Lightvalve 11:82d8768d7351 109 extern uint8_t OPERATING_MODE;
Lightvalve 52:8ea76864368a 110 extern uint8_t SENSING_MODE;
jobuuu 230:2c3e5ecbe7e1 111 extern uint8_t SUPPLY_PRESSURE_UPDATE;
jobuuu 230:2c3e5ecbe7e1 112
Lightvalve 57:f4819de54e7a 113 extern uint8_t CONTROL_UTILITY_MODE;
Lightvalve 52:8ea76864368a 114 extern uint8_t CURRENT_CONTROL_MODE;
Lightvalve 52:8ea76864368a 115 extern uint8_t FLAG_VALVE_DEADZONE;
Lightvalve 11:82d8768d7351 116 extern uint8_t REFERENCE_MODE;
Lightvalve 54:647072f5307a 117 extern int16_t CAN_FREQ;
Lightvalve 17:1865016ca2e7 118 extern int16_t DIR_JOINT_ENC;
Lightvalve 17:1865016ca2e7 119 extern int16_t DIR_VALVE;
Lightvalve 17:1865016ca2e7 120 extern int16_t DIR_VALVE_ENC;
Lightvalve 11:82d8768d7351 121
Lightvalve 30:8d561f16383b 122 extern float SUPPLY_VOLTAGE;
Lightvalve 30:8d561f16383b 123 extern float VALVE_VOLTAGE_LIMIT;
Lightvalve 11:82d8768d7351 124
Lightvalve 30:8d561f16383b 125 extern float P_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 126 extern float I_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 127 extern float D_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 128 extern float P_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 129 extern float I_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 130 extern float D_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 131 extern float P_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 132 extern float I_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 133 extern float D_GAIN_JOINT_TORQUE;
Lightvalve 72:3436ce769b1e 134 extern float P_GAIN_JOINT_TORQUE_FF;
Lightvalve 72:3436ce769b1e 135 extern float I_GAIN_JOINT_TORQUE_FF;
Lightvalve 72:3436ce769b1e 136 extern float D_GAIN_JOINT_TORQUE_FF;
Lightvalve 11:82d8768d7351 137
Lightvalve 46:2694daea349b 138 extern int16_t K_SPRING;
Lightvalve 46:2694daea349b 139 extern int16_t D_DAMPER;
Lightvalve 46:2694daea349b 140
Lightvalve 54:647072f5307a 141 extern int16_t flag_delay_test;
Lightvalve 54:647072f5307a 142
Lightvalve 36:a46e63505ed8 143 //extern float P_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 144 //extern float I_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 145 //extern float D_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 146 //extern float P_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 147 //extern float I_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 148 //extern float D_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 149 //extern float P_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 150 //extern float I_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 151 //extern float D_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 152
hyhoon 226:82a3ca333004 153 extern int16_t VALVE_DEADZONE_PLUS;
hyhoon 226:82a3ca333004 154 extern int16_t VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 155
Lightvalve 11:82d8768d7351 156 extern int16_t VELOCITY_COMP_GAIN;
Lightvalve 238:4e660aa77eb7 157 //extern int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 158
Lightvalve 11:82d8768d7351 159 extern int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 160
Lightvalve 11:82d8768d7351 161 extern int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 162
Lightvalve 11:82d8768d7351 163 extern int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 164
Lightvalve 11:82d8768d7351 165 extern int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 166 extern int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 167
Lightvalve 11:82d8768d7351 168 extern int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 169 extern int16_t PISTON_AREA_B;
Lightvalve 30:8d561f16383b 170 extern float PISTON_AREA_alpha;
Lightvalve 57:f4819de54e7a 171 extern float alpha3;
Lightvalve 11:82d8768d7351 172
jobuuu 230:2c3e5ecbe7e1 173 extern float PRES_SUPPLY_NOM;
jobuuu 230:2c3e5ecbe7e1 174 extern float PRES_SUPPLY;
Lightvalve 11:82d8768d7351 175
Lightvalve 11:82d8768d7351 176 extern int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 177 extern int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 178
Lightvalve 11:82d8768d7351 179 extern int16_t STROKE;
Lightvalve 11:82d8768d7351 180
Lightvalve 133:22ab22818e01 181 extern float Amm;
Lightvalve 133:22ab22818e01 182 extern float beta;
Lightvalve 133:22ab22818e01 183 extern float Ps;
Lightvalve 133:22ab22818e01 184 extern float Pt;
Lightvalve 133:22ab22818e01 185 extern float gamma_hat;
Lightvalve 218:066030f7951f 186 extern float a_hat;
Lightvalve 170:42c938a40313 187 extern float V_adapt;
Lightvalve 133:22ab22818e01 188 extern float x_4_des_old;
Lightvalve 133:22ab22818e01 189
Lightvalve 57:f4819de54e7a 190 //extern int16_t VALVE_LIMIT_PLUS;
Lightvalve 57:f4819de54e7a 191 //extern int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 192
Lightvalve 48:889798ff9329 193 extern float ENC_PULSE_PER_POSITION;
Lightvalve 48:889798ff9329 194 extern float TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 48:889798ff9329 195
Lightvalve 30:8d561f16383b 196 extern float PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 197 extern float PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 198
hyhoon 226:82a3ca333004 199 extern int16_t HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 200 extern int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 201
Lightvalve 30:8d561f16383b 202 extern float FRICTION;
Lightvalve 30:8d561f16383b 203 extern float REF_PERIOD;
Lightvalve 30:8d561f16383b 204 extern float REF_MAG;
Lightvalve 11:82d8768d7351 205 extern int REF_NUM;
Lightvalve 11:82d8768d7351 206
Lightvalve 11:82d8768d7351 207
Lightvalve 30:8d561f16383b 208 extern float DAC_REF;
Lightvalve 30:8d561f16383b 209 extern float DAC_RESOL;
Lightvalve 11:82d8768d7351 210
jobuuu 230:2c3e5ecbe7e1 211 extern float REF_FORCE;
jobuuu 230:2c3e5ecbe7e1 212 extern float REF_TORQUE;
hyhoon 227:699c3e572283 213 extern float REF_POSITION;
hyhoon 227:699c3e572283 214 extern float REF_VELOCITY;
jobuuu 230:2c3e5ecbe7e1 215
jobuuu 230:2c3e5ecbe7e1 216 extern float REF_POSITION_FINDHOME;
jobuuu 230:2c3e5ecbe7e1 217
Lightvalve 11:82d8768d7351 218 extern int16_t REF_PWM;
Lightvalve 11:82d8768d7351 219 extern int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 220 extern int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 221
Lightvalve 11:82d8768d7351 222 extern int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 223 extern int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 224 extern int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 225 extern int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 226 extern int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 227 extern int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 228 extern int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 229
Lightvalve 11:82d8768d7351 230 extern unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 231 extern unsigned int TMR2_COUNT_LED2;
Lightvalve 11:82d8768d7351 232 extern unsigned int TMR2_COUNT_CAN_TX;
Lightvalve 54:647072f5307a 233 extern unsigned int TMR3_COUNT_TEST;
Lightvalve 11:82d8768d7351 234
Lightvalve 11:82d8768d7351 235 extern int num_err;
Lightvalve 11:82d8768d7351 236 extern int flag_err[8];
Lightvalve 11:82d8768d7351 237 extern int flag_err_old[8];
Lightvalve 11:82d8768d7351 238 extern int flag_err_rt;
Lightvalve 11:82d8768d7351 239
Lightvalve 11:82d8768d7351 240 extern int flag_ref_enable;
Lightvalve 11:82d8768d7351 241
Lightvalve 11:82d8768d7351 242 extern int flag_data_request[5];
Lightvalve 11:82d8768d7351 243
Lightvalve 45:35fa6884d0c6 244 extern int MODE_POS_FT_TRANS;
Lightvalve 66:a8e6799dbce3 245 extern int NN_Control_Flag;
Lightvalve 45:35fa6884d0c6 246
Lightvalve 169:645207e160ca 247 extern int cnt_buffer;
Lightvalve 169:645207e160ca 248
Lightvalve 57:f4819de54e7a 249 extern float CUR_CURRENT_mA;
Lightvalve 30:8d561f16383b 250 extern float CUR_TORQUE_NM;
Lightvalve 30:8d561f16383b 251 extern float CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 252
jobuuu 230:2c3e5ecbe7e1 253 extern float FORCE_VREF;
Lightvalve 30:8d561f16383b 254 extern float PRES_A_VREF;
Lightvalve 30:8d561f16383b 255 extern float PRES_B_VREF;
Lightvalve 11:82d8768d7351 256
Lightvalve 30:8d561f16383b 257 extern float VALVE_PWM_RAW_FB;
Lightvalve 30:8d561f16383b 258 extern float VALVE_PWM_RAW_FF;
Lightvalve 57:f4819de54e7a 259 extern float VALVE_PWM_RAW;
Lightvalve 11:82d8768d7351 260 extern int VALVE_PWM_VALVE_DZ;
Lightvalve 11:82d8768d7351 261
Lightvalve 30:8d561f16383b 262 extern float VALVE_GAIN_LPM_PER_V[10];
Lightvalve 30:8d561f16383b 263 extern float VALVE_POS_VS_PWM[25];
Lightvalve 11:82d8768d7351 264 extern long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 265
Lightvalve 11:82d8768d7351 266 extern int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 267 extern int VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 268 extern int VALVE_ELECTRIC_CENTER;
Lightvalve 11:82d8768d7351 269 extern int VALVE_POS_NUM;
Lightvalve 32:4b8c0fedaf2c 270 extern float VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 271 extern float VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 272 extern float VALVE_DZ_PLUS_OFFSET;
Lightvalve 11:82d8768d7351 273
Lightvalve 14:8e7590227d22 274 extern int TMR3_COUNT_FINDHOME;
Lightvalve 14:8e7590227d22 275 extern int TMR3_COUNT_FLOWRATE;
Lightvalve 14:8e7590227d22 276 extern int TMR3_COUNT_DEADZONE;
Lightvalve 14:8e7590227d22 277 extern int TMR3_COUNT_PRES_NULL;
Lightvalve 14:8e7590227d22 278 extern int TMR3_COUNT_TORQUE_NULL;
Lightvalve 14:8e7590227d22 279 extern int TMR3_COUNT_PRES_CALIB;
Lightvalve 14:8e7590227d22 280 extern int TMR3_COUNT_REFERENCE;
Lightvalve 14:8e7590227d22 281 extern int TMR3_COUNT_JOINT;
Lightvalve 14:8e7590227d22 282 extern int TMR3_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 283
Lightvalve 30:8d561f16383b 284 extern float TUNING_TIME;
Lightvalve 11:82d8768d7351 285
Lightvalve 30:8d561f16383b 286 extern float REFERENCE_FREQ;
Lightvalve 30:8d561f16383b 287 extern float REFERENCE_MAG;
Lightvalve 11:82d8768d7351 288
Lightvalve 11:82d8768d7351 289 extern bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 290
Lightvalve 11:82d8768d7351 291 extern int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 292
Lightvalve 30:8d561f16383b 293 extern float CUR_PRES_DIFF_BAR;
Lightvalve 30:8d561f16383b 294 extern float CUR_PRES_A_sum;
Lightvalve 30:8d561f16383b 295 extern float CUR_PRES_B_sum;
Lightvalve 30:8d561f16383b 296 extern float CUR_PRES_A_mean;
Lightvalve 30:8d561f16383b 297 extern float CUR_PRES_B_mean;
jobuuu 230:2c3e5ecbe7e1 298 extern float PRES_A_NULL_pulse;
jobuuu 230:2c3e5ecbe7e1 299 extern float PRES_B_NULL_pulse;
jobuuu 230:2c3e5ecbe7e1 300 extern float FORCE_NULL_pulse;
Lightvalve 13:747daba9cf59 301
Lightvalve 30:8d561f16383b 302 extern float Ref_Valve_Pos_Old;
Lightvalve 13:747daba9cf59 303
Lightvalve 13:747daba9cf59 304 extern int VALVE_ID_timer;
Lightvalve 13:747daba9cf59 305 extern int VALVE_DZ_timer;
Lightvalve 13:747daba9cf59 306 extern int VALVE_FR_timer;
Lightvalve 35:34ce7b0347b8 307 extern int VALVE_HPL_timer;
Lightvalve 13:747daba9cf59 308 extern int VALVE_POS_TMP;
Lightvalve 13:747daba9cf59 309 extern int JOINT_VEL_TMP;
Lightvalve 13:747daba9cf59 310 extern int DDV_POS_AVG ;
Lightvalve 19:23b7c1ad8683 311 extern int VALVE_POS_AVG[50];
Lightvalve 13:747daba9cf59 312 extern int VALVE_POS_AVG_OLD;
Lightvalve 13:747daba9cf59 313 extern int data_num;
Lightvalve 13:747daba9cf59 314 extern int ID_index;
Lightvalve 13:747daba9cf59 315 extern int DZ_index;
Lightvalve 19:23b7c1ad8683 316 extern int ID_index_array[50];
Lightvalve 13:747daba9cf59 317 extern int first_check;
Lightvalve 30:8d561f16383b 318 extern float init_time;
Lightvalve 13:747daba9cf59 319 extern int DZ_case;
Lightvalve 13:747daba9cf59 320 extern int START_POS;
Lightvalve 13:747daba9cf59 321 extern int FINAL_POS;
Lightvalve 13:747daba9cf59 322 extern int DZ_DIRECTION;
Lightvalve 13:747daba9cf59 323 extern int FIRST_DZ;
Lightvalve 13:747daba9cf59 324 extern int SECOND_DZ;
Lightvalve 13:747daba9cf59 325 extern int DZ_NUM;
Lightvalve 13:747daba9cf59 326 extern int one_period_end;
Lightvalve 30:8d561f16383b 327 extern float Ref_Vel_Test;
Lightvalve 19:23b7c1ad8683 328 //extern int velcount;
Lightvalve 13:747daba9cf59 329 extern char max_check;
Lightvalve 13:747daba9cf59 330 extern char min_check;
Lightvalve 13:747daba9cf59 331
Lightvalve 30:8d561f16383b 332 extern float valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
Lightvalve 30:8d561f16383b 333 extern float joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
Lightvalve 30:8d561f16383b 334 extern float joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
Lightvalve 30:8d561f16383b 335 extern float VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
Lightvalve 239:8ac5c6162bc1 336 extern float force_ref_filter;
Lightvalve 13:747daba9cf59 337
Lightvalve 30:8d561f16383b 338 extern float CUR_FLOWRATE;
Lightvalve 30:8d561f16383b 339 extern float VALVE_FF_VOLTAGE;
Lightvalve 13:747daba9cf59 340
Lightvalve 13:747daba9cf59 341 extern int pos_plus_end;
Lightvalve 13:747daba9cf59 342 extern int pos_minus_end;
Lightvalve 13:747daba9cf59 343
Lightvalve 13:747daba9cf59 344 extern bool need_enc_init;
Lightvalve 13:747daba9cf59 345
Lightvalve 13:747daba9cf59 346 extern int temp_time;
Lightvalve 13:747daba9cf59 347
Lightvalve 30:8d561f16383b 348 extern float CUR_VELOCITY_sum;
Lightvalve 30:8d561f16383b 349 extern float temp_vel_sum;
Lightvalve 13:747daba9cf59 350
Lightvalve 13:747daba9cf59 351 extern int DZ_dir;
Lightvalve 13:747daba9cf59 352 extern int DZ_temp_cnt;
Lightvalve 13:747daba9cf59 353 extern int DZ_temp_cnt2;
Lightvalve 13:747daba9cf59 354 extern int DZ_end;
Lightvalve 13:747daba9cf59 355 extern int flag_flowrate;
Lightvalve 13:747daba9cf59 356 extern int fl_temp_cnt;
Lightvalve 13:747daba9cf59 357 extern int fl_temp_cnt2;
Lightvalve 13:747daba9cf59 358 extern int cur_vel_sum;
Lightvalve 13:747daba9cf59 359
hyhoon 227:699c3e572283 360 extern int cnt_finddz;
hyhoon 227:699c3e572283 361 extern int cnt_vel_finddz;
hyhoon 227:699c3e572283 362 extern int flag_finddz;
hyhoon 227:699c3e572283 363 extern int FINDDZ_VELOCITY;
hyhoon 227:699c3e572283 364 extern int FINDDZ_VELOCITY_OLD;
hyhoon 227:699c3e572283 365 extern int FINDDZ_POSITION;
hyhoon 227:699c3e572283 366 extern int FINDDZ_POSITION_OLD;
hyhoon 227:699c3e572283 367
hyhoon 227:699c3e572283 368 extern double temp_VALVE_DEADZONE_PLUS;
hyhoon 227:699c3e572283 369 extern double temp_VALVE_DEADZONE_MINUS;
hyhoon 227:699c3e572283 370 extern float temp_pos_ref;
hyhoon 227:699c3e572283 371 extern float temp_pos_ref_offset;
hyhoon 227:699c3e572283 372
Lightvalve 13:747daba9cf59 373 // valve gain
Lightvalve 13:747daba9cf59 374 extern int check_vel_pos_init;
Lightvalve 13:747daba9cf59 375 extern int check_vel_pos_fin;
Lightvalve 13:747daba9cf59 376 extern int check_vel_pos_interv;
Lightvalve 13:747daba9cf59 377 extern int valve_gain_repeat_cnt;
Lightvalve 30:8d561f16383b 378 extern float VALVE_VOLTAGE;
Lightvalve 13:747daba9cf59 379
Lightvalve 30:8d561f16383b 380 extern float freq_fric_tune;
Lightvalve 13:747daba9cf59 381
Lightvalve 14:8e7590227d22 382 extern uint32_t TMR3_COUNT_CAN_TX;
Lightvalve 14:8e7590227d22 383
Lightvalve 57:f4819de54e7a 384 // Current Control Variables
Lightvalve 57:f4819de54e7a 385 extern double I_REF;
Lightvalve 57:f4819de54e7a 386 extern double I_REF_fil;
hyhoon 226:82a3ca333004 387 extern double I_REF_fil_DZ;
Lightvalve 57:f4819de54e7a 388 extern double I_ERR;
Lightvalve 57:f4819de54e7a 389 extern double I_ERR_INT;
Lightvalve 57:f4819de54e7a 390 extern double I_REF_fil_old;
Lightvalve 57:f4819de54e7a 391 extern double I_REF_fil_diff;
Lightvalve 57:f4819de54e7a 392
Lightvalve 57:f4819de54e7a 393 // system id
Lightvalve 57:f4819de54e7a 394 extern int cnt_sysid;
Lightvalve 57:f4819de54e7a 395 extern double freq_sysid_Iref;
Lightvalve 57:f4819de54e7a 396
Lightvalve 169:645207e160ca 397 extern int cnt_freq_test;
Lightvalve 169:645207e160ca 398 extern int cnt_step_test;
Lightvalve 169:645207e160ca 399 extern int buffer_data_size;
Lightvalve 169:645207e160ca 400 extern int cnt_send_buffer;
Lightvalve 169:645207e160ca 401 extern float freq_test_valve_ref;
Lightvalve 169:645207e160ca 402 extern float ref_array[10000];
Lightvalve 169:645207e160ca 403 extern int pos_array[10000];
Lightvalve 192:637092202815 404 extern int flag_every_reference;
Lightvalve 169:645207e160ca 405
Lightvalve 14:8e7590227d22 406 extern int TMR3_COUNT_IREF;
Lightvalve 30:8d561f16383b 407 extern float CUR_CURRENT;
Lightvalve 30:8d561f16383b 408 extern float u_CUR[3];
Lightvalve 19:23b7c1ad8683 409
Lightvalve 29:69f3f5445d6d 410 extern int FINDHOME_STAGE;
Lightvalve 29:69f3f5445d6d 411 extern int FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 412 extern int FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 413 extern int FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 414
hyhoon 227:699c3e572283 415 extern int FINDDZ_STAGE;
hyhoon 227:699c3e572283 416 extern int FINDDZ_INIT;
hyhoon 227:699c3e572283 417 extern int FINDDZ_START1;
hyhoon 227:699c3e572283 418 extern int FINDDZ_START2;
hyhoon 227:699c3e572283 419 extern int FINDDZ_STOP;
hyhoon 227:699c3e572283 420
Lightvalve 45:35fa6884d0c6 421 extern float alpha_trans;
Lightvalve 45:35fa6884d0c6 422
Lightvalve 57:f4819de54e7a 423
Lightvalve 57:f4819de54e7a 424 extern float V_out;
Lightvalve 57:f4819de54e7a 425 extern float V_rem;
Lightvalve 57:f4819de54e7a 426 extern float V_MAX;
Lightvalve 57:f4819de54e7a 427
Lightvalve 57:f4819de54e7a 428 extern float PWM_out;
Lightvalve 57:f4819de54e7a 429
Lightvalve 57:f4819de54e7a 430 extern double K_v;
jobuuu 230:2c3e5ecbe7e1 431 extern double C_d;
Lightvalve 57:f4819de54e7a 432 extern double mV_PER_mA;
Lightvalve 57:f4819de54e7a 433 extern double mV_PER_pulse;
Lightvalve 57:f4819de54e7a 434 extern double mA_PER_pulse;
Lightvalve 57:f4819de54e7a 435
Lightvalve 57:f4819de54e7a 436 extern int timer_while;
Lightvalve 57:f4819de54e7a 437 extern int while_index;
Lightvalve 170:42c938a40313 438 extern int RL_timer;
Lightvalve 23:59218d4a256d 439
Lightvalve 67:c2812cf26c38 440 extern float K_LPF;
Lightvalve 67:c2812cf26c38 441 extern float D_LPF;
Lightvalve 67:c2812cf26c38 442
Lightvalve 244:e9c5ec04e378 443 extern float V_EXI;
Lightvalve 72:3436ce769b1e 444
Lightvalve 66:a8e6799dbce3 445
Lightvalve 32:4b8c0fedaf2c 446
Lightvalve 35:34ce7b0347b8 447
Lightvalve 36:a46e63505ed8 448
Lightvalve 45:35fa6884d0c6 449
Lightvalve 45:35fa6884d0c6 450
Lightvalve 48:889798ff9329 451
Lightvalve 49:e7bcfc244d40 452