Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2
rainbow
main.cpp@257:c93d3eabff75, 2022-03-31 (annotated)
- Committer:
- Lightvalve
- Date:
- Thu Mar 31 02:39:48 2022 +0000
- Revision:
- 257:c93d3eabff75
- Parent:
- 239:8ac5c6162bc1
LVDT
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 224:985dba42f261 | 1 | //Hydraulic Control Board |
Lightvalve | 224:985dba42f261 | 2 | //distributed by Sungwoo Kim |
Lightvalve | 224:985dba42f261 | 3 | // 2020/12/28 |
jobuuu | 228:763bbefcb79f | 4 | //revised by Buyoun Cho |
Lightvalve | 235:c831718303c9 | 5 | // 2021/04/20 |
Lightvalve | 224:985dba42f261 | 6 | |
Lightvalve | 224:985dba42f261 | 7 | // 유의사항 |
Lightvalve | 224:985dba42f261 | 8 | // 소수 적을때 뒤에 f 꼭 붙이기 |
Lightvalve | 224:985dba42f261 | 9 | // CAN 선은 ground까지 있는 3상 선으로 써야함. |
Lightvalve | 224:985dba42f261 | 10 | // 전원은 12~24V 인가. |
Lightvalve | 224:985dba42f261 | 11 | |
GiJeongKim | 0:51c43836c1d7 | 12 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 13 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 14 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 15 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 16 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 17 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 18 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 19 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 20 | #include "stm32f4xx_flash.h" |
Lightvalve | 169:645207e160ca | 21 | #include "FlashWriter.h" |
Lightvalve | 170:42c938a40313 | 22 | #include <string> |
Lightvalve | 170:42c938a40313 | 23 | #include <iostream> |
Lightvalve | 179:d5377766d7ea | 24 | #include <cmath> |
Lightvalve | 61:bc8c8270f0ab | 25 | |
Lightvalve | 61:bc8c8270f0ab | 26 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 27 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 28 | |
jobuuu | 7:e9086c72bb22 | 29 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 30 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 31 | DigitalOut check_2(PC_3); |
jobuuu | 230:2c3e5ecbe7e1 | 32 | AnalogOut dac_1(PA_4); // 0.0f ~ 1.0f |
jobuuu | 230:2c3e5ecbe7e1 | 33 | AnalogOut dac_2(PA_5); // 0.0f ~ 1.0f |
Lightvalve | 14:8e7590227d22 | 34 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 35 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 36 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 37 | |
jobuuu | 7:e9086c72bb22 | 38 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 39 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 40 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 41 | |
jobuuu | 7:e9086c72bb22 | 42 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 43 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
Lightvalve | 224:985dba42f261 | 44 | const int i2c_slave_addr1 = 0x56; // AS5510 address |
GiJeongKim | 0:51c43836c1d7 | 45 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 46 | |
jobuuu | 7:e9086c72bb22 | 47 | // SPI /////////////////////////////////////////// |
Lightvalve | 170:42c938a40313 | 48 | SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 170:42c938a40313 | 49 | DigitalOut eeprom_cs(PB_12); |
GiJeongKim | 0:51c43836c1d7 | 50 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 51 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 52 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 53 | |
jobuuu | 7:e9086c72bb22 | 54 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 55 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 56 | |
jobuuu | 7:e9086c72bb22 | 57 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 58 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 59 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 60 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 61 | { |
Lightvalve | 11:82d8768d7351 | 62 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 63 | } |
jobuuu | 2:a1c0a37df760 | 64 | |
jobuuu | 7:e9086c72bb22 | 65 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 66 | State pos; |
jobuuu | 7:e9086c72bb22 | 67 | State vel; |
jobuuu | 7:e9086c72bb22 | 68 | State Vout; |
jobuuu | 230:2c3e5ecbe7e1 | 69 | State force; |
jobuuu | 230:2c3e5ecbe7e1 | 70 | State torq; // unit : N |
Lightvalve | 207:c70c5a9f17dd | 71 | State torq_dot; |
jobuuu | 230:2c3e5ecbe7e1 | 72 | State pres_A; // unit : bar |
jobuuu | 7:e9086c72bb22 | 73 | State pres_B; |
jobuuu | 230:2c3e5ecbe7e1 | 74 | State cur; // unit : mA |
Lightvalve | 14:8e7590227d22 | 75 | State valve_pos; |
Lightvalve | 238:4e660aa77eb7 | 76 | State valve_pos_raw; |
Lightvalve | 14:8e7590227d22 | 77 | |
Lightvalve | 14:8e7590227d22 | 78 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 79 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 80 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 81 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 82 | |
Lightvalve | 19:23b7c1ad8683 | 83 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 84 | extern int CID_RX_REF_POSITION; |
hyhoon | 227:699c3e572283 | 85 | extern int CID_RX_REF_OPENLOOP; |
Lightvalve | 45:35fa6884d0c6 | 86 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 87 | |
Lightvalve | 19:23b7c1ad8683 | 88 | extern int CID_TX_INFO; |
hyhoon | 227:699c3e572283 | 89 | extern int CID_TX_POS_VEL_TORQ; |
hyhoon | 227:699c3e572283 | 90 | extern int CID_TX_PWM; |
hyhoon | 227:699c3e572283 | 91 | extern int CID_TX_CURRENT; |
Lightvalve | 19:23b7c1ad8683 | 92 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 93 | extern int CID_TX_VALVE_POSITION; |
jeongyeseong | 225:9c0becc196ba | 94 | extern int CID_TX_SOMETHING; |
Lightvalve | 19:23b7c1ad8683 | 95 | |
hyhoon | 227:699c3e572283 | 96 | float temp_P_GAIN = 0.0f; |
hyhoon | 227:699c3e572283 | 97 | float temp_I_GAIN = 0.0f; |
hyhoon | 227:699c3e572283 | 98 | int temp_VELOCITY_COMP_GAIN = 0; |
Lightvalve | 235:c831718303c9 | 99 | int logging = 0; |
Lightvalve | 257:c93d3eabff75 | 100 | float valve_pos_pulse_can = 0.0f; |
hyhoon | 227:699c3e572283 | 101 | |
Lightvalve | 235:c831718303c9 | 102 | inline float tanh_inv(float y) |
Lightvalve | 235:c831718303c9 | 103 | { |
Lightvalve | 235:c831718303c9 | 104 | if(y >= 1.0f - 0.000001f) y = 1.0f - 0.000001f; |
Lightvalve | 235:c831718303c9 | 105 | if(y <= -1.0f + 0.000001f) y = -1.0f + 0.000001f; |
jobuuu | 230:2c3e5ecbe7e1 | 106 | return log(sqrt((1.0f+y)/(1.0f-y))); |
jobuuu | 230:2c3e5ecbe7e1 | 107 | } |
jobuuu | 230:2c3e5ecbe7e1 | 108 | |
hyhoon | 227:699c3e572283 | 109 | |
Lightvalve | 12:6f2531038ea4 | 110 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 111 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 112 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 113 | enum _REFERENCE_MODE { |
Lightvalve | 235:c831718303c9 | 114 | MODE_REF_NO_ACT = 0, |
Lightvalve | 235:c831718303c9 | 115 | MODE_REF_DIRECT, |
Lightvalve | 235:c831718303c9 | 116 | MODE_REF_FINDHOME |
Lightvalve | 12:6f2531038ea4 | 117 | }; |
Lightvalve | 12:6f2531038ea4 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 120 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 121 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 122 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 123 | //control mode |
Lightvalve | 12:6f2531038ea4 | 124 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 125 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 126 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 127 | |
Lightvalve | 47:fdcb8bd86fd6 | 128 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 138:a843f32ced33 | 129 | MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4 |
Lightvalve | 171:bfc1fd2629d8 | 130 | MODE_RL, //5 |
Lightvalve | 13:747daba9cf59 | 131 | |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 134 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 135 | |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 138 | |
Lightvalve | 14:8e7590227d22 | 139 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 140 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 141 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 224:985dba42f261 | 142 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14 |
Lightvalve | 13:747daba9cf59 | 143 | |
Lightvalve | 12:6f2531038ea4 | 144 | //utility |
Lightvalve | 12:6f2531038ea4 | 145 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 146 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 147 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 148 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 149 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 150 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 151 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 152 | |
Lightvalve | 224:985dba42f261 | 153 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 154 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 155 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 156 | MODE_SYSTEM_ID, //33 |
Lightvalve | 169:645207e160ca | 157 | MODE_FREQ_TEST, //34 |
Lightvalve | 169:645207e160ca | 158 | MODE_SEND_BUFFER, //35 |
Lightvalve | 169:645207e160ca | 159 | MODE_SEND_OVER, //36 |
Lightvalve | 169:645207e160ca | 160 | MODE_STEP_TEST, //37 |
Lightvalve | 12:6f2531038ea4 | 161 | }; |
Lightvalve | 12:6f2531038ea4 | 162 | |
Lightvalve | 65:a2d7c63419c2 | 163 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 164 | { |
Lightvalve | 169:645207e160ca | 165 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 169:645207e160ca | 166 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 167 | |
Lightvalve | 224:985dba42f261 | 168 | /* Configure the main internal regulator output voltage |
Lightvalve | 169:645207e160ca | 169 | */ |
Lightvalve | 169:645207e160ca | 170 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 169:645207e160ca | 171 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 224:985dba42f261 | 172 | /* Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 173 | */ |
Lightvalve | 257:c93d3eabff75 | 174 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; |
Lightvalve | 257:c93d3eabff75 | 175 | RCC_OscInitStruct.HSEState = RCC_HSE_ON; |
Lightvalve | 257:c93d3eabff75 | 176 | // RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 169:645207e160ca | 177 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 257:c93d3eabff75 | 178 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; |
Lightvalve | 257:c93d3eabff75 | 179 | RCC_OscInitStruct.PLL.PLLM = 1;//4 |
Lightvalve | 257:c93d3eabff75 | 180 | RCC_OscInitStruct.PLL.PLLN = 192; //96 |
Lightvalve | 169:645207e160ca | 181 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 169:645207e160ca | 182 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 169:645207e160ca | 183 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 169:645207e160ca | 184 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 185 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 186 | } |
Lightvalve | 169:645207e160ca | 187 | /** Activate the Over-Drive mode |
Lightvalve | 169:645207e160ca | 188 | */ |
Lightvalve | 169:645207e160ca | 189 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 169:645207e160ca | 190 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 191 | } |
Lightvalve | 169:645207e160ca | 192 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 169:645207e160ca | 193 | */ |
Lightvalve | 169:645207e160ca | 194 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 169:645207e160ca | 195 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 169:645207e160ca | 196 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 169:645207e160ca | 197 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 169:645207e160ca | 198 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 257:c93d3eabff75 | 199 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 200 | |
Lightvalve | 169:645207e160ca | 201 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { |
Lightvalve | 169:645207e160ca | 202 | //Error_Handler(); |
Lightvalve | 169:645207e160ca | 203 | } |
Lightvalve | 257:c93d3eabff75 | 204 | // HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5); |
Lightvalve | 257:c93d3eabff75 | 205 | // HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000); |
Lightvalve | 257:c93d3eabff75 | 206 | // HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK); |
Lightvalve | 257:c93d3eabff75 | 207 | // HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); |
Lightvalve | 257:c93d3eabff75 | 208 | |
Lightvalve | 65:a2d7c63419c2 | 209 | } |
Lightvalve | 65:a2d7c63419c2 | 210 | |
Lightvalve | 170:42c938a40313 | 211 | |
Lightvalve | 257:c93d3eabff75 | 212 | //void SystemClock_Config(void) //External clock |
Lightvalve | 257:c93d3eabff75 | 213 | //{ |
Lightvalve | 257:c93d3eabff75 | 214 | // RCC_OscInitTypeDef RCC_OscInitStruct; |
Lightvalve | 257:c93d3eabff75 | 215 | // RCC_ClkInitTypeDef RCC_ClkInitStruct; |
Lightvalve | 257:c93d3eabff75 | 216 | // |
Lightvalve | 257:c93d3eabff75 | 217 | // /* Configure the main internal regulator output voltage |
Lightvalve | 257:c93d3eabff75 | 218 | // */ |
Lightvalve | 257:c93d3eabff75 | 219 | // __PWR_CLK_ENABLE(); |
Lightvalve | 257:c93d3eabff75 | 220 | // __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 257:c93d3eabff75 | 221 | // /* Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 257:c93d3eabff75 | 222 | // */ |
Lightvalve | 257:c93d3eabff75 | 223 | // RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; |
Lightvalve | 257:c93d3eabff75 | 224 | // RCC_OscInitStruct.HSIState = RCC_HSE_ON; |
Lightvalve | 257:c93d3eabff75 | 225 | //// RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 257:c93d3eabff75 | 226 | // RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 257:c93d3eabff75 | 227 | // RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; |
Lightvalve | 257:c93d3eabff75 | 228 | // RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 257:c93d3eabff75 | 229 | // RCC_OscInitStruct.PLL.PLLN = 80; //180 |
Lightvalve | 257:c93d3eabff75 | 230 | // RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 257:c93d3eabff75 | 231 | // RCC_OscInitStruct.PLL.PLLQ = 4; |
Lightvalve | 257:c93d3eabff75 | 232 | // HAL_RCC_OscConfig(&RCC_OscInitStruct); |
Lightvalve | 257:c93d3eabff75 | 233 | // |
Lightvalve | 257:c93d3eabff75 | 234 | // HAL_PWREx_ActivateOverDrive(); |
Lightvalve | 257:c93d3eabff75 | 235 | //// RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 257:c93d3eabff75 | 236 | //// if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { |
Lightvalve | 257:c93d3eabff75 | 237 | //// //Error_Handler(); |
Lightvalve | 257:c93d3eabff75 | 238 | //// } |
Lightvalve | 257:c93d3eabff75 | 239 | //// /** Activate the Over-Drive mode |
Lightvalve | 257:c93d3eabff75 | 240 | //// */ |
Lightvalve | 257:c93d3eabff75 | 241 | //// if (HAL_PWREx_EnableOverDrive() != HAL_OK) { |
Lightvalve | 257:c93d3eabff75 | 242 | //// //Error_Handler(); |
Lightvalve | 257:c93d3eabff75 | 243 | //// } |
Lightvalve | 257:c93d3eabff75 | 244 | // /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 257:c93d3eabff75 | 245 | // */ |
Lightvalve | 257:c93d3eabff75 | 246 | // RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 257:c93d3eabff75 | 247 | // |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 257:c93d3eabff75 | 248 | // RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 257:c93d3eabff75 | 249 | // RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 257:c93d3eabff75 | 250 | // RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 257:c93d3eabff75 | 251 | // RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 257:c93d3eabff75 | 252 | // HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5); |
Lightvalve | 257:c93d3eabff75 | 253 | // |
Lightvalve | 257:c93d3eabff75 | 254 | // HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000); |
Lightvalve | 257:c93d3eabff75 | 255 | // |
Lightvalve | 257:c93d3eabff75 | 256 | // HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK); |
Lightvalve | 257:c93d3eabff75 | 257 | // |
Lightvalve | 257:c93d3eabff75 | 258 | // HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0); |
Lightvalve | 257:c93d3eabff75 | 259 | //} |
Lightvalve | 257:c93d3eabff75 | 260 | |
GiJeongKim | 0:51c43836c1d7 | 261 | int main() |
GiJeongKim | 0:51c43836c1d7 | 262 | { |
jobuuu | 6:df07d3491e3a | 263 | /********************************* |
jobuuu | 1:e04e563be5ce | 264 | *** Initialization |
jobuuu | 6:df07d3491e3a | 265 | *********************************/ |
hyhoon | 226:82a3ca333004 | 266 | |
Lightvalve | 224:985dba42f261 | 267 | HAL_Init(); |
Lightvalve | 224:985dba42f261 | 268 | SystemClock_Config(); |
hyhoon | 226:82a3ca333004 | 269 | |
Lightvalve | 69:3995ffeaa786 | 270 | LED = 0; |
Lightvalve | 257:c93d3eabff75 | 271 | // pc.baud(9600); |
Lightvalve | 257:c93d3eabff75 | 272 | // |
Lightvalve | 257:c93d3eabff75 | 273 | // // i2c init |
Lightvalve | 257:c93d3eabff75 | 274 | // i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 257:c93d3eabff75 | 275 | // wait_ms(2); // Power Up wait |
Lightvalve | 257:c93d3eabff75 | 276 | // look_for_hardware_i2c(); // Hardware present |
Lightvalve | 257:c93d3eabff75 | 277 | // init_as5510(i2c_slave_addr1); |
Lightvalve | 257:c93d3eabff75 | 278 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 279 | |
jobuuu | 2:a1c0a37df760 | 280 | |
Lightvalve | 224:985dba42f261 | 281 | // spi init |
Lightvalve | 257:c93d3eabff75 | 282 | // eeprom_cs = 1; |
Lightvalve | 257:c93d3eabff75 | 283 | // eeprom.format(8,3); |
Lightvalve | 257:c93d3eabff75 | 284 | // eeprom.frequency(5000000); //5M |
Lightvalve | 257:c93d3eabff75 | 285 | // eeprom_cs = 0; |
Lightvalve | 257:c93d3eabff75 | 286 | // make_delay(); |
Lightvalve | 257:c93d3eabff75 | 287 | // |
Lightvalve | 257:c93d3eabff75 | 288 | // enc_cs = 1; //sw add |
Lightvalve | 257:c93d3eabff75 | 289 | // enc.format(8,0); |
Lightvalve | 257:c93d3eabff75 | 290 | // enc.frequency(5000000); //10M |
Lightvalve | 257:c93d3eabff75 | 291 | // enc_cs = 0; //sw add |
Lightvalve | 257:c93d3eabff75 | 292 | // |
Lightvalve | 257:c93d3eabff75 | 293 | // make_delay(); |
Lightvalve | 257:c93d3eabff75 | 294 | // |
Lightvalve | 257:c93d3eabff75 | 295 | // // spi _ enc |
Lightvalve | 257:c93d3eabff75 | 296 | // spi_enc_set_init(); |
Lightvalve | 257:c93d3eabff75 | 297 | // make_delay(); |
Lightvalve | 257:c93d3eabff75 | 298 | // |
Lightvalve | 257:c93d3eabff75 | 299 | // ////// bno rom |
Lightvalve | 257:c93d3eabff75 | 300 | // spi_eeprom_write(RID_BNO, (int16_t) 0); |
Lightvalve | 257:c93d3eabff75 | 301 | // make_delay(); |
hyhoon | 226:82a3ca333004 | 302 | //////// |
hyhoon | 226:82a3ca333004 | 303 | |
Lightvalve | 224:985dba42f261 | 304 | // rom |
Lightvalve | 19:23b7c1ad8683 | 305 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 306 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 307 | |
GiJeongKim | 0:51c43836c1d7 | 308 | // ADC init |
jobuuu | 5:a4319f79457b | 309 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 310 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 311 | |
GiJeongKim | 0:51c43836c1d7 | 312 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 313 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 314 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 315 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 316 | |
Lightvalve | 257:c93d3eabff75 | 317 | // // CAN |
Lightvalve | 257:c93d3eabff75 | 318 | // can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 319 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 320 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 321 | |
hyhoon | 226:82a3ca333004 | 322 | //can.reset(); |
Lightvalve | 257:c93d3eabff75 | 323 | // can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 257:c93d3eabff75 | 324 | |
Lightvalve | 257:c93d3eabff75 | 325 | // // TMR2 init |
Lightvalve | 257:c93d3eabff75 | 326 | // Init_TMR2(); |
Lightvalve | 257:c93d3eabff75 | 327 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 257:c93d3eabff75 | 328 | // make_delay(); |
hyhoon | 226:82a3ca333004 | 329 | |
hyhoon | 226:82a3ca333004 | 330 | // TMR3 init |
hyhoon | 226:82a3ca333004 | 331 | Init_TMR3(); |
hyhoon | 226:82a3ca333004 | 332 | TIM3->CR1 ^= TIM_CR1_UDIS; |
hyhoon | 226:82a3ca333004 | 333 | make_delay(); |
hyhoon | 226:82a3ca333004 | 334 | |
Lightvalve | 257:c93d3eabff75 | 335 | // //Timer priority |
Lightvalve | 257:c93d3eabff75 | 336 | NVIC_SetPriority(TIM3_IRQn, 3); |
Lightvalve | 257:c93d3eabff75 | 337 | NVIC_SetPriority(TIM4_IRQn, 2); |
Lightvalve | 257:c93d3eabff75 | 338 | // NVIC_SetPriority(TIM2_IRQn, 2); |
Lightvalve | 257:c93d3eabff75 | 339 | // |
Lightvalve | 257:c93d3eabff75 | 340 | // |
Lightvalve | 257:c93d3eabff75 | 341 | // //DAC init |
Lightvalve | 257:c93d3eabff75 | 342 | // if (SENSING_MODE == 0) { |
Lightvalve | 257:c93d3eabff75 | 343 | // dac_1 = FORCE_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 344 | // dac_2 = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 345 | // } else if (SENSING_MODE == 1) { |
Lightvalve | 257:c93d3eabff75 | 346 | // // if (DIR_VALVE_ENC > 0) { |
Lightvalve | 257:c93d3eabff75 | 347 | // dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 348 | // dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 349 | // // } else { |
Lightvalve | 257:c93d3eabff75 | 350 | // // dac_1 = PRES_B_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 351 | // // dac_2 = PRES_A_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 352 | // // } |
Lightvalve | 257:c93d3eabff75 | 353 | // } |
Lightvalve | 257:c93d3eabff75 | 354 | // make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 355 | |
hyhoon | 226:82a3ca333004 | 356 | |
Lightvalve | 13:747daba9cf59 | 357 | |
Lightvalve | 257:c93d3eabff75 | 358 | TIM4->CCR2 = (PWM_ARR)*(1.0f-0.0f); |
Lightvalve | 257:c93d3eabff75 | 359 | TIM4->CCR1 = (PWM_ARR)*(1.0f-0.0f); |
Lightvalve | 257:c93d3eabff75 | 360 | |
Lightvalve | 169:645207e160ca | 361 | |
jobuuu | 6:df07d3491e3a | 362 | /************************************ |
jobuuu | 1:e04e563be5ce | 363 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 364 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 365 | while(1) { |
Lightvalve | 169:645207e160ca | 366 | |
Lightvalve | 257:c93d3eabff75 | 367 | // if (LED > 0) LED = 0; |
Lightvalve | 257:c93d3eabff75 | 368 | // else LED = 1; |
Lightvalve | 257:c93d3eabff75 | 369 | // ADC1->CR2 |= 0x40000000; |
Lightvalve | 257:c93d3eabff75 | 370 | // LVDT_new = ((float)ADC1->DR) - 2047.5f; |
Lightvalve | 257:c93d3eabff75 | 371 | // TIM4->CCR2 = (PWM_ARR)*(1.0f-0.0f); |
Lightvalve | 257:c93d3eabff75 | 372 | // TIM4->CCR1 = (PWM_ARR)*(1.0f-0.3f); |
GiJeongKim | 0:51c43836c1d7 | 373 | } |
jobuuu | 1:e04e563be5ce | 374 | } |
jobuuu | 1:e04e563be5ce | 375 | |
Lightvalve | 224:985dba42f261 | 376 | |
jobuuu | 230:2c3e5ecbe7e1 | 377 | //------------------------------------------------ |
jobuuu | 230:2c3e5ecbe7e1 | 378 | // TMR4 : Sensor Read & Data Handling |
jobuuu | 230:2c3e5ecbe7e1 | 379 | //----------------------------------------------- |
Lightvalve | 51:b46bed7fec80 | 380 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 381 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 382 | long CNT_TMR4 = 0; |
Lightvalve | 257:c93d3eabff75 | 383 | int TMR4_FREQ_20k = (int)FREQ_20k; |
Lightvalve | 257:c93d3eabff75 | 384 | //int toggle = 0; |
Lightvalve | 257:c93d3eabff75 | 385 | int PWM_Flag = 0; |
Lightvalve | 257:c93d3eabff75 | 386 | int TMR4_timer = 0; |
Lightvalve | 257:c93d3eabff75 | 387 | |
Lightvalve | 257:c93d3eabff75 | 388 | float LVDT_new = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 389 | float LVDT_old = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 390 | float LVDT_f_cut = 1000.0f; |
Lightvalve | 257:c93d3eabff75 | 391 | float LVDT_LPF = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 392 | float LVDT_sum = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 393 | |
jobuuu | 1:e04e563be5ce | 394 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 395 | { |
Lightvalve | 19:23b7c1ad8683 | 396 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 13:747daba9cf59 | 397 | |
Lightvalve | 257:c93d3eabff75 | 398 | // if (LED > 0) LED = 0; |
Lightvalve | 257:c93d3eabff75 | 399 | // else LED = 1; |
jobuuu | 230:2c3e5ecbe7e1 | 400 | |
Lightvalve | 257:c93d3eabff75 | 401 | PWM_Flag++; |
Lightvalve | 257:c93d3eabff75 | 402 | |
Lightvalve | 257:c93d3eabff75 | 403 | if(PWM_Flag <= 15) { |
Lightvalve | 61:bc8c8270f0ab | 404 | |
Lightvalve | 257:c93d3eabff75 | 405 | if (PWM_Flag >= 4 && PWM_Flag <=13) { |
Lightvalve | 257:c93d3eabff75 | 406 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 257:c93d3eabff75 | 407 | LVDT_new = ((float)ADC1->DR) - 2047.5f; |
Lightvalve | 257:c93d3eabff75 | 408 | // if (ADC1->SR &= ~(ADC_SR_EOC)) { |
Lightvalve | 257:c93d3eabff75 | 409 | // if (LED > 0) LED = 0; |
Lightvalve | 257:c93d3eabff75 | 410 | // else LED = 1; |
Lightvalve | 257:c93d3eabff75 | 411 | // LED = 1; |
Lightvalve | 257:c93d3eabff75 | 412 | // } |
Lightvalve | 257:c93d3eabff75 | 413 | LVDT_sum = LVDT_sum + LVDT_new; |
Lightvalve | 257:c93d3eabff75 | 414 | if (LED > 0) LED = 0; |
Lightvalve | 257:c93d3eabff75 | 415 | else LED = 1; |
Lightvalve | 257:c93d3eabff75 | 416 | } |
Lightvalve | 50:3c630b5eba9f | 417 | |
Lightvalve | 257:c93d3eabff75 | 418 | //pwm |
Lightvalve | 257:c93d3eabff75 | 419 | TIM4->CCR2 = (PWM_ARR)*(1.0f-0.0f); |
Lightvalve | 257:c93d3eabff75 | 420 | TIM4->CCR1 = (PWM_ARR)*(1.0f-1.0f); |
Lightvalve | 257:c93d3eabff75 | 421 | } else if(PWM_Flag <= 500) { |
Lightvalve | 257:c93d3eabff75 | 422 | TIM4->CCR2 = (PWM_ARR)*(1.0f-0.0f); |
Lightvalve | 257:c93d3eabff75 | 423 | TIM4->CCR1 = (PWM_ARR)*(1.0f-0.0f); |
Lightvalve | 257:c93d3eabff75 | 424 | } else { |
Lightvalve | 257:c93d3eabff75 | 425 | PWM_Flag = 0; |
Lightvalve | 257:c93d3eabff75 | 426 | LVDT_LPF = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 427 | force.sen = LVDT_sum * 0.1f; |
Lightvalve | 257:c93d3eabff75 | 428 | LVDT_sum = 0.0f; |
Lightvalve | 58:2eade98630e2 | 429 | } |
Lightvalve | 61:bc8c8270f0ab | 430 | |
Lightvalve | 57:f4819de54e7a | 431 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 432 | } |
Lightvalve | 11:82d8768d7351 | 433 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 434 | } |
Lightvalve | 19:23b7c1ad8683 | 435 | |
Lightvalve | 19:23b7c1ad8683 | 436 | |
Lightvalve | 18:b8adf1582ea3 | 437 | int j =0; |
Lightvalve | 54:647072f5307a | 438 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 439 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 440 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 441 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 442 | int can_rest =0; |
Lightvalve | 239:8ac5c6162bc1 | 443 | float force_ref_act_can = 0.0f; |
Lightvalve | 48:889798ff9329 | 444 | |
Lightvalve | 11:82d8768d7351 | 445 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 446 | { |
Lightvalve | 19:23b7c1ad8683 | 447 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 448 | |
Lightvalve | 45:35fa6884d0c6 | 449 | |
Lightvalve | 50:3c630b5eba9f | 450 | |
Lightvalve | 257:c93d3eabff75 | 451 | // // ===================================================================== |
Lightvalve | 257:c93d3eabff75 | 452 | // // CONTROL LOOP -------------------------------------------------------- |
Lightvalve | 257:c93d3eabff75 | 453 | // // ===================================================================== |
Lightvalve | 257:c93d3eabff75 | 454 | // int UTILITY_MODE = 0; |
Lightvalve | 257:c93d3eabff75 | 455 | // int CONTROL_MODE = 0; |
Lightvalve | 257:c93d3eabff75 | 456 | // |
Lightvalve | 257:c93d3eabff75 | 457 | // if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 257:c93d3eabff75 | 458 | // UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 257:c93d3eabff75 | 459 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 257:c93d3eabff75 | 460 | // } else { |
Lightvalve | 257:c93d3eabff75 | 461 | // CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 257:c93d3eabff75 | 462 | // UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 257:c93d3eabff75 | 463 | // } |
Lightvalve | 257:c93d3eabff75 | 464 | // // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 257:c93d3eabff75 | 465 | // switch (UTILITY_MODE) { |
Lightvalve | 257:c93d3eabff75 | 466 | // case MODE_NO_ACT: { |
Lightvalve | 257:c93d3eabff75 | 467 | // break; |
Lightvalve | 257:c93d3eabff75 | 468 | // } |
Lightvalve | 257:c93d3eabff75 | 469 | // |
Lightvalve | 257:c93d3eabff75 | 470 | // case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 257:c93d3eabff75 | 471 | // static float FORCE_pulse_sum = 0.0; |
Lightvalve | 257:c93d3eabff75 | 472 | // static float PresA_pulse_sum = 0.0; |
Lightvalve | 257:c93d3eabff75 | 473 | // static float PresB_pulse_sum = 0.0; |
Lightvalve | 257:c93d3eabff75 | 474 | // |
Lightvalve | 257:c93d3eabff75 | 475 | // // DAC Voltage reference set |
Lightvalve | 257:c93d3eabff75 | 476 | // float VREF_TuningGain = -0.00000003f; |
Lightvalve | 257:c93d3eabff75 | 477 | // if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) { |
Lightvalve | 257:c93d3eabff75 | 478 | // if(SENSING_MODE == 0) { // Force Sensor (Loadcell) |
Lightvalve | 257:c93d3eabff75 | 479 | // FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 257:c93d3eabff75 | 480 | // if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 257:c93d3eabff75 | 481 | // float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f; |
Lightvalve | 257:c93d3eabff75 | 482 | // FORCE_pulse_sum = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 483 | // |
Lightvalve | 257:c93d3eabff75 | 484 | // FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean); |
Lightvalve | 257:c93d3eabff75 | 485 | // if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f; |
Lightvalve | 257:c93d3eabff75 | 486 | // if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 487 | // dac_1 = FORCE_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 488 | // } |
Lightvalve | 257:c93d3eabff75 | 489 | // } else if (SENSING_MODE == 1) { // Pressure Sensor |
Lightvalve | 257:c93d3eabff75 | 490 | // PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 257:c93d3eabff75 | 491 | // PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 257:c93d3eabff75 | 492 | // if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 257:c93d3eabff75 | 493 | // float PresA_pluse_mean = PresA_pulse_sum / 10.0f; |
Lightvalve | 257:c93d3eabff75 | 494 | // float PresB_pluse_mean = PresB_pulse_sum / 10.0f; |
Lightvalve | 257:c93d3eabff75 | 495 | // PresA_pulse_sum = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 496 | // PresB_pulse_sum = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 497 | // |
Lightvalve | 257:c93d3eabff75 | 498 | // PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean); |
Lightvalve | 257:c93d3eabff75 | 499 | // if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 257:c93d3eabff75 | 500 | // if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 501 | // dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 502 | // PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean); |
Lightvalve | 257:c93d3eabff75 | 503 | // if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 257:c93d3eabff75 | 504 | // if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 505 | // dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 506 | // } |
Lightvalve | 257:c93d3eabff75 | 507 | // } |
Lightvalve | 257:c93d3eabff75 | 508 | // TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 257:c93d3eabff75 | 509 | // } else { |
Lightvalve | 257:c93d3eabff75 | 510 | // if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell) |
Lightvalve | 257:c93d3eabff75 | 511 | // FORCE_pulse_sum = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 512 | // dac_1 = FORCE_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 513 | // spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f)); |
Lightvalve | 257:c93d3eabff75 | 514 | // } else if (SENSING_MODE == 1) { |
Lightvalve | 257:c93d3eabff75 | 515 | // PresA_pulse_sum = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 516 | // PresB_pulse_sum = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 517 | // dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 518 | // dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 257:c93d3eabff75 | 519 | // spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f)); |
Lightvalve | 257:c93d3eabff75 | 520 | // spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f)); |
Lightvalve | 257:c93d3eabff75 | 521 | // } |
Lightvalve | 257:c93d3eabff75 | 522 | // CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 257:c93d3eabff75 | 523 | // TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 257:c93d3eabff75 | 524 | // } |
Lightvalve | 257:c93d3eabff75 | 525 | // break; |
Lightvalve | 257:c93d3eabff75 | 526 | // } |
Lightvalve | 257:c93d3eabff75 | 527 | // |
Lightvalve | 257:c93d3eabff75 | 528 | // |
Lightvalve | 257:c93d3eabff75 | 529 | // default: |
Lightvalve | 257:c93d3eabff75 | 530 | // break; |
Lightvalve | 257:c93d3eabff75 | 531 | // } |
Lightvalve | 257:c93d3eabff75 | 532 | // |
Lightvalve | 257:c93d3eabff75 | 533 | // // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 257:c93d3eabff75 | 534 | // switch (CONTROL_MODE) { |
Lightvalve | 257:c93d3eabff75 | 535 | // case MODE_NO_ACT: { |
Lightvalve | 257:c93d3eabff75 | 536 | // V_out = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 537 | // break; |
Lightvalve | 257:c93d3eabff75 | 538 | // } |
Lightvalve | 257:c93d3eabff75 | 539 | // |
Lightvalve | 257:c93d3eabff75 | 540 | // case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 257:c93d3eabff75 | 541 | // V_out = (float) Vout.ref; |
Lightvalve | 257:c93d3eabff75 | 542 | // break; |
Lightvalve | 257:c93d3eabff75 | 543 | // } |
Lightvalve | 257:c93d3eabff75 | 544 | // |
Lightvalve | 257:c93d3eabff75 | 545 | // default: |
Lightvalve | 257:c93d3eabff75 | 546 | // break; |
Lightvalve | 257:c93d3eabff75 | 547 | // } |
Lightvalve | 257:c93d3eabff75 | 548 | // |
Lightvalve | 257:c93d3eabff75 | 549 | // if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f; |
Lightvalve | 257:c93d3eabff75 | 550 | // else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f; |
Lightvalve | 257:c93d3eabff75 | 551 | // else V_out = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 552 | // |
Lightvalve | 257:c93d3eabff75 | 553 | // |
Lightvalve | 257:c93d3eabff75 | 554 | // //////////////////////////////////////////////////////////////////// |
Lightvalve | 257:c93d3eabff75 | 555 | // /////////////////// PWM Command /////////////////////////////////// |
Lightvalve | 257:c93d3eabff75 | 556 | // //////////////////////////////////////////////////////////////////// |
Lightvalve | 257:c93d3eabff75 | 557 | // |
Lightvalve | 257:c93d3eabff75 | 558 | // if(DIR_VALVE<0) { |
Lightvalve | 257:c93d3eabff75 | 559 | // V_out = -V_out; |
Lightvalve | 257:c93d3eabff75 | 560 | // } |
Lightvalve | 257:c93d3eabff75 | 561 | // |
Lightvalve | 257:c93d3eabff75 | 562 | // if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 257:c93d3eabff75 | 563 | // V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 257:c93d3eabff75 | 564 | // } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 257:c93d3eabff75 | 565 | // V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 257:c93d3eabff75 | 566 | // } |
Lightvalve | 257:c93d3eabff75 | 567 | // PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); |
Lightvalve | 257:c93d3eabff75 | 568 | // |
Lightvalve | 257:c93d3eabff75 | 569 | // // Saturation of output voltage |
Lightvalve | 257:c93d3eabff75 | 570 | // if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 257:c93d3eabff75 | 571 | // else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 257:c93d3eabff75 | 572 | // |
Lightvalve | 257:c93d3eabff75 | 573 | // if (PWM_out>0.0f) { |
Lightvalve | 257:c93d3eabff75 | 574 | // dtc_v=0.0f; |
Lightvalve | 257:c93d3eabff75 | 575 | // dtc_w=PWM_out; |
Lightvalve | 257:c93d3eabff75 | 576 | // } else { |
Lightvalve | 257:c93d3eabff75 | 577 | // dtc_v=-PWM_out; |
Lightvalve | 257:c93d3eabff75 | 578 | // dtc_w=0.0f; |
Lightvalve | 257:c93d3eabff75 | 579 | // } |
Lightvalve | 257:c93d3eabff75 | 580 | // |
Lightvalve | 257:c93d3eabff75 | 581 | //// //pwm |
Lightvalve | 257:c93d3eabff75 | 582 | //// TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 257:c93d3eabff75 | 583 | //// TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 257:c93d3eabff75 | 584 | // |
Lightvalve | 257:c93d3eabff75 | 585 | // //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 257:c93d3eabff75 | 586 | // ////////////////////// Data transmission through CAN ////////////////////// |
Lightvalve | 257:c93d3eabff75 | 587 | // //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 257:c93d3eabff75 | 588 | // |
Lightvalve | 257:c93d3eabff75 | 589 | // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 257:c93d3eabff75 | 590 | |
Lightvalve | 257:c93d3eabff75 | 591 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 257:c93d3eabff75 | 592 | if (flag_data_request[0] == LOW) { |
Lightvalve | 257:c93d3eabff75 | 593 | |
Lightvalve | 257:c93d3eabff75 | 594 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 257:c93d3eabff75 | 595 | 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 | 257:c93d3eabff75 | 596 | // CAN_TX_POSITION_FT((int16_t) (PRES_B_VREF*10.0f*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (pres_B.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f)); |
Lightvalve | 257:c93d3eabff75 | 597 | |
Lightvalve | 257:c93d3eabff75 | 598 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 257:c93d3eabff75 | 599 | CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen)); |
Lightvalve | 257:c93d3eabff75 | 600 | // CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (valve_pos_can*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f)); |
jobuuu | 230:2c3e5ecbe7e1 | 601 | } |
jobuuu | 230:2c3e5ecbe7e1 | 602 | } |
Lightvalve | 235:c831718303c9 | 603 | |
Lightvalve | 257:c93d3eabff75 | 604 | // Valve Position (ID:1300) |
Lightvalve | 257:c93d3eabff75 | 605 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 257:c93d3eabff75 | 606 | CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse)); |
Lightvalve | 257:c93d3eabff75 | 607 | // CAN_TX_PWM((int16_t)(TORQUE_SENSOR_PULSE_PER_TORQUE*10000.0f)); |
Lightvalve | 57:f4819de54e7a | 608 | } |
jobuuu | 230:2c3e5ecbe7e1 | 609 | |
Lightvalve | 257:c93d3eabff75 | 610 | // Others : Pressure A, B, Supply Pressure, etc. (for Debugging) (ID:1400) |
Lightvalve | 257:c93d3eabff75 | 611 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 257:c93d3eabff75 | 612 | float valve_pos_can = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 613 | if(value >= VALVE_ELECTRIC_CENTER) { |
Lightvalve | 257:c93d3eabff75 | 614 | valve_pos_can = 10000.0f*((float)value-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER); |
Lightvalve | 257:c93d3eabff75 | 615 | } else { |
Lightvalve | 257:c93d3eabff75 | 616 | valve_pos_can = -10000.0f*((float)value -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER); |
Lightvalve | 237:c2cfe349f5c1 | 617 | } |
Lightvalve | 257:c93d3eabff75 | 618 | float valve_pos_ref_can = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 619 | if(valve_pos.ref >= VALVE_ELECTRIC_CENTER) { |
Lightvalve | 257:c93d3eabff75 | 620 | valve_pos_ref_can = 10000.0f*((float)valve_pos.ref-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER); |
Lightvalve | 257:c93d3eabff75 | 621 | } else { |
Lightvalve | 257:c93d3eabff75 | 622 | valve_pos_ref_can = -10000.0f*((float)valve_pos.ref -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER); |
Lightvalve | 237:c2cfe349f5c1 | 623 | } |
Lightvalve | 238:4e660aa77eb7 | 624 | |
Lightvalve | 257:c93d3eabff75 | 625 | valve_pos_ref_can = (float)valve_pos.ref; |
Lightvalve | 237:c2cfe349f5c1 | 626 | |
Lightvalve | 257:c93d3eabff75 | 627 | CAN_TX_CURRENT((int16_t) valve_pos_can, (int16_t) valve_pos_pulse_can); |
Lightvalve | 57:f4819de54e7a | 628 | } |
Lightvalve | 57:f4819de54e7a | 629 | |
Lightvalve | 257:c93d3eabff75 | 630 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 257:c93d3eabff75 | 631 | // } |
Lightvalve | 54:647072f5307a | 632 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 633 | |
Lightvalve | 20:806196fda269 | 634 | } |
Lightvalve | 52:8ea76864368a | 635 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 636 | |
Lightvalve | 257:c93d3eabff75 | 637 | } |
Lightvalve | 257:c93d3eabff75 | 638 | |
Lightvalve | 257:c93d3eabff75 | 639 | // |
Lightvalve | 257:c93d3eabff75 | 640 | //float FREQ_TMR2 = (float)FREQ_400k; |
Lightvalve | 257:c93d3eabff75 | 641 | //float DT_TMR2 = (float)DT_400k; |
Lightvalve | 257:c93d3eabff75 | 642 | //int TMR2_timer = 0; |
Lightvalve | 257:c93d3eabff75 | 643 | //int toggle_old = 0; |
Lightvalve | 257:c93d3eabff75 | 644 | // |
Lightvalve | 257:c93d3eabff75 | 645 | //float LVDT_new = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 646 | //float LVDT_old = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 647 | //float LVDT_f_cut = 1000.0f; |
Lightvalve | 257:c93d3eabff75 | 648 | //float LVDT_LPF = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 649 | //float LVDT_sum = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 650 | // |
Lightvalve | 257:c93d3eabff75 | 651 | //extern "C" void TIM2_IRQHandler(void) |
Lightvalve | 257:c93d3eabff75 | 652 | //{ |
Lightvalve | 257:c93d3eabff75 | 653 | // if (TIM2->SR & TIM_SR_UIF ) { |
Lightvalve | 257:c93d3eabff75 | 654 | //// if (LED > 0) LED = 0; |
Lightvalve | 257:c93d3eabff75 | 655 | //// else LED = 1; |
Lightvalve | 257:c93d3eabff75 | 656 | //// LED = 1; |
Lightvalve | 257:c93d3eabff75 | 657 | // |
Lightvalve | 257:c93d3eabff75 | 658 | // if (toggle != toggle_old) { |
Lightvalve | 257:c93d3eabff75 | 659 | // TMR2_timer = 0; |
Lightvalve | 257:c93d3eabff75 | 660 | // LVDT_LPF = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 661 | // LVDT_sum = 0.0f; |
Lightvalve | 257:c93d3eabff75 | 662 | //// if (LED > 0) LED = 0; |
Lightvalve | 257:c93d3eabff75 | 663 | //// else LED = 1; |
Lightvalve | 257:c93d3eabff75 | 664 | // } |
Lightvalve | 257:c93d3eabff75 | 665 | // |
Lightvalve | 257:c93d3eabff75 | 666 | // if (TMR2_timer >= 6 && TMR2_timer <=45) { |
Lightvalve | 257:c93d3eabff75 | 667 | //// if (TMR2_timer >= 6 && TMR2_timer <=25) { |
Lightvalve | 257:c93d3eabff75 | 668 | //// if (LED > 0) LED = 0; |
Lightvalve | 257:c93d3eabff75 | 669 | //// else LED = 1; |
Lightvalve | 257:c93d3eabff75 | 670 | //// LED = 0; |
Lightvalve | 257:c93d3eabff75 | 671 | // ADC1->CR2 |= 0x40000000; |
Lightvalve | 257:c93d3eabff75 | 672 | // LVDT_new = ((float)ADC1->DR) - 2047.5f; |
Lightvalve | 257:c93d3eabff75 | 673 | // if (ADC1->SR &= ~(ADC_SR_EOC)) { |
Lightvalve | 257:c93d3eabff75 | 674 | //// if (LED > 0) LED = 0; |
Lightvalve | 257:c93d3eabff75 | 675 | //// else LED = 1; |
Lightvalve | 257:c93d3eabff75 | 676 | //// LED = 1; |
Lightvalve | 257:c93d3eabff75 | 677 | // } |
Lightvalve | 257:c93d3eabff75 | 678 | //// float alpha_update = 1.0f / (1.0f + FREQ_TMR2 / (2.0f * 3.14f * LVDT_f_cut)); // f_cutoff : 100Hz |
Lightvalve | 257:c93d3eabff75 | 679 | //// LVDT_LPF = (1.0f - alpha_update) * LVDT_LPF + alpha_update * LVDT_new; |
Lightvalve | 257:c93d3eabff75 | 680 | //// LVDT_sum = LVDT_sum + LVDT_LPF; |
Lightvalve | 257:c93d3eabff75 | 681 | // LVDT_sum = LVDT_sum + LVDT_new; |
Lightvalve | 257:c93d3eabff75 | 682 | // |
Lightvalve | 257:c93d3eabff75 | 683 | //// force.UpdateSen((((float)ADC1->DR) - 2047.5f), FREQ_TMR2, 100.0f); // unit : N |
Lightvalve | 257:c93d3eabff75 | 684 | //// this->sen_diff = (sen_new-this->sen)*Freq_update; |
Lightvalve | 257:c93d3eabff75 | 685 | //// float alpha_update = 1.0f / (1.0f + Freq_update / (2.0f * 3.14f * f_cut)); // f_cutoff : 100Hz |
Lightvalve | 257:c93d3eabff75 | 686 | //// this->sen = (1.0f - alpha_update) * this->sen + alpha_update * sen_new; |
Lightvalve | 257:c93d3eabff75 | 687 | //// force.sen = LVDT_new; |
Lightvalve | 257:c93d3eabff75 | 688 | // } |
Lightvalve | 257:c93d3eabff75 | 689 | // |
Lightvalve | 257:c93d3eabff75 | 690 | // else if (TMR2_timer == 46) { //46 |
Lightvalve | 257:c93d3eabff75 | 691 | //// if (TMR2_timer == 50) { |
Lightvalve | 257:c93d3eabff75 | 692 | //// LED = 1; |
Lightvalve | 257:c93d3eabff75 | 693 | //// ADC1->CR2 |= 0x40000000; |
Lightvalve | 257:c93d3eabff75 | 694 | //// LVDT_new = ((float)ADC1->DR) - 2047.5f; |
Lightvalve | 257:c93d3eabff75 | 695 | //// force.sen = LVDT_new; |
Lightvalve | 257:c93d3eabff75 | 696 | // force.sen = LVDT_sum * 0.025f; |
Lightvalve | 257:c93d3eabff75 | 697 | //// force.sen = LVDT_sum; |
Lightvalve | 257:c93d3eabff75 | 698 | // |
Lightvalve | 257:c93d3eabff75 | 699 | //// ADC1->CR2 |= 0x40000000; |
Lightvalve | 257:c93d3eabff75 | 700 | //// LVDT_new = ((float)ADC1->DR) - 2047.5f; |
Lightvalve | 257:c93d3eabff75 | 701 | //// force.sen = LVDT_new; |
Lightvalve | 257:c93d3eabff75 | 702 | //// force.UpdateSen(LVDT_sum * 0.025f, 1000.0f, 10.0f); |
Lightvalve | 257:c93d3eabff75 | 703 | //// LED = 0; |
Lightvalve | 257:c93d3eabff75 | 704 | // } |
Lightvalve | 257:c93d3eabff75 | 705 | //// LED = 0; |
Lightvalve | 257:c93d3eabff75 | 706 | // toggle_old = toggle; |
Lightvalve | 257:c93d3eabff75 | 707 | // TMR2_timer++; |
Lightvalve | 257:c93d3eabff75 | 708 | // } |
Lightvalve | 257:c93d3eabff75 | 709 | // TIM2->SR = 0x0; // reset the status register |
Lightvalve | 257:c93d3eabff75 | 710 | // |
Lightvalve | 257:c93d3eabff75 | 711 | //} |