Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2

rainbow

Dependencies:   mbed FastPWM

main.cpp@247:bfdf0f479a38, 2022-06-24 (annotated)

Committer:
Lightvalve
Date:
Fri Jun 24 00:18:20 2022 +0000
Revision:
247:bfdf0f479a38
Parent:
246:d5742551f432
Child:
248:544011ad9c85
220624 LVDT good

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 243:30896263bd8b 1 //Hydraulic Control Board Rainbow
Lightvalve 224:985dba42f261 2 //distributed by Sungwoo Kim
Lightvalve 243:30896263bd8b 3 // 2022/05/31
Lightvalve 224:985dba42f261 4
GiJeongKim 0:51c43836c1d7 5 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 6 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 7 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 8 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 9 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 10 #include "setting.h"
Lightvalve 11:82d8768d7351 11 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 12 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 13 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 14 #include <string>
Lightvalve 170:42c938a40313 15 #include <iostream>
Lightvalve 179:d5377766d7ea 16 #include <cmath>
Lightvalve 61:bc8c8270f0ab 17
GiJeongKim 0:51c43836c1d7 18
Lightvalve 243:30896263bd8b 19 // DAC ///////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 20 AnalogOut dac_1(PA_4); // 0.0f ~ 1.0f
jobuuu 230:2c3e5ecbe7e1 21 AnalogOut dac_2(PA_5); // 0.0f ~ 1.0f
Lightvalve 243:30896263bd8b 22
Lightvalve 243:30896263bd8b 23 // ADC ///////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 24 ADC_HandleTypeDef hadc1;
Lightvalve 244:e9c5ec04e378 25 ADC_HandleTypeDef hadc2;
Lightvalve 244:e9c5ec04e378 26 ADC_HandleTypeDef hadc3;
Lightvalve 244:e9c5ec04e378 27
Lightvalve 244:e9c5ec04e378 28 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 244:e9c5ec04e378 29 AnalogIn adc2(PC_5); //pressure_2
Lightvalve 244:e9c5ec04e378 30 AnalogIn adc3(PC_1); //current
Lightvalve 244:e9c5ec04e378 31 AnalogIn adc4(PB_1); //V_EXI
Lightvalve 244:e9c5ec04e378 32 AnalogIn adc5(PA_1); //LVDT
GiJeongKim 0:51c43836c1d7 33
jobuuu 7:e9086c72bb22 34 // PWM ///////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 35 float PWM_duty = 0.0f;
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 38 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 39 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 40 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 41 DigitalOut enc_cs(PD_2);
Lightvalve 243:30896263bd8b 42
Lightvalve 243:30896263bd8b 43 // LED ///////////////////////////////////////////
Lightvalve 11:82d8768d7351 44 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 45
Lightvalve 244:e9c5ec04e378 46 // LVDT ///////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 47 DigitalOut LVDT_H(PB_6);
Lightvalve 244:e9c5ec04e378 48 DigitalOut LVDT_L(PB_7);
Lightvalve 244:e9c5ec04e378 49
Lightvalve 244:e9c5ec04e378 50 // MOTOR_ENA ///////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 51 DigitalOut M_ENABLE(PA_2);
Lightvalve 244:e9c5ec04e378 52
jobuuu 7:e9086c72bb22 53 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 54 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 55 CANMessage msg;
Lightvalve 242:b235d67d25ba 56 //void onMsgReceived()
Lightvalve 242:b235d67d25ba 57 //{
Lightvalve 242:b235d67d25ba 58 // CAN_RX_HANDLER();
Lightvalve 242:b235d67d25ba 59 //}
jobuuu 2:a1c0a37df760 60
jobuuu 7:e9086c72bb22 61 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 62 State pos;
jobuuu 7:e9086c72bb22 63 State vel;
jobuuu 7:e9086c72bb22 64 State Vout;
jobuuu 230:2c3e5ecbe7e1 65 State force;
jobuuu 230:2c3e5ecbe7e1 66 State torq; // unit : N
Lightvalve 207:c70c5a9f17dd 67 State torq_dot;
jobuuu 230:2c3e5ecbe7e1 68 State pres_A; // unit : bar
jobuuu 7:e9086c72bb22 69 State pres_B;
jobuuu 230:2c3e5ecbe7e1 70 State cur; // unit : mA
Lightvalve 14:8e7590227d22 71 State valve_pos;
Lightvalve 238:4e660aa77eb7 72 State valve_pos_raw;
Lightvalve 14:8e7590227d22 73
Lightvalve 19:23b7c1ad8683 74 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 75 extern int CID_RX_REF_POSITION;
hyhoon 227:699c3e572283 76 extern int CID_RX_REF_OPENLOOP;
Lightvalve 45:35fa6884d0c6 77 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 78
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_INFO;
hyhoon 227:699c3e572283 80 extern int CID_TX_POS_VEL_TORQ;
hyhoon 227:699c3e572283 81 extern int CID_TX_PWM;
hyhoon 227:699c3e572283 82 extern int CID_TX_CURRENT;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_VALVE_POSITION;
jeongyeseong 225:9c0becc196ba 85 extern int CID_TX_SOMETHING;
Lightvalve 19:23b7c1ad8683 86
Lightvalve 235:c831718303c9 87 inline float tanh_inv(float y)
Lightvalve 235:c831718303c9 88 {
Lightvalve 235:c831718303c9 89 if(y >= 1.0f - 0.000001f) y = 1.0f - 0.000001f;
Lightvalve 235:c831718303c9 90 if(y <= -1.0f + 0.000001f) y = -1.0f + 0.000001f;
jobuuu 230:2c3e5ecbe7e1 91 return log(sqrt((1.0f+y)/(1.0f-y)));
jobuuu 230:2c3e5ecbe7e1 92 }
jobuuu 230:2c3e5ecbe7e1 93
hyhoon 227:699c3e572283 94
Lightvalve 12:6f2531038ea4 95 /*******************************************************************************
Lightvalve 12:6f2531038ea4 96 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 97 ******************************************************************************/
Lightvalve 13:747daba9cf59 98 enum _REFERENCE_MODE {
Lightvalve 235:c831718303c9 99 MODE_REF_NO_ACT = 0,
Lightvalve 235:c831718303c9 100 MODE_REF_DIRECT,
Lightvalve 235:c831718303c9 101 MODE_REF_FINDHOME
Lightvalve 12:6f2531038ea4 102 };
Lightvalve 12:6f2531038ea4 103
Lightvalve 12:6f2531038ea4 104 /*******************************************************************************
Lightvalve 12:6f2531038ea4 105 * CONTROL MODE
Lightvalve 12:6f2531038ea4 106 ******************************************************************************/
Lightvalve 13:747daba9cf59 107 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 108 //control mode
Lightvalve 12:6f2531038ea4 109 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 110 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 111 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 112
Lightvalve 47:fdcb8bd86fd6 113 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 114 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 115 MODE_RL, //5
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 122 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 123
Lightvalve 14:8e7590227d22 124 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 125 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 224:985dba42f261 127 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 128
Lightvalve 12:6f2531038ea4 129 //utility
Lightvalve 12:6f2531038ea4 130 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 131 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 132 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 133 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 134 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 135 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 136 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 137
Lightvalve 224:985dba42f261 138 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 139 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 140 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 141 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 142 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 143 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 144 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 145 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 146 };
Lightvalve 12:6f2531038ea4 147
Lightvalve 65:a2d7c63419c2 148 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 149 {
Lightvalve 169:645207e160ca 150 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 151 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 152
Lightvalve 169:645207e160ca 153 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 154 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 243:30896263bd8b 155
Lightvalve 240:fb5b57e3f157 156 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
Lightvalve 240:fb5b57e3f157 157 RCC_OscInitStruct.HSEState = RCC_HSE_ON;
Lightvalve 240:fb5b57e3f157 158 // RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 159 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 240:fb5b57e3f157 160 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
Lightvalve 240:fb5b57e3f157 161 RCC_OscInitStruct.PLL.PLLM = 4;//4
Lightvalve 240:fb5b57e3f157 162 RCC_OscInitStruct.PLL.PLLN = 96; //96
Lightvalve 169:645207e160ca 163 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 164 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 165 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 166 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 167 //Error_Handler();
Lightvalve 169:645207e160ca 168 }
Lightvalve 169:645207e160ca 169 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 170 //Error_Handler();
Lightvalve 169:645207e160ca 171 }
Lightvalve 169:645207e160ca 172 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 173 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 174 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 175 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 176 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 177 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 178 }
Lightvalve 65:a2d7c63419c2 179
Lightvalve 170:42c938a40313 180
Lightvalve 243:30896263bd8b 181
GiJeongKim 0:51c43836c1d7 182 int main()
GiJeongKim 0:51c43836c1d7 183 {
Lightvalve 244:e9c5ec04e378 184
Lightvalve 224:985dba42f261 185 HAL_Init();
Lightvalve 224:985dba42f261 186 SystemClock_Config();
hyhoon 226:82a3ca333004 187
Lightvalve 69:3995ffeaa786 188 LED = 0;
Lightvalve 21:e5f1a43ea6f9 189
Lightvalve 243:30896263bd8b 190 // SPI INIT
hyhoon 227:699c3e572283 191 eeprom_cs = 1;
Lightvalve 170:42c938a40313 192 eeprom.format(8,3);
Lightvalve 170:42c938a40313 193 eeprom.frequency(5000000); //5M
hyhoon 227:699c3e572283 194 eeprom_cs = 0;
hyhoon 227:699c3e572283 195 make_delay();
hyhoon 227:699c3e572283 196
Lightvalve 244:e9c5ec04e378 197 enc_cs = 1;
GiJeongKim 0:51c43836c1d7 198 enc.format(8,0);
hyhoon 227:699c3e572283 199 enc.frequency(5000000); //10M
Lightvalve 243:30896263bd8b 200 enc_cs = 0;
hyhoon 227:699c3e572283 201
Lightvalve 11:82d8768d7351 202 make_delay();
Lightvalve 21:e5f1a43ea6f9 203
hyhoon 226:82a3ca333004 204 // spi _ enc
hyhoon 226:82a3ca333004 205 spi_enc_set_init();
hyhoon 226:82a3ca333004 206 make_delay();
hyhoon 226:82a3ca333004 207
Lightvalve 243:30896263bd8b 208 // bno rom
Lightvalve 240:fb5b57e3f157 209 spi_eeprom_write(RID_BNO, (int16_t) 0);
Lightvalve 238:4e660aa77eb7 210 make_delay();
hyhoon 226:82a3ca333004 211 ////////
hyhoon 226:82a3ca333004 212
Lightvalve 224:985dba42f261 213 // rom
Lightvalve 19:23b7c1ad8683 214 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 215 make_delay();
Lightvalve 13:747daba9cf59 216
GiJeongKim 0:51c43836c1d7 217 // ADC init
Lightvalve 244:e9c5ec04e378 218 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC3
Lightvalve 244:e9c5ec04e378 219 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
Lightvalve 244:e9c5ec04e378 220 RCC->APB2ENR |= RCC_APB2ENR_ADC3EN; // clock for ADC1
jobuuu 2:a1c0a37df760 221
Lightvalve 244:e9c5ec04e378 222 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; // Enable clock for GPIOC
Lightvalve 244:e9c5ec04e378 223 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // Enable clock for GPIOB
Lightvalve 244:e9c5ec04e378 224 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // Enable clock for GPIOB
Lightvalve 244:e9c5ec04e378 225
Lightvalve 244:e9c5ec04e378 226 Init_ADC1();
Lightvalve 244:e9c5ec04e378 227 Init_ADC2();
Lightvalve 244:e9c5ec04e378 228 Init_ADC3();
Lightvalve 11:82d8768d7351 229 make_delay();
Lightvalve 13:747daba9cf59 230
GiJeongKim 0:51c43836c1d7 231 // CAN
jobuuu 2:a1c0a37df760 232 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 233 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 234 make_delay();
Lightvalve 34:bb2ca2fc2a8e 235
hyhoon 226:82a3ca333004 236 //can.reset();
Lightvalve 243:30896263bd8b 237 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 243:30896263bd8b 238 // can.filter(0b100000000, 0b100000010, CANStandard); //CAN ID 100~400번대 통과하게
hyhoon 226:82a3ca333004 239
Lightvalve 244:e9c5ec04e378 240 // TMR1 init (PWM)
Lightvalve 243:30896263bd8b 241 Init_TMR1();
Lightvalve 247:bfdf0f479a38 242 TIM1->CR1 &= ~(TIM_CR1_UDIS);
Lightvalve 243:30896263bd8b 243 make_delay();
Lightvalve 243:30896263bd8b 244
Lightvalve 244:e9c5ec04e378 245 // TMR2 init (Control)
Lightvalve 244:e9c5ec04e378 246 Init_TMR2();
Lightvalve 247:bfdf0f479a38 247 TIM2->CR1 &= ~(TIM_CR1_UDIS);
Lightvalve 244:e9c5ec04e378 248 make_delay();
Lightvalve 244:e9c5ec04e378 249
Lightvalve 244:e9c5ec04e378 250 // TMR3 init (Sensors)
Lightvalve 244:e9c5ec04e378 251 Init_TMR3();
Lightvalve 247:bfdf0f479a38 252 TIM3->CR1 &= ~(TIM_CR1_UDIS);
Lightvalve 244:e9c5ec04e378 253 make_delay();
Lightvalve 34:bb2ca2fc2a8e 254
Lightvalve 244:e9c5ec04e378 255 // TIM4 init (LVDT)
Lightvalve 244:e9c5ec04e378 256 Init_TIM4();
Lightvalve 247:bfdf0f479a38 257 TIM4->CR1 &= ~(TIM_CR1_UDIS);
Lightvalve 244:e9c5ec04e378 258 make_delay();
Lightvalve 243:30896263bd8b 259
Lightvalve 244:e9c5ec04e378 260 //Timer priority
Lightvalve 244:e9c5ec04e378 261 NVIC_SetPriority(TIM3_IRQn, 3);
Lightvalve 244:e9c5ec04e378 262 NVIC_SetPriority(TIM2_IRQn, 4);
Lightvalve 244:e9c5ec04e378 263 NVIC_SetPriority(TIM4_IRQn, 2);
Lightvalve 244:e9c5ec04e378 264 HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 14, 0);
hyhoon 226:82a3ca333004 265
Lightvalve 11:82d8768d7351 266 //DAC init
Lightvalve 58:2eade98630e2 267 if (SENSING_MODE == 0) {
jobuuu 230:2c3e5ecbe7e1 268 dac_1 = FORCE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 269 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 270 } else if (SENSING_MODE == 1) {
Lightvalve 240:fb5b57e3f157 271 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 240:fb5b57e3f157 272 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 273 }
Lightvalve 244:e9c5ec04e378 274
Lightvalve 11:82d8768d7351 275 make_delay();
Lightvalve 13:747daba9cf59 276
Lightvalve 19:23b7c1ad8683 277 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 278 if(i%2==0)
Lightvalve 38:118df027d851 279 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 280 else
Lightvalve 38:118df027d851 281 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 282 }
Lightvalve 169:645207e160ca 283
Lightvalve 244:e9c5ec04e378 284 M_ENABLE = 1;
Lightvalve 244:e9c5ec04e378 285
jobuuu 6:df07d3491e3a 286 /************************************
jobuuu 1:e04e563be5ce 287 *** Program is operating!
jobuuu 6:df07d3491e3a 288 *************************************/
GiJeongKim 0:51c43836c1d7 289 while(1) {
Lightvalve 169:645207e160ca 290
Lightvalve 244:e9c5ec04e378 291 // if (LED > 0) LED = 0;
Lightvalve 244:e9c5ec04e378 292 // else LED = 1;
GiJeongKim 0:51c43836c1d7 293 }
jobuuu 1:e04e563be5ce 294 }
jobuuu 1:e04e563be5ce 295
Lightvalve 224:985dba42f261 296
Lightvalve 224:985dba42f261 297 // Velocity feedforward for SW valve
Lightvalve 33:91b17819ec30 298 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 299 {
Lightvalve 13:747daba9cf59 300 int i = 0;
Lightvalve 48:889798ff9329 301 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 302 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 303 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 304 if(i==0) {
Lightvalve 50:3c630b5eba9f 305 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 306 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 307 } else {
Lightvalve 57:f4819de54e7a 308 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 309 }
Lightvalve 14:8e7590227d22 310 } else {
Lightvalve 50:3c630b5eba9f 311 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 312 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 313 } else {
Lightvalve 57:f4819de54e7a 314 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 315 }
Lightvalve 13:747daba9cf59 316 }
Lightvalve 13:747daba9cf59 317 break;
Lightvalve 13:747daba9cf59 318 }
Lightvalve 13:747daba9cf59 319 }
Lightvalve 14:8e7590227d22 320 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 321 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 322 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 323 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 324 }
Lightvalve 36:a46e63505ed8 325
Lightvalve 224:985dba42f261 326 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve 13:747daba9cf59 327 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 328 }
jobuuu 6:df07d3491e3a 329
Lightvalve 224:985dba42f261 330 // Valve feedforward for SW valve
Lightvalve 30:8d561f16383b 331 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 332 {
Lightvalve 13:747daba9cf59 333 int i = 0;
Lightvalve 13:747daba9cf59 334
Lightvalve 38:118df027d851 335 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 336 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 337 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 338 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 339 }
Lightvalve 243:30896263bd8b 340 valve_pos_err = (float) (REF_VALVE_POS - valve_pos.sen);
Lightvalve 13:747daba9cf59 341 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 342 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 343 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 344 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 345 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 346
Lightvalve 13:747daba9cf59 347 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 348
Lightvalve 18:b8adf1582ea3 349 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 350 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 351 if(i==0) {
Lightvalve 48:889798ff9329 352 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 353 } else {
Lightvalve 48:889798ff9329 354 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 355 }
Lightvalve 13:747daba9cf59 356 break;
Lightvalve 13:747daba9cf59 357 }
Lightvalve 13:747daba9cf59 358 }
Lightvalve 59:f308b1656d9c 359 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 360 }
Lightvalve 13:747daba9cf59 361
Lightvalve 238:4e660aa77eb7 362 // Valve feedforward for SW valve
Lightvalve 238:4e660aa77eb7 363 void VALVE_POS_CONTROL_DZ(float REF_VALVE_POS_10000)
Lightvalve 238:4e660aa77eb7 364 {
Lightvalve 238:4e660aa77eb7 365 int i = 0;
Lightvalve 238:4e660aa77eb7 366 float valve_pos_ref_dz = 0.0f;
Lightvalve 238:4e660aa77eb7 367 if(REF_VALVE_POS_10000 > 10000.0f) {
Lightvalve 238:4e660aa77eb7 368 REF_VALVE_POS_10000 = 10000.0f;
Lightvalve 238:4e660aa77eb7 369 } else if(REF_VALVE_POS_10000 < -10000.0f) {
Lightvalve 238:4e660aa77eb7 370 REF_VALVE_POS_10000 = -10000.0f;
Lightvalve 238:4e660aa77eb7 371 }
Lightvalve 238:4e660aa77eb7 372 if (REF_VALVE_POS_10000 >= 0) {
Lightvalve 242:b235d67d25ba 373 // valve_pos_ref_dz = REF_VALVE_POS_10000/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 242:b235d67d25ba 374 valve_pos_ref_dz = REF_VALVE_POS_10000;
Lightvalve 238:4e660aa77eb7 375 } else {
Lightvalve 242:b235d67d25ba 376 // valve_pos_ref_dz = -REF_VALVE_POS_10000/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 242:b235d67d25ba 377 valve_pos_ref_dz = REF_VALVE_POS_10000;
Lightvalve 238:4e660aa77eb7 378 }
Lightvalve 242:b235d67d25ba 379 valve_pos_err = (float) (valve_pos_ref_dz - valve_pos.sen);
Lightvalve 238:4e660aa77eb7 380 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 238:4e660aa77eb7 381 valve_pos_err_old = valve_pos_err;
Lightvalve 238:4e660aa77eb7 382 valve_pos_err_sum += valve_pos_err;
Lightvalve 238:4e660aa77eb7 383 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 238:4e660aa77eb7 384 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 238:4e660aa77eb7 385
Lightvalve 238:4e660aa77eb7 386 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 238:4e660aa77eb7 387
Lightvalve 238:4e660aa77eb7 388 for(i=0; i<24; i++) {
Lightvalve 238:4e660aa77eb7 389 if(valve_pos_ref_dz >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) valve_pos_ref_dz <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 238:4e660aa77eb7 390 if(i==0) {
Lightvalve 238:4e660aa77eb7 391 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) valve_pos_ref_dz - VALVE_POS_VS_PWM[i]);
Lightvalve 238:4e660aa77eb7 392 } else {
Lightvalve 238:4e660aa77eb7 393 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) valve_pos_ref_dz - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 238:4e660aa77eb7 394 }
Lightvalve 238:4e660aa77eb7 395 break;
Lightvalve 238:4e660aa77eb7 396 }
Lightvalve 238:4e660aa77eb7 397 }
Lightvalve 238:4e660aa77eb7 398 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 238:4e660aa77eb7 399 }
Lightvalve 238:4e660aa77eb7 400
Lightvalve 224:985dba42f261 401 // PWM duty vs. voltage output of L6205 in STM board
Lightvalve 14:8e7590227d22 402 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 403 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 404 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 405 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 406 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 407 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 408 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 409 }; // duty
Lightvalve 67:c2812cf26c38 410 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 411 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 412 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 413 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 414 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 415 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 416 }; // mV
Lightvalve 13:747daba9cf59 417
Lightvalve 30:8d561f16383b 418 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 419 {
Lightvalve 30:8d561f16383b 420 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 421 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 422 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 423 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 424 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 425 } else {
Lightvalve 13:747daba9cf59 426 int idx = 0;
Lightvalve 13:747daba9cf59 427 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 428 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 429 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 430 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 431 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 432 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 433 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 434 break;
Lightvalve 13:747daba9cf59 435 }
Lightvalve 13:747daba9cf59 436 }
Lightvalve 13:747daba9cf59 437 }
Lightvalve 13:747daba9cf59 438 return PWM_duty;
Lightvalve 13:747daba9cf59 439 }
jobuuu 6:df07d3491e3a 440
Lightvalve 57:f4819de54e7a 441
Lightvalve 57:f4819de54e7a 442
jobuuu 2:a1c0a37df760 443 /*******************************************************************************
jobuuu 2:a1c0a37df760 444 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 445 *******************************************************************************/
jobuuu 2:a1c0a37df760 446
Lightvalve 244:e9c5ec04e378 447 //------------------------------------------------
Lightvalve 247:bfdf0f479a38 448 // TMR3 : Sensor 20kHz
Lightvalve 247:bfdf0f479a38 449 //------------------------------------------------
Lightvalve 244:e9c5ec04e378 450 float FREQ_TMR3 = (float)FREQ_20k;
Lightvalve 244:e9c5ec04e378 451 long CNT_TMR3 = 0;
Lightvalve 244:e9c5ec04e378 452 float DT_TMR3 = (float)DT_20k;
Lightvalve 240:fb5b57e3f157 453 extern "C" void TIM3_IRQHandler(void)
Lightvalve 240:fb5b57e3f157 454 {
Lightvalve 240:fb5b57e3f157 455 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 240:fb5b57e3f157 456
Lightvalve 245:071785d74ad0 457 // if (LED > 0) LED = 0;
Lightvalve 245:071785d74ad0 458 // else LED = 1;
Lightvalve 244:e9c5ec04e378 459
Lightvalve 244:e9c5ec04e378 460 float PSEN1 = 0.0f;
Lightvalve 244:e9c5ec04e378 461 float PSEN2 = 0.0f;
Lightvalve 244:e9c5ec04e378 462 float CURRENT_SEN = 0.0f;
Lightvalve 244:e9c5ec04e378 463
Lightvalve 244:e9c5ec04e378 464 /////////////////////////Current////////////////////////////////////////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 465 HAL_ADC_Start(&hadc2);
Lightvalve 244:e9c5ec04e378 466 HAL_ADC_PollForConversion(&hadc2, 1);
Lightvalve 244:e9c5ec04e378 467 CURRENT_SEN = (float) HAL_ADC_GetValue(&hadc2);
Lightvalve 244:e9c5ec04e378 468 cur.UpdateSen(((float)CURRENT_SEN-2047.5f)/2047.5f*10.0f, FREQ_TMR3, 500.0f); // unit : mA
Lightvalve 244:e9c5ec04e378 469
Lightvalve 244:e9c5ec04e378 470 /////////////////////////V_EXI////////////////////////////////////////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 471 HAL_ADC_Start(&hadc2);
Lightvalve 244:e9c5ec04e378 472 HAL_ADC_PollForConversion(&hadc2, 1);
Lightvalve 244:e9c5ec04e378 473 V_EXI = (float) HAL_ADC_GetValue(&hadc2);
Lightvalve 244:e9c5ec04e378 474
Lightvalve 244:e9c5ec04e378 475 /////////////////////////Encoder////////////////////////////////////////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 476 // if (CNT_TMR1 % 2) == 0) {
Lightvalve 244:e9c5ec04e378 477 ENC_UPDATE();
Lightvalve 243:30896263bd8b 478 // }
Lightvalve 240:fb5b57e3f157 479
Lightvalve 244:e9c5ec04e378 480 /////////////////////////Force or Pressure//////////////////////////////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 481 if (SENSING_MODE == 0) { // Force sensing
Lightvalve 245:071785d74ad0 482
Lightvalve 244:e9c5ec04e378 483 HAL_ADC_Start(&hadc1);
Lightvalve 244:e9c5ec04e378 484 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 244:e9c5ec04e378 485 PSEN1 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 245:071785d74ad0 486
Lightvalve 245:071785d74ad0 487 HAL_ADC_Start(&hadc1);
Lightvalve 245:071785d74ad0 488 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 245:071785d74ad0 489 PSEN2 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 245:071785d74ad0 490
Lightvalve 244:e9c5ec04e378 491 force.UpdateSen((((float)PSEN1) - 2047.5f)/TORQUE_SENSOR_PULSE_PER_TORQUE, FREQ_TMR3, 100.0f); // unit : N
Lightvalve 243:30896263bd8b 492
Lightvalve 244:e9c5ec04e378 493 } else if (SENSING_MODE == 1) { // Pressure sensing
Lightvalve 240:fb5b57e3f157 494
Lightvalve 244:e9c5ec04e378 495 HAL_ADC_Start(&hadc1);
Lightvalve 244:e9c5ec04e378 496 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 244:e9c5ec04e378 497 PSEN1 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 243:30896263bd8b 498
Lightvalve 244:e9c5ec04e378 499 HAL_ADC_Start(&hadc1);
Lightvalve 244:e9c5ec04e378 500 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 244:e9c5ec04e378 501 PSEN2 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 243:30896263bd8b 502
Lightvalve 244:e9c5ec04e378 503 float pres_A_new, pres_B_new;
Lightvalve 244:e9c5ec04e378 504 pres_A_new = (((float)PSEN1) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 244:e9c5ec04e378 505 pres_B_new = (((float)PSEN2) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 240:fb5b57e3f157 506
Lightvalve 244:e9c5ec04e378 507 pres_A.UpdateSen(pres_A_new,FREQ_TMR3,200.0f);
Lightvalve 244:e9c5ec04e378 508 pres_B.UpdateSen(pres_B_new,FREQ_TMR3,200.0f);
Lightvalve 240:fb5b57e3f157 509
Lightvalve 244:e9c5ec04e378 510 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 244:e9c5ec04e378 511 float torq_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 244:e9c5ec04e378 512 torq.UpdateSen(torq_new,FREQ_TMR3,1000.0f); // unit : Nm
Lightvalve 244:e9c5ec04e378 513 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 244:e9c5ec04e378 514 float force_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.1f; // mm^2*bar >> N
Lightvalve 244:e9c5ec04e378 515 force.UpdateSen(force_new,FREQ_TMR3,1000.0f); // unit : N
Lightvalve 244:e9c5ec04e378 516 }
Lightvalve 244:e9c5ec04e378 517 }
Lightvalve 244:e9c5ec04e378 518 CNT_TMR3++;
Lightvalve 240:fb5b57e3f157 519 }
Lightvalve 240:fb5b57e3f157 520 TIM3->SR = 0x0; // reset the status register
Lightvalve 240:fb5b57e3f157 521 }
Lightvalve 240:fb5b57e3f157 522
Lightvalve 240:fb5b57e3f157 523
Lightvalve 240:fb5b57e3f157 524
jobuuu 230:2c3e5ecbe7e1 525 //------------------------------------------------
Lightvalve 244:e9c5ec04e378 526 // TMR4 : LVDT 1kHz
Lightvalve 244:e9c5ec04e378 527 //------------------------------------------------
Lightvalve 247:bfdf0f479a38 528 float LVDT_new = 0.0f;
Lightvalve 247:bfdf0f479a38 529 float LVDT_old = 0.0f;
Lightvalve 247:bfdf0f479a38 530 float LVDT_f_cut = 1000.0f;
Lightvalve 247:bfdf0f479a38 531 float LVDT_LPF = 0.0f;
Lightvalve 247:bfdf0f479a38 532 float LVDT_sum = 0.0f;
Lightvalve 247:bfdf0f479a38 533 float FREQ_TMR4 = (float)FREQ_1k;
Lightvalve 247:bfdf0f479a38 534 float DT_TMR4 = (float)DT_1k;
Lightvalve 57:f4819de54e7a 535 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 536 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 537 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 538 {
Lightvalve 19:23b7c1ad8683 539 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 13:747daba9cf59 540
Lightvalve 244:e9c5ec04e378 541 float LVDT_OUT = 0.0f;
Lightvalve 244:e9c5ec04e378 542 LVDT_sum = 0.0f;
Lightvalve 244:e9c5ec04e378 543
Lightvalve 244:e9c5ec04e378 544 LVDT_L = 0;
Lightvalve 244:e9c5ec04e378 545 LVDT_H = 1;
Lightvalve 235:c831718303c9 546
Lightvalve 244:e9c5ec04e378 547 for (int ij = 0; ij<150; ij++) {
jobuuu 230:2c3e5ecbe7e1 548
Lightvalve 244:e9c5ec04e378 549 ADC3->CR2 |= 0x40000000;
Lightvalve 244:e9c5ec04e378 550 LVDT_new = ((float)ADC3->DR) - 2047.5f;
Lightvalve 244:e9c5ec04e378 551 LVDT_sum = LVDT_sum + LVDT_new;
Lightvalve 57:f4819de54e7a 552 }
Lightvalve 61:bc8c8270f0ab 553
Lightvalve 244:e9c5ec04e378 554 LVDT_H = 0;
Lightvalve 244:e9c5ec04e378 555 LVDT_L = 1;
Lightvalve 50:3c630b5eba9f 556
Lightvalve 244:e9c5ec04e378 557 LVDT_new = LVDT_sum * 0.01f*2.0f;
Lightvalve 61:bc8c8270f0ab 558
Lightvalve 244:e9c5ec04e378 559 float alpha_LVDT = 1.0f/(1.0f+TMR_FREQ_1k/(2.0f*PI*300.0f));
Lightvalve 244:e9c5ec04e378 560 LVDT_LPF = (1.0f-alpha_LVDT) * LVDT_LPF + alpha_LVDT * LVDT_new;
Lightvalve 244:e9c5ec04e378 561 valve_pos.sen = LVDT_LPF;
Lightvalve 244:e9c5ec04e378 562 if(DIR_VALVE_ENC < 0) valve_pos.sen = 0.0f - valve_pos.sen;
Lightvalve 243:30896263bd8b 563
Lightvalve 57:f4819de54e7a 564 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 565 }
Lightvalve 11:82d8768d7351 566 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 567 }
Lightvalve 19:23b7c1ad8683 568
Lightvalve 244:e9c5ec04e378 569 //------------------------------------------------
Lightvalve 244:e9c5ec04e378 570 // TMR2 : Control 5kHz
Lightvalve 244:e9c5ec04e378 571 //------------------------------------------------
Lightvalve 244:e9c5ec04e378 572 float FREQ_TMR2 = (float)FREQ_5k;
Lightvalve 244:e9c5ec04e378 573 float DT_TMR2 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 574 int cnt_trans = 0;
Lightvalve 240:fb5b57e3f157 575 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 576 {
Lightvalve 240:fb5b57e3f157 577 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 240:fb5b57e3f157 578
Lightvalve 50:3c630b5eba9f 579 if(MODE_POS_FT_TRANS == 1) {
jobuuu 230:2c3e5ecbe7e1 580 if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
Lightvalve 244:e9c5ec04e378 581 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR2 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 582 cnt_trans++;
Lightvalve 233:2ec0de8590d3 583 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 584 force.err_int = 0.0f;
Lightvalve 244:e9c5ec04e378 585 if((float)cnt_trans * DT_TMR2 > 3.0f)
Lightvalve 45:35fa6884d0c6 586 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 587 } else if(MODE_POS_FT_TRANS == 3) {
jobuuu 230:2c3e5ecbe7e1 588 if (alpha_trans == 0.0f) MODE_POS_FT_TRANS = 0;
Lightvalve 244:e9c5ec04e378 589 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR2 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 590 cnt_trans++;
Lightvalve 233:2ec0de8590d3 591 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 592 force.err_int = 0.0f;
Lightvalve 244:e9c5ec04e378 593 if((float) cnt_trans * DT_TMR2 > 3.0f )
Lightvalve 45:35fa6884d0c6 594 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 595 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 596 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 597 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 598 } else {
Lightvalve 58:2eade98630e2 599 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 600 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 601 }
Lightvalve 45:35fa6884d0c6 602
Lightvalve 50:3c630b5eba9f 603
jobuuu 230:2c3e5ecbe7e1 604 // Reference Update ==========================================================
hyhoon 227:699c3e572283 605 switch (REFERENCE_MODE) {
hyhoon 227:699c3e572283 606 case MODE_REF_NO_ACT: {
hyhoon 227:699c3e572283 607 break;
hyhoon 227:699c3e572283 608 }
hyhoon 227:699c3e572283 609 case MODE_REF_DIRECT: {
hyhoon 227:699c3e572283 610 pos.ref = REF_POSITION;
hyhoon 227:699c3e572283 611 vel.ref = REF_VELOCITY;
hyhoon 227:699c3e572283 612 torq.ref = REF_TORQUE;
jobuuu 230:2c3e5ecbe7e1 613 force.ref = REF_FORCE;
jobuuu 230:2c3e5ecbe7e1 614 break;
jobuuu 230:2c3e5ecbe7e1 615 }
jobuuu 230:2c3e5ecbe7e1 616 case MODE_REF_FINDHOME: {
jobuuu 230:2c3e5ecbe7e1 617 pos.ref = REF_POSITION_FINDHOME;
jobuuu 230:2c3e5ecbe7e1 618 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 619 torq.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 620 force.ref = 0.0f;
hyhoon 227:699c3e572283 621 break;
hyhoon 227:699c3e572283 622 }
hyhoon 227:699c3e572283 623 default:
hyhoon 227:699c3e572283 624 break;
hyhoon 227:699c3e572283 625 }
hyhoon 227:699c3e572283 626
Lightvalve 237:c2cfe349f5c1 627 if (((OPERATING_MODE&0b110)>>1) == 0) {
jobuuu 230:2c3e5ecbe7e1 628 K_v = 1.03f; // Q = K_v*sqrt(deltaP)*tanh(C_d*Xv);
Lightvalve 235:c831718303c9 629 C_d = 0.16f;
jobuuu 230:2c3e5ecbe7e1 630 mV_PER_mA = 500.0f; // 5000mV/10mA
jobuuu 230:2c3e5ecbe7e1 631 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 632 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 237:c2cfe349f5c1 633 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
jobuuu 230:2c3e5ecbe7e1 634 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
jobuuu 230:2c3e5ecbe7e1 635 mV_PER_mA = 166.6666f; // 5000mV/30mA
jobuuu 230:2c3e5ecbe7e1 636 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 637 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 237:c2cfe349f5c1 638 } else if (((OPERATING_MODE&0b110)>>1) == 2) {
Lightvalve 237:c2cfe349f5c1 639 C_d = 0.0000845f; // Q = C_d * Valve_pos * sqrt(deltaP*alpha/(1+alpha)) : Valve_pos = 10000, deltaP = 70, alpha = 1 -> Q = 5
jobuuu 230:2c3e5ecbe7e1 640 }
Lightvalve 235:c831718303c9 641
jobuuu 230:2c3e5ecbe7e1 642 // =====================================================================
jobuuu 230:2c3e5ecbe7e1 643 // CONTROL LOOP --------------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 644 // =====================================================================
Lightvalve 57:f4819de54e7a 645 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 646 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 647
Lightvalve 57:f4819de54e7a 648 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 649 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 650 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 651 } else {
Lightvalve 57:f4819de54e7a 652 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 653 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 654 }
Lightvalve 57:f4819de54e7a 655 // UTILITY MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 656 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 657 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 658 break;
Lightvalve 13:747daba9cf59 659 }
Lightvalve 14:8e7590227d22 660
Lightvalve 235:c831718303c9 661 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 245:071785d74ad0 662 static float FORCE_pulse_sum = 0.0f;
Lightvalve 245:071785d74ad0 663 static float PresA_pulse_sum = 0.0f;
Lightvalve 245:071785d74ad0 664 static float PresB_pulse_sum = 0.0f;
Lightvalve 235:c831718303c9 665
Lightvalve 13:747daba9cf59 666 // DAC Voltage reference set
Lightvalve 232:2976cf1b4252 667 float VREF_TuningGain = -0.000003f;
jobuuu 230:2c3e5ecbe7e1 668 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
jobuuu 230:2c3e5ecbe7e1 669 LED = 1;
jobuuu 230:2c3e5ecbe7e1 670 if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 671 FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 230:2c3e5ecbe7e1 672 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 673 float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 674 FORCE_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 675 FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 676 if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 677 if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 678 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 679 }
Lightvalve 235:c831718303c9 680 } else if (SENSING_MODE == 1) { // Pressure Sensor
jobuuu 230:2c3e5ecbe7e1 681 PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 682 PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 683 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 684 float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 685 float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 686 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 687 PresB_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 688
jobuuu 230:2c3e5ecbe7e1 689 PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 690 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 691 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 692 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 693 PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 694 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 235:c831718303c9 695 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 696 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 697 }
Lightvalve 13:747daba9cf59 698 }
jobuuu 230:2c3e5ecbe7e1 699 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 700 } else {
jobuuu 230:2c3e5ecbe7e1 701 if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 702 FORCE_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 703 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 704 spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 705 } else if (SENSING_MODE == 1) {
jobuuu 230:2c3e5ecbe7e1 706 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 707 PresB_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 708 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 709 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 710 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 711 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 712 }
Lightvalve 58:2eade98630e2 713 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 714 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 715 }
Lightvalve 13:747daba9cf59 716 break;
Lightvalve 19:23b7c1ad8683 717 }
Lightvalve 14:8e7590227d22 718
Lightvalve 235:c831718303c9 719 case MODE_FIND_HOME: {
jobuuu 230:2c3e5ecbe7e1 720 static int cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 721 static int cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 722 static float FINDHOME_POSITION_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 723 static float FINDHOME_POSITION_pulse_OLD = 0.0f;
jobuuu 230:2c3e5ecbe7e1 724 static float FINDHOME_VELOCITY_pulse = 0.0f;
Lightvalve 235:c831718303c9 725 static float REF_POSITION_FINDHOME_INIT = 0.0f;
jobuuu 230:2c3e5ecbe7e1 726
Lightvalve 29:69f3f5445d6d 727 if (FINDHOME_STAGE == FINDHOME_INIT) {
jobuuu 230:2c3e5ecbe7e1 728 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 14:8e7590227d22 729 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 730 cnt_terminate_findhome = 0;
Lightvalve 59:f308b1656d9c 731 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 732 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 733 REF_POSITION_FINDHOME = pos.ref;
Lightvalve 29:69f3f5445d6d 734 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 735 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
jobuuu 230:2c3e5ecbe7e1 736 int cnt_check_enc = (TMR_FREQ_5k/20); // 5000/20 = 250tic = 50msec
Lightvalve 29:69f3f5445d6d 737 if(cnt_findhome%cnt_check_enc == 0) {
jobuuu 230:2c3e5ecbe7e1 738 FINDHOME_POSITION_pulse = pos.sen*ENC_PULSE_PER_POSITION;
jobuuu 230:2c3e5ecbe7e1 739 FINDHOME_VELOCITY_pulse = FINDHOME_POSITION_pulse - FINDHOME_POSITION_pulse_OLD;
jobuuu 230:2c3e5ecbe7e1 740 FINDHOME_POSITION_pulse_OLD = FINDHOME_POSITION_pulse;
Lightvalve 29:69f3f5445d6d 741 }
Lightvalve 29:69f3f5445d6d 742 cnt_findhome++;
Lightvalve 14:8e7590227d22 743
jobuuu 230:2c3e5ecbe7e1 744 if (fabs(FINDHOME_VELOCITY_pulse) <= 1) {
jobuuu 230:2c3e5ecbe7e1 745 cnt_terminate_findhome = cnt_terminate_findhome + 1;
Lightvalve 29:69f3f5445d6d 746 } else {
jobuuu 230:2c3e5ecbe7e1 747 cnt_terminate_findhome = 0;
Lightvalve 29:69f3f5445d6d 748 }
Lightvalve 19:23b7c1ad8683 749
jobuuu 230:2c3e5ecbe7e1 750 if ((cnt_terminate_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
jobuuu 230:2c3e5ecbe7e1 751 double GOTOHOME_SPEED = 10.0f; // 20mm/s or 20deg/s
hyhoon 226:82a3ca333004 752 if (HOMEPOS_OFFSET > 0) {
Lightvalve 235:c831718303c9 753 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME + GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 754 } else {
jobuuu 230:2c3e5ecbe7e1 755 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME - GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 756 }
Lightvalve 59:f308b1656d9c 757 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 758 alpha_trans = 0.0f;
Lightvalve 29:69f3f5445d6d 759 } else {
jobuuu 230:2c3e5ecbe7e1 760 ENC_SET((long)((long)HOMEPOS_OFFSET*10));
jobuuu 230:2c3e5ecbe7e1 761 REF_POSITION_FINDHOME_INIT = (float)((long)HOMEPOS_OFFSET*10);
jobuuu 230:2c3e5ecbe7e1 762 FINDHOME_POSITION_pulse = 0;
jobuuu 230:2c3e5ecbe7e1 763 FINDHOME_POSITION_pulse_OLD = 0;
jobuuu 230:2c3e5ecbe7e1 764 FINDHOME_VELOCITY_pulse = 0;
Lightvalve 235:c831718303c9 765
Lightvalve 29:69f3f5445d6d 766 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 767 cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 768 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 769 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 770 }
Lightvalve 29:69f3f5445d6d 771 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 235:c831718303c9 772
Lightvalve 232:2976cf1b4252 773 // int T_move = 2*TMR_FREQ_5k;
Lightvalve 232:2976cf1b4252 774 int T_move = 10000;
Lightvalve 232:2976cf1b4252 775 REF_POSITION_FINDHOME = ((0.0f - REF_POSITION_FINDHOME_INIT)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)REF_POSITION_FINDHOME_INIT)/ENC_PULSE_PER_POSITION;
Lightvalve 235:c831718303c9 776
Lightvalve 29:69f3f5445d6d 777 cnt_findhome++;
Lightvalve 235:c831718303c9 778
Lightvalve 232:2976cf1b4252 779 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 232:2976cf1b4252 780 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 232:2976cf1b4252 781 alpha_trans = 0.0f;
Lightvalve 235:c831718303c9 782
Lightvalve 29:69f3f5445d6d 783 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 784 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 785 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 786 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 787 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
jobuuu 230:2c3e5ecbe7e1 788 REFERENCE_MODE = MODE_REF_DIRECT;
hyhoon 226:82a3ca333004 789 }
Lightvalve 13:747daba9cf59 790 }
Lightvalve 13:747daba9cf59 791 break;
Lightvalve 13:747daba9cf59 792 }
Lightvalve 237:c2cfe349f5c1 793
Lightvalve 237:c2cfe349f5c1 794 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 237:c2cfe349f5c1 795 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 796 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 237:c2cfe349f5c1 797
Lightvalve 237:c2cfe349f5c1 798 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 237:c2cfe349f5c1 799 Vout.ref = 3000.0f * sin(2.0f*3.14159f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 237:c2cfe349f5c1 800 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 801 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 237:c2cfe349f5c1 802 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 803 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 804 data_num = 0;
Lightvalve 237:c2cfe349f5c1 805 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 806 data_num = data_num + 1;
Lightvalve 242:b235d67d25ba 807 VALVE_POS_TMP = VALVE_POS_TMP + valve_pos.sen;
Lightvalve 237:c2cfe349f5c1 808 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 809 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 810 } else {
Lightvalve 237:c2cfe349f5c1 811 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 812 VALVE_ID_timer = 0;
Lightvalve 237:c2cfe349f5c1 813 ID_index= ID_index +1;
Lightvalve 237:c2cfe349f5c1 814 }
Lightvalve 237:c2cfe349f5c1 815
Lightvalve 237:c2cfe349f5c1 816 if(ID_index>=25) {
Lightvalve 237:c2cfe349f5c1 817 int i;
Lightvalve 237:c2cfe349f5c1 818 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 237:c2cfe349f5c1 819 for(i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 820 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 237:c2cfe349f5c1 821 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 822 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 823 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 824 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 825 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 826 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 827 }
Lightvalve 237:c2cfe349f5c1 828 }
Lightvalve 237:c2cfe349f5c1 829 VALVE_ELECTRIC_CENTER = VALVE_POS_VS_PWM[0];
Lightvalve 237:c2cfe349f5c1 830 spi_eeprom_write(RID_VALVE_ELECTRIC_CENTER, (int16_t) VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 831 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 237:c2cfe349f5c1 832 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 237:c2cfe349f5c1 833 for(int i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 834 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 237:c2cfe349f5c1 835 }
Lightvalve 237:c2cfe349f5c1 836 ID_index = 0;
Lightvalve 237:c2cfe349f5c1 837 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 838 }
Lightvalve 237:c2cfe349f5c1 839
Lightvalve 237:c2cfe349f5c1 840
Lightvalve 237:c2cfe349f5c1 841 break;
Lightvalve 237:c2cfe349f5c1 842 }
Lightvalve 237:c2cfe349f5c1 843 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 237:c2cfe349f5c1 844 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 845 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 237:c2cfe349f5c1 846 if(first_check == 0) {
Lightvalve 237:c2cfe349f5c1 847 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 848 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 849 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 850 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 851 pos_plus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 852 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 853 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 854 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 855 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 856 pos_minus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 857 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 858 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 859 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 860 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 861 data_num = data_num + 1;
Lightvalve 243:30896263bd8b 862 VALVE_POS_TMP = VALVE_POS_TMP + valve_pos.sen;
Lightvalve 237:c2cfe349f5c1 863 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 864 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 865 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 866 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 867 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 868 data_num = 0;
Lightvalve 237:c2cfe349f5c1 869
Lightvalve 237:c2cfe349f5c1 870 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 871 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 872 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 873
Lightvalve 237:c2cfe349f5c1 874 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 875 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 876 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 877
Lightvalve 237:c2cfe349f5c1 878 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 879 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 880 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 881 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 882
Lightvalve 238:4e660aa77eb7 883 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 884 DZ_case = 1;
Lightvalve 238:4e660aa77eb7 885 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 886 DZ_case = -1;
Lightvalve 237:c2cfe349f5c1 887 } else {
Lightvalve 237:c2cfe349f5c1 888 DZ_case = 0;
Lightvalve 237:c2cfe349f5c1 889 }
Lightvalve 237:c2cfe349f5c1 890
Lightvalve 237:c2cfe349f5c1 891 first_check = 1;
Lightvalve 237:c2cfe349f5c1 892 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 893 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 894 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 237:c2cfe349f5c1 895 DZ_NUM = 1;
Lightvalve 237:c2cfe349f5c1 896 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 897
Lightvalve 237:c2cfe349f5c1 898 }
Lightvalve 237:c2cfe349f5c1 899 } else {
Lightvalve 237:c2cfe349f5c1 900 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 243:30896263bd8b 901 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 902 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 903 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 904 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 905 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 906 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 907 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 908 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 909 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 910 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 911 }
Lightvalve 238:4e660aa77eb7 912 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 913
Lightvalve 237:c2cfe349f5c1 914 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 915 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 916 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 917
Lightvalve 238:4e660aa77eb7 918 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 919 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 238:4e660aa77eb7 920 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 921 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 922 } else {
Lightvalve 237:c2cfe349f5c1 923 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 924 }
Lightvalve 237:c2cfe349f5c1 925
Lightvalve 237:c2cfe349f5c1 926 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 927 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 928 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 929 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 930 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 931 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 932 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 933 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 934 }
Lightvalve 237:c2cfe349f5c1 935 }
Lightvalve 237:c2cfe349f5c1 936 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 237:c2cfe349f5c1 937 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 938 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 939 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 940 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 941 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 942 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 943 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 944 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 945 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 946 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 947 }
Lightvalve 238:4e660aa77eb7 948 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 949
Lightvalve 237:c2cfe349f5c1 950 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 951 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 952 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 953 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 954 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 955
Lightvalve 238:4e660aa77eb7 956 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 957 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 238:4e660aa77eb7 958 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 959 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 960 } else {
Lightvalve 237:c2cfe349f5c1 961 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 962 }
Lightvalve 237:c2cfe349f5c1 963
Lightvalve 237:c2cfe349f5c1 964 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 965 DZ_index= DZ_index * 2;
Lightvalve 237:c2cfe349f5c1 966 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 967 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 968 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 969 first_check = 0;
Lightvalve 237:c2cfe349f5c1 970 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 971 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 972
Lightvalve 237:c2cfe349f5c1 973 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 974 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 975 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 976
Lightvalve 237:c2cfe349f5c1 977 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 978 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 979 }
Lightvalve 237:c2cfe349f5c1 980 }
Lightvalve 237:c2cfe349f5c1 981 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 237:c2cfe349f5c1 982 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 983 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 984 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 985 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 986 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 987 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 988 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 989 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 990 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 991 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 992 }
Lightvalve 238:4e660aa77eb7 993 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 994
Lightvalve 237:c2cfe349f5c1 995 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 996 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 997 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 998
Lightvalve 238:4e660aa77eb7 999 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 1000 DZ_DIRECTION = 1;
Lightvalve 238:4e660aa77eb7 1001 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 1002 DZ_DIRECTION = -1;
Lightvalve 237:c2cfe349f5c1 1003 } else {
Lightvalve 237:c2cfe349f5c1 1004 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1005 }
Lightvalve 237:c2cfe349f5c1 1006 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 1007 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 1008 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 1009 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1010 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 1011 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 1012 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 1013 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1014 }
Lightvalve 237:c2cfe349f5c1 1015 }
Lightvalve 237:c2cfe349f5c1 1016 } else {
Lightvalve 237:c2cfe349f5c1 1017 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1018 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 1019 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1020 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1021 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1022 valve_pos_raw.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 1023 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 1024 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 1025 } else if(valve_pos_raw.ref > VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 1026 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 1027 }
Lightvalve 238:4e660aa77eb7 1028 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 1029
Lightvalve 237:c2cfe349f5c1 1030 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1031 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1032 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1033 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1034 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1035
Lightvalve 238:4e660aa77eb7 1036 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 1037 DZ_DIRECTION = -1;
Lightvalve 238:4e660aa77eb7 1038 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 1039 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1040 } else {
Lightvalve 237:c2cfe349f5c1 1041 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1042 }
Lightvalve 237:c2cfe349f5c1 1043
Lightvalve 237:c2cfe349f5c1 1044 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 1045 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 1046 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 1047 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1048 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 1049 first_check = 0;
Lightvalve 237:c2cfe349f5c1 1050 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 1051 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 1052
Lightvalve 237:c2cfe349f5c1 1053 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 1054 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 1055 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 1056
Lightvalve 237:c2cfe349f5c1 1057 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1058 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 1059 }
Lightvalve 237:c2cfe349f5c1 1060 }
Lightvalve 237:c2cfe349f5c1 1061 }
Lightvalve 237:c2cfe349f5c1 1062 }
Lightvalve 237:c2cfe349f5c1 1063 break;
Lightvalve 237:c2cfe349f5c1 1064 }
Lightvalve 238:4e660aa77eb7 1065
Lightvalve 237:c2cfe349f5c1 1066 case MODE_STEP_TEST: {
Lightvalve 237:c2cfe349f5c1 1067 float valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1068 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1069 valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1070 } else {
Lightvalve 237:c2cfe349f5c1 1071 valve_pos_ref = 10000.0f;
Lightvalve 237:c2cfe349f5c1 1072 }
Lightvalve 237:c2cfe349f5c1 1073 if(valve_pos_ref >= 0) {
Lightvalve 243:30896263bd8b 1074 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER + (float)valve_pos_ref * ((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1075 } else {
Lightvalve 243:30896263bd8b 1076 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER - (float)valve_pos_ref * ((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1077 }
Lightvalve 240:fb5b57e3f157 1078
Lightvalve 238:4e660aa77eb7 1079 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 240:fb5b57e3f157 1080
Lightvalve 237:c2cfe349f5c1 1081 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 244:e9c5ec04e378 1082 if(valve_pos.sen >= (float) VALVE_ELECTRIC_CENTER) {
Lightvalve 243:30896263bd8b 1083 pos_array[cnt_step_test] = 10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1084 } else {
Lightvalve 243:30896263bd8b 1085 pos_array[cnt_step_test] = -10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1086 }
Lightvalve 237:c2cfe349f5c1 1087
Lightvalve 238:4e660aa77eb7 1088 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 1089 cnt_step_test++;
Lightvalve 237:c2cfe349f5c1 1090 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1091 buffer_data_size = cnt_step_test;
Lightvalve 237:c2cfe349f5c1 1092 cnt_step_test = 0;
Lightvalve 237:c2cfe349f5c1 1093 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1094 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1095 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1096 }
Lightvalve 237:c2cfe349f5c1 1097
Lightvalve 237:c2cfe349f5c1 1098 break;
Lightvalve 237:c2cfe349f5c1 1099 }
Lightvalve 237:c2cfe349f5c1 1100 case MODE_SEND_OVER: {
Lightvalve 237:c2cfe349f5c1 1101 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1102 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1103 break;
Lightvalve 237:c2cfe349f5c1 1104 }
Lightvalve 238:4e660aa77eb7 1105
Lightvalve 237:c2cfe349f5c1 1106 case MODE_FREQ_TEST: {
Lightvalve 244:e9c5ec04e378 1107 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR2);
Lightvalve 237:c2cfe349f5c1 1108 if(valve_pos_ref >= 0) {
Lightvalve 243:30896263bd8b 1109 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER + (float)valve_pos_ref * ((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1110 } else {
Lightvalve 243:30896263bd8b 1111 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (float)valve_pos_ref * ((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1112 }
Lightvalve 240:fb5b57e3f157 1113
Lightvalve 238:4e660aa77eb7 1114 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 240:fb5b57e3f157 1115
Lightvalve 237:c2cfe349f5c1 1116 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 243:30896263bd8b 1117 // if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 244:e9c5ec04e378 1118 if(valve_pos.sen>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 243:30896263bd8b 1119 // pos_array[cnt_freq_test] = 10000.0f*((float)value - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 243:30896263bd8b 1120 pos_array[cnt_freq_test] = 10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1121 } else {
Lightvalve 243:30896263bd8b 1122 // pos_array[cnt_freq_test] = -10000.0f*((float)value - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 243:30896263bd8b 1123 pos_array[cnt_freq_test] = -10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1124 }
Lightvalve 237:c2cfe349f5c1 1125
Lightvalve 238:4e660aa77eb7 1126 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 1127 cnt_freq_test++;
Lightvalve 244:e9c5ec04e378 1128 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR2 > 2) {
Lightvalve 237:c2cfe349f5c1 1129 buffer_data_size = cnt_freq_test;
Lightvalve 237:c2cfe349f5c1 1130 cnt_freq_test = 0;
Lightvalve 237:c2cfe349f5c1 1131 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1132 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 237:c2cfe349f5c1 1133 if (freq_test_valve_ref >= 400) {
Lightvalve 237:c2cfe349f5c1 1134 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1135 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1136 }
Lightvalve 237:c2cfe349f5c1 1137 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1138 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1139
Lightvalve 237:c2cfe349f5c1 1140 }
Lightvalve 237:c2cfe349f5c1 1141 break;
Lightvalve 237:c2cfe349f5c1 1142 }
Lightvalve 237:c2cfe349f5c1 1143
Lightvalve 57:f4819de54e7a 1144 default:
Lightvalve 57:f4819de54e7a 1145 break;
Lightvalve 57:f4819de54e7a 1146 }
Lightvalve 57:f4819de54e7a 1147
Lightvalve 57:f4819de54e7a 1148 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1149 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1150 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1151 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1152 break;
Lightvalve 57:f4819de54e7a 1153 }
Lightvalve 57:f4819de54e7a 1154
Lightvalve 57:f4819de54e7a 1155 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1156 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 238:4e660aa77eb7 1157 VALVE_POS_CONTROL_DZ(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1158 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1159 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 239:8ac5c6162bc1 1160 I_REF = valve_pos.ref;
Lightvalve 169:645207e160ca 1161 } else {
jobuuu 230:2c3e5ecbe7e1 1162 I_REF = valve_pos.ref * 0.001f; // Unit : pulse >> mA
jobuuu 230:2c3e5ecbe7e1 1163 float I_MAX = 10.0f; // Max : 10mA
jobuuu 230:2c3e5ecbe7e1 1164 if (I_REF > I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1165 I_REF = I_MAX;
jobuuu 230:2c3e5ecbe7e1 1166 } else if (I_REF < -I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1167 I_REF = -I_MAX;
jobuuu 230:2c3e5ecbe7e1 1168 }
Lightvalve 57:f4819de54e7a 1169 }
Lightvalve 57:f4819de54e7a 1170 break;
Lightvalve 57:f4819de54e7a 1171 }
Lightvalve 57:f4819de54e7a 1172
Lightvalve 235:c831718303c9 1173 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1174
jobuuu 230:2c3e5ecbe7e1 1175 float temp_vel_pos = 0.0f; // desired velocity for position control
Lightvalve 235:c831718303c9 1176 float temp_vel_FT = 0.0f; // desired velocity for force/torque control
Lightvalve 235:c831718303c9 1177 float temp_vel_ff = 0.0f; // desired velocity for feedforward control
jobuuu 230:2c3e5ecbe7e1 1178 float temp_vel = 0.0f;
Lightvalve 58:2eade98630e2 1179
jobuuu 230:2c3e5ecbe7e1 1180 float wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 235:c831718303c9 1181
jobuuu 230:2c3e5ecbe7e1 1182 pos.err = pos.ref - pos.sen; // Unit : mm or deg
jobuuu 230:2c3e5ecbe7e1 1183 vel.err = vel.ref - vel.sen; // Unit : mm/s or deg/s
Lightvalve 235:c831718303c9 1184
jobuuu 230:2c3e5ecbe7e1 1185 // position control command ===============================================================================================================================================
Lightvalve 238:4e660aa77eb7 1186 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 235:c831718303c9 1187 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err) * PI / 180.0f; // rad/s
Lightvalve 235:c831718303c9 1188 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1189 } else {
Lightvalve 235:c831718303c9 1190 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 235:c831718303c9 1191 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1192 }
Lightvalve 57:f4819de54e7a 1193
jobuuu 230:2c3e5ecbe7e1 1194 // torque control command ===============================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1195 float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
Lightvalve 238:4e660aa77eb7 1196 K_LPF = (1.0f-alpha_SpringDamper) * K_LPF + alpha_SpringDamper * K_SPRING;
Lightvalve 238:4e660aa77eb7 1197 D_LPF = (1.0f-alpha_SpringDamper) * D_LPF + alpha_SpringDamper * D_DAMPER;
Lightvalve 235:c831718303c9 1198
Lightvalve 238:4e660aa77eb7 1199 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 238:4e660aa77eb7 1200 float torq_ref_act = torq.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : Nm
jobuuu 230:2c3e5ecbe7e1 1201 torq.err = torq_ref_act - torq.sen;
jobuuu 230:2c3e5ecbe7e1 1202 torq.err_int += torq.err/((float)TMR_FREQ_5k);
Lightvalve 235:c831718303c9 1203 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * torq.err + I_GAIN_JOINT_TORQUE * torq.err_int); // Nm >> rad/s
Lightvalve 57:f4819de54e7a 1204 } else {
Lightvalve 238:4e660aa77eb7 1205 float force_ref_act = force.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : N
Lightvalve 239:8ac5c6162bc1 1206 //////////////////////////////////////////////////force_reference_filter////////////////////////////////////////////////////////////////////
Lightvalve 240:fb5b57e3f157 1207 // float alpha_torque_ref = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*1.0f));
Lightvalve 240:fb5b57e3f157 1208 // force_ref_filter = (1.0f-alpha_torque_ref) * force_ref_filter + alpha_torque_ref * force_ref_act;
Lightvalve 239:8ac5c6162bc1 1209 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 240:fb5b57e3f157 1210 force.err = force_ref_act - force.sen;
jobuuu 230:2c3e5ecbe7e1 1211 force.err_int += force.err/((float)TMR_FREQ_5k);
Lightvalve 235:c831718303c9 1212 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * force.err + I_GAIN_JOINT_TORQUE * force.err_int); // N >> mm/s
jobuuu 230:2c3e5ecbe7e1 1213 }
Lightvalve 235:c831718303c9 1214
Lightvalve 235:c831718303c9 1215
Lightvalve 235:c831718303c9 1216 // velocity feedforward command ========================================================================================================================================
Lightvalve 238:4e660aa77eb7 1217 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
jobuuu 230:2c3e5ecbe7e1 1218 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref * PI / 180.0f; // rad/s
jobuuu 230:2c3e5ecbe7e1 1219 } else {
jobuuu 230:2c3e5ecbe7e1 1220 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref; // mm/s
jobuuu 230:2c3e5ecbe7e1 1221 }
Lightvalve 169:645207e160ca 1222
Lightvalve 235:c831718303c9 1223 // command integration =================================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1224 temp_vel = (1.0f - alpha_trans) * temp_vel_pos + alpha_trans * temp_vel_FT + temp_vel_ff; // Position Control + Torque Control + Velocity Feedforward
Lightvalve 237:c2cfe349f5c1 1225
Lightvalve 235:c831718303c9 1226 float Qact = 0.0f; // required flow rate
Lightvalve 237:c2cfe349f5c1 1227 float valve_pos_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 1228 if( temp_vel > 0.0f ) {
jobuuu 230:2c3e5ecbe7e1 1229 Qact = temp_vel * ((float)PISTON_AREA_A * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1230 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1231 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f))))/C_d;
Lightvalve 238:4e660aa77eb7 1232 // I_REF = Qact*2.0f;
Lightvalve 237:c2cfe349f5c1 1233 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1234 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1235 }
jobuuu 230:2c3e5ecbe7e1 1236 } else {
jobuuu 230:2c3e5ecbe7e1 1237 Qact = temp_vel * ((float)PISTON_AREA_B * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1238 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1239 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f))))/C_d;
Lightvalve 238:4e660aa77eb7 1240 // I_REF = Qact*2.0f;
Lightvalve 237:c2cfe349f5c1 1241 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1242 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1243 }
jobuuu 230:2c3e5ecbe7e1 1244 }
Lightvalve 237:c2cfe349f5c1 1245
Lightvalve 237:c2cfe349f5c1 1246 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1247
Lightvalve 237:c2cfe349f5c1 1248 float I_MAX = 10.0f; // Maximum Current : 10mA
Lightvalve 237:c2cfe349f5c1 1249 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1250 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1251 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1252 if (I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1253 float I_rem = I_REF - I_MAX;
Lightvalve 237:c2cfe349f5c1 1254 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1255 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1256 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1257 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1258 double I_rem = I_REF - (-I_MAX);
Lightvalve 237:c2cfe349f5c1 1259 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1260 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1261 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1262 }
Lightvalve 237:c2cfe349f5c1 1263 } else {
Lightvalve 237:c2cfe349f5c1 1264 if(I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1265 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1266 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1267 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1268 }
Lightvalve 57:f4819de54e7a 1269 }
Lightvalve 237:c2cfe349f5c1 1270 } else { //SW valve
Lightvalve 237:c2cfe349f5c1 1271 float Valve_pos_MAX = 10000.0f; // Maximum Valve Pos : 10000
Lightvalve 237:c2cfe349f5c1 1272 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1273 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1274 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1275 if (valve_pos_pulse > Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1276 float valve_pos_rem = valve_pos_pulse - Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1277 valve_pos_pulse = Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1278 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1279 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1280 } else if (valve_pos_pulse < -Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1281 double valve_pos_rem = valve_pos_pulse - (-Valve_pos_MAX);
Lightvalve 237:c2cfe349f5c1 1282 valve_pos_pulse = -Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1283 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1284 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1285 }
Lightvalve 237:c2cfe349f5c1 1286 } else {
Lightvalve 237:c2cfe349f5c1 1287 if(valve_pos_pulse > 10000.0f) {
Lightvalve 237:c2cfe349f5c1 1288 valve_pos_pulse = 10000.0f;
Lightvalve 237:c2cfe349f5c1 1289 } else if(valve_pos_pulse < -10000.0f) {
Lightvalve 237:c2cfe349f5c1 1290 valve_pos_pulse = -10000.0f;
Lightvalve 237:c2cfe349f5c1 1291 }
Lightvalve 235:c831718303c9 1292 }
Lightvalve 238:4e660aa77eb7 1293 // if (valve_pos_pulse >= 0) {
Lightvalve 238:4e660aa77eb7 1294 // valve_pos.ref = valve_pos_pulse/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 238:4e660aa77eb7 1295 // } else {
Lightvalve 238:4e660aa77eb7 1296 // valve_pos.ref = -valve_pos_pulse/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 238:4e660aa77eb7 1297 // }
Lightvalve 238:4e660aa77eb7 1298 VALVE_POS_CONTROL_DZ(valve_pos_pulse);
Lightvalve 237:c2cfe349f5c1 1299 V_out = Vout.ref;
Lightvalve 57:f4819de54e7a 1300 }
Lightvalve 57:f4819de54e7a 1301 break;
Lightvalve 57:f4819de54e7a 1302 }
Lightvalve 58:2eade98630e2 1303
Lightvalve 57:f4819de54e7a 1304 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1305 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1306 break;
Lightvalve 57:f4819de54e7a 1307 }
Lightvalve 169:645207e160ca 1308
Lightvalve 12:6f2531038ea4 1309 default:
Lightvalve 12:6f2531038ea4 1310 break;
Lightvalve 12:6f2531038ea4 1311 }
Lightvalve 14:8e7590227d22 1312
Lightvalve 57:f4819de54e7a 1313
Lightvalve 57:f4819de54e7a 1314 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1315
Lightvalve 57:f4819de54e7a 1316 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1317 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1318 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1319 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1320 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1321 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1322
jobuuu 230:2c3e5ecbe7e1 1323 if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1324 else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1325 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
Lightvalve 235:c831718303c9 1326
hyhoon 226:82a3ca333004 1327 I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve 67:c2812cf26c38 1328 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1329
Lightvalve 57:f4819de54e7a 1330 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1331 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1332 double L_model = 1.2f;
Lightvalve 239:8ac5c6162bc1 1333 double w0 = 2.0f * 3.14f * 100.0f;
Lightvalve 57:f4819de54e7a 1334 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1335 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1336
Lightvalve 57:f4819de54e7a 1337 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1338 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1339 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1340 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1341 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1342 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1343 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1344 }
Lightvalve 57:f4819de54e7a 1345
Lightvalve 57:f4819de54e7a 1346 double FF_gain = 1.0f;
Lightvalve 67:c2812cf26c38 1347 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon 226:82a3ca333004 1348 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon 226:82a3ca333004 1349 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 67:c2812cf26c38 1350 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
hyhoon 226:82a3ca333004 1351 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 238:4e660aa77eb7 1352 double V_MAX = VALVE_VOLTAGE_LIMIT*1000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1353
Lightvalve 57:f4819de54e7a 1354 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1355 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1356 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1357 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1358 VALVE_PWM_RAW = V_MAX;
Lightvalve 234:bd00f763acb1 1359 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1360 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1361 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1362 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1363 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1364 VALVE_PWM_RAW = -V_MAX;
Lightvalve 234:bd00f763acb1 1365 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1366 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1367 }
Lightvalve 57:f4819de54e7a 1368 } else {
Lightvalve 57:f4819de54e7a 1369 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1370 }
Lightvalve 57:f4819de54e7a 1371
Lightvalve 57:f4819de54e7a 1372 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1373 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1374 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1375
Lightvalve 57:f4819de54e7a 1376 // Output Voltage Linearization
hyhoon 226:82a3ca333004 1377 double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve 67:c2812cf26c38 1378 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1379
Lightvalve 57:f4819de54e7a 1380 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1381 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1382 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1383 else V_out = (float) (CUR_PWM_lin);
Lightvalve 235:c831718303c9 1384
Lightvalve 169:645207e160ca 1385 } else { //////////////////////////sw valve
Lightvalve 224:985dba42f261 1386 // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve 135:79885a39c161 1387 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 1388 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 1389 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 1390 }
Lightvalve 169:645207e160ca 1391
jobuuu 230:2c3e5ecbe7e1 1392 ////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1393 /////////////////// PWM Command ///////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1394 ////////////////////////////////////////////////////////////////////
Lightvalve 169:645207e160ca 1395 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 1396 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1397 }
Lightvalve 169:645207e160ca 1398
Lightvalve 49:e7bcfc244d40 1399 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1400 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1401 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1402 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1403 }
Lightvalve 224:985dba42f261 1404 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve 13:747daba9cf59 1405
Lightvalve 224:985dba42f261 1406 // Saturation of output voltage
Lightvalve 30:8d561f16383b 1407 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1408 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1409
Lightvalve 30:8d561f16383b 1410 if (PWM_out>0.0f) {
Lightvalve 244:e9c5ec04e378 1411 TIM1->CCR1 = (TMR1_COUNT)*(PWM_out);
Lightvalve 244:e9c5ec04e378 1412 TIM1->CCR2 = (TMR1_COUNT)*(0.0f);
jobuuu 1:e04e563be5ce 1413 } else {
Lightvalve 244:e9c5ec04e378 1414 TIM1->CCR1 = (TMR1_COUNT)*(0.0f);
Lightvalve 244:e9c5ec04e378 1415 TIM1->CCR2 = 0.0f -(TMR1_COUNT)*(PWM_out);
jobuuu 1:e04e563be5ce 1416 }
Lightvalve 13:747daba9cf59 1417
jobuuu 230:2c3e5ecbe7e1 1418 ////////////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1419 ////////////////////// Data transmission through CAN //////////////////////
Lightvalve 235:c831718303c9 1420 ////////////////////////////////////////////////////////////////////////////
Lightvalve 245:071785d74ad0 1421
Lightvalve 243:30896263bd8b 1422 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 243:30896263bd8b 1423 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/500) == 0) {
hyhoon 226:82a3ca333004 1424 // Position, Velocity, and Torque (ID:1200)
Lightvalve 237:c2cfe349f5c1 1425
Lightvalve 245:071785d74ad0 1426 if (flag_data_request[0] == HIGH) {
Lightvalve 245:071785d74ad0 1427 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 245:071785d74ad0 1428 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 245:071785d74ad0 1429 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 245:071785d74ad0 1430 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 245:071785d74ad0 1431 }
Lightvalve 243:30896263bd8b 1432 }
hyhoon 226:82a3ca333004 1433
jobuuu 230:2c3e5ecbe7e1 1434 // Valve Position (ID:1300)
Lightvalve 56:6f50d9d3bfee 1435 if (flag_data_request[1] == HIGH) {
Lightvalve 243:30896263bd8b 1436 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 243:30896263bd8b 1437 CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
Lightvalve 243:30896263bd8b 1438 } else {
Lightvalve 246:d5742551f432 1439 CAN_TX_PWM((int16_t)(valve_pos.sen));
Lightvalve 243:30896263bd8b 1440 }
Lightvalve 54:647072f5307a 1441 }
Lightvalve 58:2eade98630e2 1442
Lightvalve 243:30896263bd8b 1443 // Others : SW (ID:1400)
Lightvalve 171:bfc1fd2629d8 1444 if (flag_data_request[2] == HIGH) {
Lightvalve 243:30896263bd8b 1445 CAN_TX_CURRENT((int16_t) valve_pos.sen, (int16_t) valve_pos.ref);
Lightvalve 54:647072f5307a 1446 }
Lightvalve 20:806196fda269 1447
Lightvalve 54:647072f5307a 1448 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1449 }
Lightvalve 54:647072f5307a 1450 TMR2_COUNT_CAN_TX++;
Lightvalve 20:806196fda269 1451 }
Lightvalve 240:fb5b57e3f157 1452 TIM2->SR = 0x0; // reset the status register
Lightvalve 243:30896263bd8b 1453 }