rainbow

Dependencies:   mbed FastPWM

main.cpp

Committer:
Lightvalve
Date:
2020-09-26
Revision:
131:d08121ac87ba
Parent:
130:26b416050376
Child:
132:06e670a4f416

File content as of revision 131:d08121ac87ba:

//200926-2
#include "mbed.h"
#include "FastPWM.h"
#include "INIT_HW.h"
#include "function_CAN.h"
#include "SPI_EEP_ENC.h"
#include "I2C_AS5510.h"
#include "setting.h"
#include "function_utilities.h"
#include "stm32f4xx_flash.h"
#include "FlashWriter.h"      

using namespace std;
Timer t;

///191008////

// dac & check ///////////////////////////////////////////
DigitalOut check(PC_2);
DigitalOut check_2(PC_3);
AnalogOut dac_1(PA_4);
AnalogOut dac_2(PA_5);
AnalogIn adc1(PC_4); //pressure_1
AnalogIn adc2(PB_0); //pressure_2
AnalogIn adc3(PC_1); //current


// PWM ///////////////////////////////////////////
float dtc_v=0.0f;
float dtc_w=0.0f;

// I2C ///////////////////////////////////////////
I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
const int i2c_slave_addr1 =  0x56;
unsigned int value; // 10bit output of reading sensor AS5510

// SPI ///////////////////////////////////////////
//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
//DigitalOut eeprom_cs(PB_12);
//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
SPI enc(PC_12,PC_11,PC_10);
DigitalOut enc_cs(PD_2);
DigitalOut LED(PA_15);

// UART ///////////////////////////////////////////
Serial pc(PA_9,PA_10); //  _ UART

// CAN ///////////////////////////////////////////
CAN can(PB_8, PB_9, 1000000);
CANMessage msg;
void onMsgReceived()
{
    CAN_RX_HANDLER();
}

// Variables ///////////////////////////////////////////
State pos;
State vel;
State Vout;
State torq;
State pres_A;
State pres_B;
State cur;
State valve_pos;

State INIT_Vout;
State INIT_Valve_Pos;
State INIT_Pos;
State INIT_torq;

extern int CID_RX_CMD;
extern int CID_RX_REF_POSITION;
extern int CID_RX_REF_VALVE_POS;
extern int CID_RX_REF_PWM;

extern int CID_TX_INFO;
extern int CID_TX_POSITION;
extern int CID_TX_TORQUE;
extern int CID_TX_PRES;
extern int CID_TX_VOUT;
extern int CID_TX_VALVE_POSITION;




// =============================================================================
// =============================================================================
// =============================================================================

/*******************************************************************************
 *  REFERENCE MODE
 ******************************************************************************/
enum _REFERENCE_MODE {
    MODE_REF_NO_ACT = 0,                                //0
    MODE_REF_DIRECT,                                //1
    MODE_REF_COS_INC,                                  //2
    MODE_REF_LINE_INC,                                 //3
    MODE_REF_SIN_WAVE,                                  //4
    MODE_REF_SQUARE_WAVE,                                  //5
};

/*******************************************************************************
 *  CONTROL MODE
 ******************************************************************************/
enum _CONTROL_MODE {
    //control mode
    MODE_NO_ACT = 0,                                    //0
    MODE_VALVE_POSITION_CONTROL,                        //1
    MODE_JOINT_CONTROL,                                 //2

    MODE_VALVE_OPEN_LOOP,                               //3
    MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION,  //4
    MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING,        //5

    MODE_JOINT_POSITION_PRES_CONTROL_PWM,               //6
    MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION,    //7
    MODE_VALVE_POSITION_PRES_CONTROL_LEARNING,          //8

    MODE_TEST_CURRENT_CONTROL,                          //9
    MODE_TEST_PWM_CONTROL,                              //10

    MODE_CURRENT_CONTROL,                               //11
    MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT,         //12
    MODE_JOINT_POSITION_PRES_CONTROL_CURRENT,           //13

    //utility
    MODE_TORQUE_SENSOR_NULLING = 20,                    //20
    MODE_VALVE_NULLING_AND_DEADZONE_SETTING,            //21
    MODE_FIND_HOME,                                     //22
    MODE_VALVE_GAIN_SETTING,                            //23
    MODE_PRESSURE_SENSOR_NULLING,                       //24
    MODE_PRESSURE_SENSOR_CALIB,                         //25
    MODE_ROTARY_FRICTION_TUNING,                        //26

    MODE_DDV_POS_VS_PWM_ID = 30,                           //30
    MODE_DDV_DEADZONE_AND_CENTER,                       //31
    MODE_DDV_POS_VS_FLOWRATE,                           //32
    MODE_SYSTEM_ID,                                     //33
};

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;//8
  RCC_OscInitStruct.PLL.PLLN = 180; //180
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    //Error_Handler();
  }
  /** Activate the Over-Drive mode 
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    //Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    //Error_Handler();
  }
}

float u_past[num_array_u_past] = {0.0f};
float x_past[num_array_x_past] = {0.0f};
float x_future[num_array_x_future] = {0.0f};
float f_past[num_array_f_past] = {0.0f};
float f_future[num_array_f_future] = {0.0f};

float input_NN[num_input] = { 0.0f };

const float h1[num_input][16] = { 
   {-1.1956169605255127f,1.9541065692901611f,0.12024858593940735f,0.45766109228134155f,-2.46848726272583f,2.3174383640289307f,-0.1628284603357315f,1.7106189727783203f,-0.2671312689781189f,-0.05200039967894554f,-0.19419001042842865f,-2.0949411392211914f,-0.49257272481918335f,-1.4435396194458008f,-0.2396446317434311f,-0.9453407526016235f},
{-0.9400460720062256f,1.4245012998580933f,-0.36603355407714844f,0.09679121524095535f,-1.8845808506011963f,1.4850690364837646f,-0.3777896761894226f,1.1137275695800781f,-0.07536926865577698f,0.18067102134227753f,-0.22846831381320953f,-1.3824812173843384f,0.05978057160973549f,-1.5047208070755005f,-0.1953967958688736f,-0.818098783493042f},
{-0.5974735021591187f,0.7207550406455994f,0.33912619948387146f,-0.30167949199676514f,-0.8872138857841492f,0.8307980298995972f,0.2676515281200409f,0.684933066368103f,-0.15134312212467194f,0.18280228972434998f,-0.2973056733608246f,-0.6771632432937622f,-0.07414653152227402f,-0.503684401512146f,0.05209478735923767f,-1.0339781045913696f},
{-0.09716399759054184f,-0.3238726854324341f,0.3703531324863434f,0.2439771294593811f,0.03079681470990181f,-0.44225749373435974f,-0.10795548558235168f,0.20563587546348572f,0.019950227811932564f,0.3058837950229645f,0.11630532890558243f,0.5606547594070435f,-0.13546738028526306f,0.08037986606359482f,-0.27597576379776f,-0.540359377861023f},
{0.8463809490203857f,-1.2642353773117065f,-0.004794687032699585f,0.12911343574523926f,1.1585084199905396f,-1.3141409158706665f,0.12058994174003601f,-1.2253652811050415f,0.02594391070306301f,0.1314161866903305f,0.3510971963405609f,1.3880574703216553f,0.04641415551304817f,1.2522947788238525f,-0.36018112301826477f,0.2527952492237091f},
{1.5909785032272339f,-3.175170660018921f,0.20290347933769226f,0.08839220553636551f,2.6832611560821533f,-2.9426558017730713f,0.15389427542686462f,-2.881338596343994f,0.02902456931769848f,0.1379185914993286f,-0.20390546321868896f,2.871346950531006f,-0.04241325333714485f,2.804138660430908f,-0.38513508439064026f,2.1350905895233154f},
{-0.12085642665624619f,-0.3199078142642975f,-0.2331579178571701f,-0.48533105850219727f,-0.16761304438114166f,-0.14451755583286285f,0.05604562163352966f,-0.8228414058685303f,0.3384076952934265f,0.08443693816661835f,0.1641031950712204f,0.34797629714012146f,-0.213156059384346f,0.6453942656517029f,-0.14554673433303833f,2.227891683578491f},
{-0.15758372843265533f,-0.24950604140758514f,-0.24806702136993408f,0.01830308884382248f,-0.181361585855484f,-0.24425840377807617f,-0.16704979538917542f,-0.42299458384513855f,0.024335289373993874f,0.1271706521511078f,0.12164045870304108f,-0.018594985827803612f,0.29838648438453674f,0.1081574410200119f,0.04009982943534851f,0.8046209812164307f},
{0.13237953186035156f,0.24378275871276855f,0.09550115466117859f,-0.4280838668346405f,0.11724983900785446f,-0.02897932194173336f,-0.06753402948379517f,-0.5428119897842407f,-0.25201329588890076f,0.34253764152526855f,-0.2532883286476135f,0.5114379525184631f,0.16659514605998993f,0.44910377264022827f,-0.2847418785095215f,0.8708233833312988f},
{0.020640259608626366f,-0.2428482323884964f,0.17205187678337097f,-0.18949557840824127f,0.47359582781791687f,0.1461060345172882f,-0.2786858379840851f,-0.2425689697265625f,-0.0071503291837871075f,-0.4227764308452606f,0.0162271149456501f,-0.21304276585578918f,0.3000964820384979f,0.08429371565580368f,0.3247623145580292f,0.44280844926834106f},
{0.4047212600708008f,0.28985321521759033f,0.34649983048439026f,0.17841115593910217f,0.16438840329647064f,0.05032389983534813f,-0.1895401030778885f,0.17733506858348846f,-0.3974670171737671f,0.04118736833333969f,0.3485802114009857f,-0.3962743580341339f,-0.1048535481095314f,-0.2142852544784546f,0.24870619177818298f,-0.9647120237350464f},
{-0.5234584212303162f,0.3257308602333069f,-0.3757385015487671f,-0.06390493363142014f,-0.16097404062747955f,0.23826104402542114f,0.1429324448108673f,1.6107418537139893f,-0.13908539712429047f,0.2028050422668457f,-0.36206790804862976f,-0.5547217726707458f,0.10675008594989777f,-1.219779133796692f,0.09779238700866699f,-3.4316484928131104f},
{-0.09844901412725449f,0.10108669102191925f,0.18496140837669373f,0.08368060737848282f,0.2171357423067093f,0.15216588973999023f,-0.22405625879764557f,0.44349199533462524f,-0.1580732762813568f,-0.16995948553085327f,-0.07901274412870407f,-0.5572441220283508f,0.017470277845859528f,-0.45106565952301025f,-0.2075144499540329f,-1.6240781545639038f},
{-0.2828729450702667f,-0.04551524296402931f,0.38466766476631165f,-0.16469638049602509f,-0.2127838283777237f,-0.4080352783203125f,-0.2982172966003418f,-0.05918114632368088f,-0.10835221409797668f,-0.20298826694488525f,-0.15936842560768127f,-0.467716246843338f,-0.31966355443000793f,0.015209190547466278f,0.04470124840736389f,0.08305393904447556f},
{-0.02526024915277958f,-0.10673379898071289f,0.18900898098945618f,-0.043616883456707f,0.4068395495414734f,-0.4073919355869293f,0.03916636109352112f,0.3982734978199005f,0.3009915351867676f,0.08049013465642929f,-0.2378201186656952f,-0.6291245818138123f,0.1008780375123024f,0.37950804829597473f,0.062258750200271606f,1.1864618062973022f},
{-0.2719186246395111f,-0.44829559326171875f,-0.37685394287109375f,-0.19920584559440613f,-0.1270388662815094f,-0.2079198956489563f,-0.14507901668548584f,0.25207075476646423f,0.20622950792312622f,-0.005332365166395903f,-0.4191429018974304f,-0.41693365573883057f,-0.23004379868507385f,0.4789843261241913f,-0.07684260606765747f,1.7305576801300049f},
{-0.34262335300445557f,-0.16922307014465332f,0.15568438172340393f,-0.02917546033859253f,-0.0873088389635086f,-0.18939854204654694f,-0.03859376907348633f,0.36984893679618835f,-0.040452513843774796f,0.07805625349283218f,-0.30713871121406555f,-0.11034384369850159f,0.13076388835906982f,0.5984110236167908f,0.2742314636707306f,1.1023929119110107f},
{-0.2602444589138031f,-0.15024526417255402f,0.19490453600883484f,-0.2521218955516815f,-0.2991682291030884f,-0.10734956711530685f,-0.336474746465683f,0.1193944662809372f,-0.3611188232898712f,-0.11798740923404694f,-0.13278308510780334f,-0.012485034763813019f,0.2817862927913666f,0.18208034336566925f,-0.2561379373073578f,1.009689211845398f},
{-0.500319242477417f,0.08048559725284576f,-0.2776013910770416f,0.14631828665733337f,0.28522399067878723f,0.017316730692982674f,0.25546005368232727f,-0.27694079279899597f,-0.35695821046829224f,0.02269558236002922f,-0.3737531900405884f,-0.0666629821062088f,0.09167450666427612f,0.22963275015354156f,-0.30415377020835876f,-0.15303073823451996f},
{0.20733878016471863f,0.2790791094303131f,0.1420871913433075f,-0.310675710439682f,-0.14844459295272827f,0.17805932462215424f,-0.13263443112373352f,-0.591518223285675f,-0.14417357742786407f,0.039684996008872986f,0.12231305241584778f,0.21133604645729065f,0.22742675244808197f,0.27733302116394043f,0.13351169228553772f,-0.47206178307533264f},
{-0.3225261867046356f,-0.11768028140068054f,-0.07561364769935608f,0.08295725286006927f,-0.3643610179424286f,0.012951040640473366f,0.14428457617759705f,-0.33390116691589355f,-0.3413614332675934f,-0.2919459939002991f,-0.3611116111278534f,-0.4542746841907501f,-0.1833125650882721f,0.15518221259117126f,0.019461065530776978f,-0.7060840129852295f},
{-0.37913772463798523f,-0.2526766359806061f,0.2631795108318329f,-0.5752549767494202f,0.11304201930761337f,-0.24160557985305786f,0.27224990725517273f,-0.7662065625190735f,-0.0499146394431591f,0.09269854426383972f,0.05944101884961128f,-0.393501341342926f,0.2358129620552063f,0.23764903843402863f,0.06011766195297241f,-0.06155134737491608f},
};

const float h2[16][16] = { 
    {1.118157982826233f,0.026402628049254417f,-0.06966331601142883f,-0.01751459203660488f,-0.21907491981983185f,0.4986690878868103f,-0.028952009975910187f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.4330671429634094f,-0.29910382628440857f,0.019865797832608223f,-0.5019774436950684f,-0.965875506401062f,-0.12867528200149536f},
{1.8996304273605347f,-1.5267117023468018f,0.057057321071624756f,0.08965644985437393f,-0.35503754019737244f,-1.574440836906433f,-0.566491425037384f,-0.3689810335636139f,-0.33757925033569336f,0.2895788848400116f,-1.861789584159851f,-0.7174742817878723f,0.22530922293663025f,0.9965652227401733f,-0.1983392834663391f,-1.3351067304611206f},
{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
{-0.30105364322662354f,-0.2681814432144165f,-0.2894435524940491f,0.295579731464386f,0.08946844935417175f,0.29065629839897156f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2228393852710724f,0.3810819983482361f,-0.5158584713935852f,-0.21033982932567596f,0.2123195081949234f,0.16286467015743256f},
{1.9263973236083984f,-6.4410223960876465f,-0.25313520431518555f,0.12884916365146637f,0.036378175020217896f,1.7120977640151978f,-0.4249382019042969f,-0.13983429968357086f,-0.024399548768997192f,-0.39465832710266113f,0.6666945219039917f,-0.6493611335754395f,-0.011714352294802666f,-1.8275744915008545f,-1.04521644115448f,0.7345888018608093f},
{3.7787277698516846f,-0.6443707346916199f,-0.3519742488861084f,0.45545488595962524f,-0.3015052080154419f,-3.639652967453003f,-0.6845589876174927f,-0.10691878944635391f,-0.23047015070915222f,0.3579089343547821f,-2.359076976776123f,-0.24991123378276825f,-0.32143542170524597f,2.6964616775512695f,1.2543081045150757f,0.4813939034938812f},
{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
{-2.880831718444824f,-2.5246427059173584f,0.33083590865135193f,-0.24984709918498993f,-0.14358049631118774f,-0.13872985541820526f,-0.2296978086233139f,-0.36773961782455444f,0.2600560486316681f,-0.37898191809654236f,0.51035475730896f,-0.40991485118865967f,-0.31673234701156616f,1.4167289733886719f,-0.03128518536686897f,-1.6549022197723389f},
{-0.2084311544895172f,0.32353609800338745f,-0.11379697918891907f,0.10241877287626266f,0.041274964809417725f,-0.3846627175807953f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.03845156729221344f,-0.3197441101074219f,-0.37024784088134766f,-0.27218618988990784f,-0.37640514969825745f,-0.23703627288341522f},
{-0.1247129961848259f,0.19229479134082794f,-0.13502129912376404f,0.09134597331285477f,0.12987366318702698f,0.08067499846220016f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.2095015048980713f,0.3686753809452057f,0.3811538517475128f,-0.2097279578447342f,0.04410898685455322f,-0.26628780364990234f},
{-0.25566571950912476f,-0.03334655612707138f,0.0457797646522522f,-0.3833528161048889f,-0.03321319818496704f,-0.43721693754196167f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.23595042526721954f,0.3545852601528168f,-0.3647043704986572f,0.44764262437820435f,-0.3679425120353699f,-0.31210198998451233f},
{3.029474973678589f,1.5539413690567017f,0.3954955041408539f,0.19658516347408295f,0.0033026933670043945f,1.0192269086837769f,-0.40522921085357666f,-0.22022095322608948f,0.3487861454486847f,-0.32520344853401184f,-0.6443755626678467f,-0.5238021016120911f,-0.030794570222496986f,-1.304523229598999f,-0.187196746468544f,-0.7065238952636719f},
{-0.17512467503547668f,-0.17936718463897705f,-0.15798500180244446f,0.22627809643745422f,-0.37393757700920105f,0.36229458451271057f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.08606293797492981f,-0.31362128257751465f,0.30660009384155273f,-0.10633572190999985f,-0.18593157827854156f,0.11668103188276291f},
{-0.7335237860679626f,1.0983631610870361f,-0.2018718123435974f,-0.09944558888673782f,0.07545611262321472f,-0.0704403966665268f,-0.3188112676143646f,-0.34943315386772156f,-0.24509364366531372f,0.19522181153297424f,1.3507957458496094f,-0.6690428256988525f,-0.27907073497772217f,-0.51666659116745f,-0.5962638258934021f,0.3479926884174347f},
{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
{-1.6585843563079834f,-2.8949406147003174f,0.12081471085548401f,-0.20656532049179077f,0.29976895451545715f,-0.4545046389102936f,-0.3059020936489105f,0.2837134599685669f,-0.3893685042858124f,-0.02222958207130432f,0.7774568200111389f,-0.34831833839416504f,-0.31249529123306274f,-0.37280145287513733f,-1.0618226528167725f,0.19856099784374237f},
};

const float h3[16][16] = { 
    {-0.36079341173171997f,-6.634408473968506f,0.2660183310508728f,0.3780023157596588f,-1.052498459815979f,0.00011058850213885307f,0.2158546894788742f,0.15318068861961365f,-0.4799728989601135f,-0.19770589470863342f,-0.11870327591896057f,0.08692313730716705f,-1.5373475551605225f,1.4960458278656006f,1.1136343479156494f,0.33341190218925476f},
{0.047732532024383545f,-0.0008532904321327806f,0.1749679297208786f,0.15211161971092224f,-0.18240192532539368f,2.944945812225342f,-0.3198729455471039f,0.06247803568840027f,0.03570694103837013f,-0.5405685901641846f,0.4144817292690277f,-0.4696841835975647f,0.4540969431400299f,-0.608070433139801f,1.9369739294052124f,-0.41805732250213623f},
{0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
{-0.30922991037368774f,-0.16988709568977356f,0.30958712100982666f,-0.37309399247169495f,-0.2169945240020752f,0.10060708969831467f,0.20021501183509827f,0.07002416253089905f,-0.21373674273490906f,-0.365601509809494f,0.13192829489707947f,0.41021624207496643f,-0.04561224579811096f,0.07542174309492111f,0.13873246312141418f,-0.03370444104075432f},
{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
{-0.37449589371681213f,-3.4455225467681885f,-1.4439983367919922f,-0.22731581330299377f,-3.1937830448150635f,0.18943846225738525f,-0.31342682242393494f,0.07509345561265945f,-0.7288225293159485f,-0.4627543091773987f,-0.08919548988342285f,-0.12296706438064575f,4.677646636962891f,-4.959240436553955f,3.2397050857543945f,0.6110252737998962f},
{0.4110594093799591f,0.21796488761901855f,-0.28898707032203674f,0.25129392743110657f,0.15261942148208618f,-0.08698523789644241f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.35564061999320984f,0.0884476900100708f,0.16810166835784912f,-0.3391006588935852f},
{-0.40892091393470764f,0.03546829894185066f,-0.4707719385623932f,0.1387016326189041f,0.22356410324573517f,0.07907699793577194f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.48474669456481934f,0.07994696497917175f,0.005298197269439697f},
{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
{0.15459725260734558f,1.5904432535171509f,-0.1097959503531456f,-0.9696974158287048f,0.1818193793296814f,0.340238094329834f,-0.08742031455039978f,-0.04813981428742409f,-0.2547273635864258f,-0.573274552822113f,0.1268840730190277f,-0.6060346961021423f,0.24557127058506012f,-3.25490403175354f,1.3931238651275635f,-0.10349390655755997f},
{-0.408692330121994f,-0.051464516669511795f,-0.005845870357006788f,0.022719833999872208f,-0.08350561559200287f,-0.11579781025648117f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.5204461812973022f,-0.26505690813064575f,-0.23564808070659637f,0.31690117716789246f},
{-0.2991822361946106f,0.3198093771934509f,-0.03278012573719025f,-0.05932474136352539f,0.12838001549243927f,0.18775075674057007f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.05636082589626312f,-0.17220379412174225f,0.3176133632659912f,-0.16869547963142395f},
{-0.2675279378890991f,1.8016947507858276f,0.606451690196991f,0.8853660225868225f,0.16671153903007507f,-0.6507490277290344f,-0.4582195281982422f,-0.4366315007209778f,-0.8873895406723022f,-0.739578366279602f,-0.3685331642627716f,-0.7161888480186462f,-2.9520368576049805f,-1.2378021478652954f,-1.1619811058044434f,-0.7018218636512756f},
{-0.015470266342163086f,-1.1638100147247314f,0.5526279211044312f,-0.46289893984794617f,0.1222415640950203f,-0.12419240921735764f,0.05196094512939453f,-0.008358269929885864f,-0.5885560512542725f,-0.5304774641990662f,0.13179203867912292f,-0.11511552333831787f,0.9951580166816711f,0.09855327755212784f,-0.3216860592365265f,-0.45090147852897644f},
{0.1863725483417511f,1.511878490447998f,-0.37864598631858826f,-0.37369877099990845f,0.3111405074596405f,0.5492295622825623f,0.07846614718437195f,0.02850668504834175f,-0.294668972492218f,-0.06887666881084442f,-0.3929237127304077f,-0.11778708547353745f,-1.0746829509735107f,2.953195571899414f,-4.6077470779418945f,-0.059049513190984726f},
};

const float hout[16] = { 0.45773375034332275f,0.31196489930152893f,-0.13185198605060577f,-0.16391754150390625f,-0.19424588978290558f,0.359182208776474f,-0.03189801052212715f,0.03921443596482277f,-0.1738540083169937f,0.08527485281229019f,0.24303162097930908f,-0.023280441761016846f,-0.739281177520752f,-0.4194124639034271f,-0.3134619891643524f,-0.01592673920094967f };

const float b1[16] = { 0.8415809273719788f,1.0703039169311523f,-1.7145336866378784f,0.3049679398536682f,1.2612354755401611f,0.7037971019744873f,-0.058932315558195114f,0.8694376349449158f,0.5314441323280334f,-0.8952388167381287f,0.5985291600227356f,1.553392767906189f,-0.4700530469417572f,-1.0793685913085938f,-1.087764859199524f,0.22083836793899536f };

const float b2[16] = { -0.8204003572463989f,-1.251840591430664f,-1.4564176797866821f,-0.5728105306625366f,-0.6939148902893066f,0.08014484494924545f,0.23218181729316711f,-0.356546014547348f,-1.20063054561615f,-1.912178635597229f,-0.3182550072669983f,0.3313150703907013f,-0.19166316092014313f,1.605037808418274f,-0.18490852415561676f,1.2165850400924683f };

const float b3[16] = { -1.963319182395935f,-3.8163950443267822f,0.02664731629192829f,-0.1306416541337967f,0.26941177248954773f,1.0376825332641602f,-0.5807558298110962f,-0.80561363697052f,0.1578773856163025f,0.12574471533298492f,-0.14371006190776825f,-0.2634562849998474f,-3.3797802925109863f,-1.3627538681030273f,0.32906922698020935f,-1.0846413373947144f };

const float bout[1] = { -0.2638187110424042f };


float VALVE_POS_RAW_NN = 0.0f;
float DDV_JOINT_POS_FF(float REF_JOINT_VEL);

int main()
{

    HAL_Init();
    SystemClock_Config();
    
    /*********************************
    ***     Initialization
    *********************************/
    LED = 0;
    pc.baud(9600);

    // i2c init
    i2c.frequency(400 * 1000);          // 0.4 mHz
    wait_ms(2);                         // Power Up wait
    look_for_hardware_i2c();            // Hardware present
    init_as5510(i2c_slave_addr1);
    make_delay();

//    // spi init
    //eeprom.format(8,3);
    //eeprom.frequency(5000000); //5M
    enc.format(8,0);
    enc.frequency(5000000); //5M
    make_delay();

    //rom
    ROM_CALL_DATA();
    make_delay();

    // ADC init
    Init_ADC();
    make_delay();

    // Pwm init
    Init_PWM();
    TIM4->CR1 ^= TIM_CR1_UDIS;
    make_delay();

    // TMR3 init
    Init_TMR3();
    TIM3->CR1 ^= TIM_CR1_UDIS;
    make_delay();

    // TMR2 init
//    Init_TMR2();
//    TIM2->CR1 ^= TIM_CR1_UDIS;
//    make_delay();

    // CAN
    can.attach(&CAN_RX_HANDLER);
    CAN_ID_INIT();
    make_delay();

    //Timer priority
    NVIC_SetPriority(TIM3_IRQn, 2);
    //NVIC_SetPriority(TIM2_IRQn, 3);
    NVIC_SetPriority(TIM4_IRQn, 3);

    //can.reset();
    can.filter(msg.id, 0xFFFFF000, CANStandard);

    // spi _ enc
    spi_enc_set_init();
    make_delay();

    //DAC init
    if (SENSING_MODE == 0) {
        dac_1 = TORQUE_VREF / 3.3f;
        dac_2 = 0.0f;
    } else if (SENSING_MODE == 1) {
        dac_1 = PRES_A_VREF / 3.3f;
        dac_2 = PRES_B_VREF / 3.3f;
    }
    make_delay();

    for (int i=0; i<50; i++) {
        if(i%2==0)
            ID_index_array[i] = - i * 0.5f;
        else
            ID_index_array[i] =  (i+1) * 0.5f;
    }
    

    /************************************
    ***     Program is operating!
    *************************************/
    while(1) {
//        if(timer_while==1000 && OPERATING_MODE==5) {
        //if(timer_while==1000) {
            //i2c
            
            read_field(i2c_slave_addr1);
            if(DIR_VALVE_ENC < 0) value = 1023 - value;
            //            if(LED==1) {
            //                LED=0;
            //            } else
            //                LED = 1;
            timer_while = 0;
        //}
        
        timer_while ++;
        
        //LED = 0;
        
        if(NN_Control_Flag == 0) {
            LED = 0;
        }
        
        else if(NN_Control_Flag == 1) {
            
            int ind = 0;
            for(int i=0; i<numpast_u; i++) {
                input_NN[ind] = u_past[time_interval*i];
                ind = ind + 1;
            }

            for(int i=0; i<numpast_x; i++) {
                input_NN[ind] = x_past[time_interval*i] / 60.0f;
                ind = ind + 1;
            }
            input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
            ind = ind + 1;
            
//            for(int i=0; i<numfuture_x; i++) {
//                input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
//                ind = ind + 1;
//            }

            for(int i=0; i<numpast_f; i++) {
                input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
                ind = ind + 1;
            }
            input_NN[ind] = torq.sen / 10000.0f + 0.5f;
            ind = ind + 1;
            for(int i=0; i<numfuture_f; i++) {
                input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
//            input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
                ind = ind + 1;
            }
            
            float output1[16] = { 0.0f };
            float output2[16] = { 0.0f };
            float output3[16] = { 0.0f };
            float output = 0.0f;

            for (int index2 = 0; index2 < 16; index2++) {
                for (int index1 = 0; index1 < num_input; index1++) {
                    output1[index2] = output1[index2]
                                      + h1[index1][index2] * input_NN[index1];
                }
                output1[index2] = output1[index2] + b1[index2];
                if (output1[index2] < 0) {
                    output1[index2] = 0;
                }
            }

            for (int index2 = 0; index2 < 16; index2++) {
                for (int index1 = 0; index1 < 16; index1++) {
                    output2[index2] = output2[index2]
                                      + h2[index1][index2] * output1[index1];
                }
                output2[index2] = output2[index2] + b2[index2];
                if (output2[index2] < 0) {
                    output2[index2] = 0;
                }
            }

            for (int index2 = 0; index2 < 16; index2++) {
                for (int index1 = 0; index1 < 16; index1++) {
                    output3[index2] = output3[index2]
                                      + h3[index1][index2] * output2[index1];
                }
                output3[index2] = output3[index2] + b3[index2];
                if (output3[index2] < 0) {
                    output3[index2] = 0;
                }
            }

            for (int index2 = 0; index2 < 1; index2++) {
                for (int index1 = 0; index1 < 16; index1++) {
                    output = output + hout[index1] * output3[index1];
                }
                output = output + bout[index2];
                
            }
            output = 1.0f/(1.0f+exp(-output));
            output_normalized = output;
            output = output * 20000.0f - 10000.0f;
            
            if(output>=0) {
                valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
            } else {
                valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
            }

//            // torque feedback
//            torq.err = f_past[0] - torq.sen; //[N]
////            torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
//            torq.err_sum += torq.err/(float) 1500.0f; //[N]
//    
//
//            valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
//
//            if(I_GAIN_JOINT_TORQUE != 0) {
//                double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
//                if(valve_pos.ref>VALVE_MAX_POS) {
//                    double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
//                    valve_pos_rem = valve_pos_rem * Ka;
//                    valve_pos.ref = VALVE_MAX_POS;
//                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
//                } else if(valve_pos.ref < VALVE_MIN_POS) {
//                    double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
//                    valve_pos_rem = valve_pos_rem * Ka;
//                    valve_pos.ref = VALVE_MIN_POS;
//                    torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
//                }
//            }
            
            
            if(LED==1) {
                LED=0;
            } else
                LED = 1;
            
        }
        
        //LED = 1;
        

    }
}

float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
{

    int i = 0;
    float Ref_Valve_Pos_FF = 0.0f;
    for(i=0; i<VALVE_POS_NUM; i++) {
        if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <=  max(JOINT_VEL[i],JOINT_VEL[i+1])) {
            if(i==0) {
                if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
                    Ref_Valve_Pos_FF = (float) VALVE_CENTER;
                } else {
                    Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
                }
            } else {
                if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
                    Ref_Valve_Pos_FF = (float) VALVE_CENTER;
                } else {
                    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]);
                }
            }
            break;
        }
    }
    if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
        Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
    } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
        Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
    }

    Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
    return Ref_Valve_Pos_FF;

}


void VALVE_POS_CONTROL(float REF_VALVE_POS)
{
    int i = 0;

    if(REF_VALVE_POS > VALVE_MAX_POS) {
        REF_VALVE_POS = VALVE_MAX_POS;
    } else if(REF_VALVE_POS < VALVE_MIN_POS) {
        REF_VALVE_POS = VALVE_MIN_POS;
    }

    valve_pos_err = (float) (REF_VALVE_POS - value);
    valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
    valve_pos_err_old = valve_pos_err;
    valve_pos_err_sum += valve_pos_err;
    if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
    if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;

    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;

    for(i=0; i<24; i++) {
        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])) {
            if(i==0) {
                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]);
            } else {
                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];
            }
            break;
        }
    }
    Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
}

#define LT_MAX_IDX  57
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,
                                 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
                                 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
                                 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
                                 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
                                 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
                                };  // duty
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,
                                       -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
                                       -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
                                       7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
                                       105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
                                       155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
                                      }; // mV

float PWM_duty_byLT(float Ref_V)
{
    float PWM_duty = 0.0f;
    if(Ref_V<LT_Voltage_Output[0]) {
        PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
    } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
        PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
    } else {
        int idx = 0;
        for(idx=0; idx<LT_MAX_IDX-1; idx++) {
            float ini_x = LT_Voltage_Output[idx];
            float fin_x = LT_Voltage_Output[idx+1];
            float ini_y = LT_PWM_duty[idx];
            float fin_y = LT_PWM_duty[idx+1];
            if(Ref_V>=ini_x && Ref_V<fin_x) {
                PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
                break;
            }
        }
    }

    return PWM_duty;
}





/*******************************************************************************
                            TIMER INTERRUPT
*******************************************************************************/

float FREQ_TMR4 = (float)FREQ_20k;
float DT_TMR4 = (float)DT_20k;
long  CNT_TMR4 = 0;
int   TMR4_FREQ_10k = (int)FREQ_10k;
extern "C" void TIM4_IRQHandler(void)
{
    if (TIM4->SR & TIM_SR_UIF ) {

        /*******************************************************
        ***     Sensor Read & Data Handling
        ********************************************************/

        //Encoder
        if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
            ENC_UPDATE();
        }

        ADC1->CR2  |= 0x40000000;
        if (SENSING_MODE == 0) {
            // Torque Sensing (0~210)bar =============================================
            float pres_A_new = (((float) ADC1->DR) - 2047.5f);
            double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
            pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
            torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;


//        float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
////        float pres_A_new = ((float)ADC1->DR - PRES_A_NULL)  / PRES_SENSOR_A_PULSE_PER_BAR;
//        float pres_A_new = ((float)ADC1->DR);
//        pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
//        torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047


        } else if (SENSING_MODE == 1) {
            // Pressure Sensing (0~210)bar =============================================
            float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
            float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
            double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
            pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
            pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
            CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
            CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;

            if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
                torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
            } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
                torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
            }
        }

//        //Pressure sensor A
//        ADC1->CR2  |= 0x40000000;                        // adc _ 12bit
//        //while((ADC1->SR & 0b10));
//        float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
//        float pres_A_new = ((float)ADC1->DR);
//        pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
//        torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047    //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
//
//
//        //Pressure sensor B
//        float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
//        float pres_B_new = ((float)ADC2->DR);
//        pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
//        //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;


        //Current
        //ADC3->CR2  |= 0x40000000;                        // adc _ 12bit
        //int raw_cur = ADC3->DR;
        //while((ADC3->SR & 0b10));
        float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
        float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
        cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
        //cur.sen = raw_cur;

        CNT_TMR4++;
    }
    TIM4->SR = 0x0;  // reset the status register
}


int j =0;
float FREQ_TMR3 = (float)FREQ_5k;
float DT_TMR3 = (float)DT_5k;
int cnt_trans = 0;
double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
int can_rest =0;

extern "C" void TIM3_IRQHandler(void)
{
    if (TIM3->SR & TIM_SR_UIF ) {

        if (((OPERATING_MODE&0b110)>>1) == 0) {
            K_v = 0.4f; // Moog (LPM >> mA) , 100bar
            mV_PER_mA = 500.0f; // 5000mV/10mA
            mV_PER_pulse = 0.5f; // 5000mV/10000pulse
            mA_PER_pulse = 0.001f; // 10mA/10000pulse
        } else if (((OPERATING_MODE&0b110)>>1) == 1) {
            K_v = 0.5f; // KNR (LPM >> mA) , 100bar
            mV_PER_mA = 166.6666f; // 5000mV/30mA
            mV_PER_pulse = 0.5f; // 5000mV/10000pulse
            mA_PER_pulse = 0.003f; // 30mA/10000pulse
        }

        if(MODE_POS_FT_TRANS == 1) {
            alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
            cnt_trans++;
            torq.err_sum = 0;
            if((float)cnt_trans * DT_TMR3 > 3.0f)
                MODE_POS_FT_TRANS = 2;
        } else if(MODE_POS_FT_TRANS == 3) {
            alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
            cnt_trans++;
            torq.err_sum = 0;
            if((float) cnt_trans * DT_TMR3 > 3.0f )
                MODE_POS_FT_TRANS = 0;
        } else if(MODE_POS_FT_TRANS == 2) {
            alpha_trans = 1.0f;
            cnt_trans = 0;
        } else {
            alpha_trans = 0.0f;
            cnt_trans = 0;
        }


        int UTILITY_MODE = 0;
        int CONTROL_MODE = 0;

        if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
            UTILITY_MODE = CONTROL_UTILITY_MODE;
            CONTROL_MODE = MODE_NO_ACT;
        } else {
            CONTROL_MODE = CONTROL_UTILITY_MODE;
            UTILITY_MODE = MODE_NO_ACT;
        }



        // UTILITY MODE ------------------------------------------------------------

        switch (UTILITY_MODE) {
            case MODE_NO_ACT: {
                break;
            }

            case MODE_TORQUE_SENSOR_NULLING: {
                // DAC Voltage reference set
                if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
                    CUR_TORQUE_sum += torq.sen;

                    if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
                        CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
                        CUR_TORQUE_sum = 0;

                        TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);

                        if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
                        if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;

                        //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
                        dac_1 = TORQUE_VREF / 3.3f;
                    }
                } else {
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                    TMR3_COUNT_TORQUE_NULL = 0;
                    CUR_TORQUE_sum = 0;
                    CUR_TORQUE_mean = 0;

                    ROM_RESET_DATA();

                    dac_1 = TORQUE_VREF / 3.3f;

                }
                TMR3_COUNT_TORQUE_NULL++;
                break;
            }

//            case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
//                if (TMR3_COUNT_DEADZONE == 0) {
//                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
//                    else temp_time = 0;
//                }
//                if (need_enc_init) {
//                    if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
//                        V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_plus_end = pos.sen;
//                    } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_minus_end = pos.sen;
//                    } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
//                    temp_time = TMR_FREQ_5k;
//                }
//
//                if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
//                    V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
//                    VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
//
//                } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
//                    V_out = 0;
//                    CUR_VELOCITY_sum += CUR_VELOCITY;
//                } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
//                    if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
//                    else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
//                    else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
//                    else DZ_temp_cnt2 = DZ_end;
//                    CUR_VELOCITY_sum = 0;
//                } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
//                    if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
//
//                    // Position of Dead Zone
//                    //  (CUR_VELOCITY < 0)  (CUR_VELOCITY == 0)  (CUR_VELOCITY > 0)
//                    //     |        /                 |    /                      |/
//                    //     | ______/               ___|___/                ______/|
//                    //     |/                     /   |                   /       |
//                    //    /|                     /    |                  /        |
//                    //     0V                         0V                          0V
//
//                    if (DZ_temp_cnt2 < DZ_end) {
//                        if (TMR3_COUNT_DEADZONE % 20 != 0) {
//                            CUR_VELOCITY_sum += CUR_VELOCITY;
//                        } else {
//                            V_out -= DZ_dir;
//                            if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
//                            CUR_VELOCITY_sum = 0;
//                        }
//                        if (DZ_temp_cnt == 5) {
//                            if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
//                            else VALVE_DEADZONE_PLUS = (int16_t) V_out;
//                            DZ_dir = -DZ_dir;
//                            DZ_temp_cnt = 0;
//                            DZ_temp_cnt2++;
//                        }
//                    } else {
//                        TMR3_COUNT_DEADZONE = -1;
//                        VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
//                        if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
//                            VALVE_DEADZONE_PLUS = VALVE_CENTER;
//                            VALVE_DEADZONE_MINUS = VALVE_CENTER;
//                        }
//                        V_out = 0;
//
//                        ROM_RESET_DATA();
//
//                        //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
//                        //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
//
//                        CONTROL_MODE = MODE_NO_ACT;
//                        DZ_temp_cnt2 = 0;
//                    }
//                }
//                TMR3_COUNT_DEADZONE++;
//                break;
//            }

            case MODE_FIND_HOME: {
                if (FINDHOME_STAGE == FINDHOME_INIT) {
                    cnt_findhome = 0;
                    cnt_vel_findhome = 0;
                    //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
                    pos.ref = pos.sen;
                    vel.ref = 0.0f;
                    FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
                } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
                    int cnt_check_enc = (TMR_FREQ_5k/20);
                    if(cnt_findhome%cnt_check_enc == 0) {
                        FINDHOME_POSITION = pos.sen;
                        FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
                        FINDHOME_POSITION_OLD = FINDHOME_POSITION;
                    }
                    cnt_findhome++;

                    if (abs(FINDHOME_VELOCITY) <= 1) {
                        cnt_vel_findhome = cnt_vel_findhome + 1;
                    } else {
                        cnt_vel_findhome = 0;
                    }

                    if ((cnt_vel_findhome < 3*TMR_FREQ_5k) &&  cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
                        //REFERENCE_MODE = MODE_REF_NO_ACT;
                        if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
                        else pos.ref = pos.ref - 12.0f;

//                        pos.err = pos.ref_home_pos - pos.sen;
//                        float VALVE_POS_RAW_POS_FB = 0.0f;
//                        VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
//                        valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
//                        VALVE_POS_CONTROL(valve_pos.ref);

                        CONTROL_MODE = MODE_JOINT_CONTROL;
                        alpha_trans = 0.0f;


                    } else {
                        ENC_SET(HOMEPOS_OFFSET);
//                        ENC_SET_ZERO();
                        INIT_REF_POS = HOMEPOS_OFFSET;
                        REF_POSITION = 0;
                        REF_VELOCITY = 0;
                        FINDHOME_POSITION = 0;
                        FINDHOME_POSITION_OLD = 0;
                        FINDHOME_VELOCITY = 0;
                        cnt_findhome = 0;
                        cnt_vel_findhome = 0;
                        FINDHOME_STAGE = FINDHOME_ZEROPOSE;


                        cnt_findhome = 0;
                        pos.ref = 0.0f;
                        vel.ref = 0.0f;
                        pos.ref_home_pos = 0.0f;
                        vel.ref_home_pos = 0.0f;
                        //FINDHOME_STAGE = FINDHOME_INIT;
                        //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
                        
                        
                    }
                } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
                    int T_move = 2*TMR_FREQ_5k;
                    pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
                    //pos.ref = 0.0f;
                    vel.ref = 0.0f;
                    
                    // input for position control
                
//                    CONTROL_MODE = MODE_JOINT_CONTROL;
                    alpha_trans = 0.0f;

                    double torq_ref = 0.0f;
                    pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
                    vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
                    pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]

                    if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {

                        double I_REF_POS = 0.0f;
                        double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
                        double I_REF_VC = 0.0f; // I_REF for velocity compensation

                        double temp_vel_pos = 0.0f;
                        double temp_vel_torq = 0.0f;
                        double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control

                        if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                            temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
                            //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                        } else if ((OPERATING_MODE & 0x01) == 1) {
                            temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
                            //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                        }
                        if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
                        else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));

                        I_REF = I_REF_POS;



                    } else {
                        float VALVE_POS_RAW_FORCE_FB = 0.0f;
                        VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));

                        if (VALVE_POS_RAW_FORCE_FB >= 0) {
                            valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
                        } else {
                            valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
                        }

                        VALVE_POS_CONTROL(valve_pos.ref);

                        V_out = (float) Vout.ref;

                    }


                    
                    
//                    pos.err = pos.ref - (float)pos.sen;
//                    float VALVE_POS_RAW_POS_FB = 0.0f;
//                    VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
//                    valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
//                    VALVE_POS_CONTROL(valve_pos.ref);

                    cnt_findhome++;
                    if (cnt_findhome >= T_move) {
                        //REFERENCE_MODE = MODE_REF_DIRECT;
                        cnt_findhome = 0;
                        pos.ref = 0.0f;
                        vel.ref = 0.0f;
                        pos.ref_home_pos = 0.0f;
                        vel.ref_home_pos = 0.0f;
                        FINDHOME_STAGE = FINDHOME_INIT;
                        CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
                    }
                }

                break;
            }

//            case MODE_VALVE_GAIN_SETTING: {
//                if (TMR3_COUNT_FLOWRATE == 0) {
//                    if (pos_plus_end == pos_minus_end) need_enc_init = true;
//                    else {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
//                    }
//                }
//                if (need_enc_init) {
//                    if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
//                        V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_plus_end = pos.sen;
//                    } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
//                        V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                        pos_minus_end = pos.sen;
//                    } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
//                        need_enc_init = false;
//                        check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
//                        check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
//                        check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
//                    }
//                    temp_time = TMR_FREQ_5k;
//                }
//                TMR3_COUNT_FLOWRATE++;
//                if (TMR3_COUNT_FLOWRATE > temp_time) {
//                    if (flag_flowrate % 2 == 0) { // (+)
//                        VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
//                        V_out = VALVE_VOLTAGE;
//                        if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
//                            fl_temp_cnt++;
//                        } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
//                            VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
//                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
//                            fl_temp_cnt2++;
//                        }
//                    } else if (flag_flowrate % 2 == 1) { // (-)
//                        VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
//                        V_out = VALVE_VOLTAGE;
//                        if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
//                            fl_temp_cnt++;
//                        } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
//                            VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
//                            //                        VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
//                            fl_temp_cnt2++;
//                        }
//                    }
//                    if (fl_temp_cnt2 == 100) {
//
//                        ROM_RESET_DATA();
//
//                        //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
//                        cur_vel_sum = 0;
//                        fl_temp_cnt = 0;
//                        fl_temp_cnt2 = 0;
//                        flag_flowrate++;
//                    }
//                    if (flag_flowrate == 10) {
//                        V_out = 0;
//                        flag_flowrate = 0;
//                        TMR3_COUNT_FLOWRATE = 0;
//                        valve_gain_repeat_cnt++;
//                        if (valve_gain_repeat_cnt >= 1) {
//                            CONTROL_MODE = MODE_NO_ACT;
//                            valve_gain_repeat_cnt = 0;
//                        }
//
//                    }
//                    break;
//                }
//
//            }
            case MODE_PRESSURE_SENSOR_NULLING: {
                // DAC Voltage reference set
                if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
                    CUR_PRES_A_sum += pres_A.sen;
                    CUR_PRES_B_sum += pres_B.sen;

                    if (TMR3_COUNT_PRES_NULL % 10 == 0) {
                        CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
                        CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
                        CUR_PRES_A_sum = 0;
                        CUR_PRES_B_sum = 0;

                        float VREF_NullingGain = 0.0003f;
                        PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
                        PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;

                        if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
                        if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
                        if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
                        if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;

                        dac_1 = PRES_A_VREF / 3.3f;
                        dac_2 = PRES_B_VREF / 3.3f;
                    }
                } else {
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                    TMR3_COUNT_PRES_NULL = 0;
                    CUR_PRES_A_sum = 0;
                    CUR_PRES_B_sum = 0;
                    CUR_PRES_A_mean = 0;
                    CUR_PRES_B_mean = 0;

                    ROM_RESET_DATA();

                    dac_1 = PRES_A_VREF / 3.3f;
                    dac_2 = PRES_B_VREF / 3.3f;
                    //pc.printf("nulling end");
                }
                TMR3_COUNT_PRES_NULL++;
                break;
            }

//            case MODE_PRESSURE_SENSOR_CALIB: {
//                if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
//                    V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                    if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
//                        CUR_PRES_A_sum += CUR_PRES_A;
//                    }
//                } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
//                    V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                    if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
//                        CUR_PRES_B_sum += CUR_PRES_B;
//                    }
//                } else {
//                    CONTROL_MODE = MODE_NO_ACT;
//                    TMR3_COUNT_PRES_CALIB = 0;
//                    V_out = 0;
//                    PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
//                    PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
//                    PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
//                    PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
//                    CUR_PRES_A_sum = 0;
//                    CUR_PRES_B_sum = 0;
//                    CUR_PRES_A_mean = 0;
//                    CUR_PRES_B_mean = 0;
//
//                    ROM_RESET_DATA();
//
//                    //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
//                    //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
//                }
//                TMR3_COUNT_PRES_CALIB++;
//                break;
//            }

//            case MODE_ROTARY_FRICTION_TUNING: {
//                if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
//                V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
//                if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
//                else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
//                TMR3_COUNT_ROTARY_FRIC_TUNE++;
//                if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
//                    TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
//                    V_out = 0.0f;
//                    CONTROL_MODE = MODE_NO_ACT;
//                }
//                break;
//            }

            case MODE_DDV_POS_VS_PWM_ID: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_ID_timer = VALVE_ID_timer + 1;

                if(VALVE_ID_timer < TMR_FREQ_5k*1) {
                    Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
                } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
                    Vout.ref = 1000.0f*(ID_index_array[ID_index]);
                } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
                    VALVE_POS_TMP = 0;
                    data_num = 0;
                } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
                    data_num = data_num + 1;
                    VALVE_POS_TMP = VALVE_POS_TMP + value;
                } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
                    Vout.ref = 0.0f;
                } else {
                    VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
                    VALVE_ID_timer = 0;
                    ID_index= ID_index +1;
                }

                if(ID_index>=25) {
                    int i;
                    VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
                    for(i=0; i<25; i++) {
                        VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
                        if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
                            VALVE_MAX_POS = VALVE_POS_AVG[i];
                            VALVE_POS_AVG_OLD = VALVE_MAX_POS;
                        } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
                            VALVE_MIN_POS = VALVE_POS_AVG[i];
                            VALVE_POS_AVG_OLD = VALVE_MIN_POS;
                        }
                    }
                    ROM_RESET_DATA();
                    ID_index = 0;
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                }


                break;
            }

            case MODE_DDV_DEADZONE_AND_CENTER: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_DZ_timer = VALVE_DZ_timer + 1;
                if(first_check == 0) {
                    if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_plus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_minus_end = pos.sen;
                    } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                    } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                        data_num = data_num + 1;
                        VALVE_POS_TMP = VALVE_POS_TMP + value;
                    } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                        DDV_POS_AVG = VALVE_POS_TMP / data_num;
                        START_POS = pos.sen;
                        VALVE_POS_TMP = 0;
                        data_num = 0;

                    } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);

                    } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);

                    } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = DDV_POS_AVG;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        FINAL_POS = pos.sen;

                        if((FINAL_POS - START_POS)>200) {
                            DZ_case = 1;
                        } else if((FINAL_POS - START_POS)<-200) {
                            DZ_case = -1;
                        } else {
                            DZ_case = 0;
                        }

                        CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));

                        first_check = 1;
                        DZ_DIRECTION = 1;
                        VALVE_DZ_timer = 0;
                        Ref_Valve_Pos_Old = DDV_POS_AVG;
                        DZ_NUM = 1;
                        DZ_index = 1;

                    }
                } else {
                    if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
                        if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1 * DZ_case;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1 * DZ_case;
                            } else {
                                DZ_DIRECTION = 1 * DZ_case;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }
                        }
                    } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_case * DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = 0.0f;
                        } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1 * DZ_case;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1 * DZ_case;
                            } else {
                                DZ_DIRECTION = -1 * DZ_case;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index * 2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
                                first_check = 0;
                                VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                VALVE_DEADZONE_PLUS = (float) SECOND_DZ;

                                ROM_RESET_DATA();

                                CONTROL_UTILITY_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }
                        }
                    } else if(DZ_case == 0 && DZ_NUM ==1) {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  - DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref >= VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1;
                            } else {
                                DZ_DIRECTION = 1;
                            }
                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                FIRST_DZ = valve_pos.ref;
                                DZ_NUM = 2;
                                Ref_Valve_Pos_Old = FIRST_DZ;
                                DZ_index = 1;
                                DZ_DIRECTION = 1;
                            }
                        }
                    } else {
                        if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                            //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                            //CONTROL_MODE = MODE_JOINT_CONTROL;
                        } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                            START_POS = pos.sen;
                        } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                            valve_pos.ref = Ref_Valve_Pos_Old  + DZ_DIRECTION * 64 / DZ_index;
                            if(valve_pos.ref <= VALVE_MIN_POS) {
                                valve_pos.ref = VALVE_MIN_POS;
                            } else if(valve_pos.ref > VALVE_MAX_POS) {
                                valve_pos.ref = VALVE_MAX_POS - 1;
                            }
                            VALVE_POS_CONTROL(valve_pos.ref);

                        } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Vout.ref = 0.0f;
                        } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
                            Ref_Valve_Pos_Old = valve_pos.ref;
                            FINAL_POS = pos.sen;

                            if((FINAL_POS - START_POS)>100) {
                                DZ_DIRECTION = 1;
                            } else if((FINAL_POS - START_POS)<-100) {
                                DZ_DIRECTION = -1;
                            } else {
                                DZ_DIRECTION = 1;
                            }

                            VALVE_DZ_timer = 0;
                            DZ_index= DZ_index *2;
                            if(DZ_index >= 128) {
                                SECOND_DZ = valve_pos.ref;
                                VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
                                first_check = 0;
                                VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
                                VALVE_DEADZONE_PLUS = (float) SECOND_DZ;

                                ROM_RESET_DATA();

                                CONTROL_UTILITY_MODE = MODE_NO_ACT;
                                DZ_index = 1;
                            }
                        }
                    }
                }
                break;
            }

            case MODE_DDV_POS_VS_FLOWRATE: {
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                VALVE_FR_timer = VALVE_FR_timer + 1;
                if(first_check == 0) {
                    if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                    } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_plus_end = pos.sen;
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
                    } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                    } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
                        //                    CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
                        Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
                        pos_minus_end = pos.sen;
                        first_check = 1;
                        VALVE_FR_timer = 0;
                        valve_pos.ref = (float) VALVE_CENTER;
                        ID_index = 0;
                        max_check = 0;
                        min_check = 0;
                    }
                } else {
                    if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
                        //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
                        pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
                        CONTROL_MODE = MODE_JOINT_CONTROL;
                    } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
                        data_num = 0;
                        valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;

                        VALVE_POS_CONTROL(valve_pos.ref);
                        START_POS = pos.sen;
                    } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
                        valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
                        VALVE_POS_CONTROL(valve_pos.ref);
                        data_num = data_num + 1;
                        if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
                            FINAL_POS = pos.sen;
                            one_period_end = 1;
                        }
                    } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
                        FINAL_POS = pos.sen;
                        one_period_end = 1;
                        V_out = 0.0f;
                    }

                    if(one_period_end == 1) {
                        if(valve_pos.ref > VALVE_MAX_POS) {
                            max_check = 1;
                        } else if(valve_pos.ref < VALVE_MIN_POS) {
                            min_check = 1;
                        }
                        JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k;   //  pulse/sec

                        VALVE_FR_timer = 0;
                        one_period_end = 0;
                        ID_index= ID_index +1;
                        V_out = 0.0f;
                    }

                    if(max_check == 1 && min_check == 1) {

                        VALVE_POS_NUM = ID_index;
                        ROM_RESET_DATA();
                        ID_index = 0;
                        first_check = 0;
                        VALVE_FR_timer = 0;
                        CONTROL_UTILITY_MODE = MODE_NO_ACT;
//                        CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
                    }
                }
                break;
            }

            case MODE_SYSTEM_ID: {
                freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
                valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
                CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
                cnt_sysid++;
                if (freq_sysid_Iref >= 300) {
                    cnt_sysid = 0;
                    CONTROL_UTILITY_MODE = MODE_NO_ACT;
                }
                break;
            }



            default:
                break;
        }

        // CONTROL MODE ------------------------------------------------------------

        switch (CONTROL_MODE) {
            case MODE_NO_ACT: {
                V_out = 0.0f;
                break;
            }

            case MODE_VALVE_POSITION_CONTROL: {
                if (OPERATING_MODE == 5) { //SW Valve
                    VALVE_POS_CONTROL(valve_pos.ref);
                    V_out = Vout.ref;
                } else if (CURRENT_CONTROL_MODE == 0) { //PWM
                    V_out = valve_pos.ref;
                } else { 
                    I_REF = valve_pos.ref * 0.001f;
                }

                break;
            }

            case MODE_JOINT_CONTROL: {
                double torq_ref = 0.0f;
                pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
                vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
                pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
                
                //K & D Low Pass Filter
                float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
                K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
                D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
                
                torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]

                // torque feedback
                torq.err = torq_ref - torq.sen; //[N]
                torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]

                if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {

                    double I_REF_POS = 0.0f;
                    double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
                    double I_REF_VC = 0.0f; // I_REF for velocity compensation

                    double temp_vel_pos = 0.0f;
                    double temp_vel_torq = 0.0f;
                    double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control

                    if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                        temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
                        //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                    } else if ((OPERATING_MODE & 0x01) == 1) {
                        temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
                        //                            L when P-gain = 100, f_cut = 10Hz                                 L feedforward velocity
                    }
                    if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
                    else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));

                    // velocity compensation for torque control
                    if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
                        I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
                        //                temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
                        temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
                        //                                                          L feedforward velocity
                    } else if ((OPERATING_MODE & 0x01) == 1) {
                        I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
                        //                temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
                        temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
                        //                                                          L feedforward velocity
                    }
                    if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
                    else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
                    //                                                  L   velocity(rad/s or mm/s) >> I_ref(mA)
                    //            Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
                    //            Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;

                    I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
                    
                    // Anti-windup for FT
                    if (I_GAIN_JOINT_TORQUE != 0) {
                        double I_MAX = 10.0f; // Maximum Current : 10mV
                        double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
                        if (I_REF > I_MAX) {
                            double I_rem = I_REF - I_MAX;
                            I_rem = Ka*I_rem;
                            I_REF = I_MAX;
                            torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
                        } else if (I_REF < -I_MAX) {
                            double I_rem = I_REF - (-I_MAX);
                            I_rem = Ka*I_rem;
                            I_REF = -I_MAX;
                            torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
                        }
                    }

                } else {
                    float VALVE_POS_RAW_FORCE_FB = 0.0f;
                    float VALVE_POS_RAW_FORCE_FF = 0.0f;
                    float VALVE_POS_RAW = 0.0f;
                    
                    VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
                                                          + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));

                    VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
                    
                    VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
                    
                    
                    if (VALVE_POS_RAW >= 0) {
                        valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
                    } else {
                        valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
                    }

                    if(I_GAIN_JOINT_TORQUE != 0) {
                        double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
                        if(valve_pos.ref>VALVE_MAX_POS) {
                            double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
                            valve_pos_rem = valve_pos_rem * Ka;
                            valve_pos.ref = VALVE_MAX_POS;
                            torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
                        } else if(valve_pos.ref < VALVE_MIN_POS) {
                            double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
                            valve_pos_rem = valve_pos_rem * Ka;
                            valve_pos.ref = VALVE_MIN_POS;
                            torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
                        }
                    }

                    VALVE_POS_CONTROL(valve_pos.ref);

//                    Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
                    V_out = (float) Vout.ref;

                }
                
                torq_ref_past = torq_ref;

                break;
            }

            case MODE_VALVE_OPEN_LOOP: {
                V_out = (float) Vout.ref;
                break;
            }

            default:
                break;
        }


        if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve

            ////////////////////////////////////////////////////////////////////////////
            ////////////////////////////  CURRENT CONTROL //////////////////////////////
            ////////////////////////////////////////////////////////////////////////////
            if (CURRENT_CONTROL_MODE) {
                double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
                I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;

                I_ERR = I_REF_fil - cur.sen;
                I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;


                // Moog Valve Current Control Gain
                double R_model = 500.0f; // ohm
                double L_model = 1.2f;
                double w0 = 2.0f * 3.14f * 150.0f;
                double KP_I = 0.1f * L_model*w0;
                double KI_I = 0.1f * R_model*w0;

                // KNR Valve Current Control Gain
                if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
                    R_model = 163.0f; // ohm
                    L_model = 1.0f;
                    w0 = 2.0f * 3.14f * 80.0f;
                    KP_I = 1.0f * L_model*w0;
                    KI_I = 0.08f * R_model*w0;
                }

                double FF_gain = 1.0f;

                VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
                //        VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
                I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
                I_REF_fil_old = I_REF_fil;
//                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
                VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
                double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV

                double Ka = 3.0f / KP_I;
                if (VALVE_PWM_RAW > V_MAX) {
                    V_rem = VALVE_PWM_RAW - V_MAX;
                    V_rem = Ka*V_rem;
                    VALVE_PWM_RAW = V_MAX;
                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
                } else if (VALVE_PWM_RAW < -V_MAX) {
                    V_rem = VALVE_PWM_RAW - (-V_MAX);
                    V_rem = Ka*V_rem;
                    VALVE_PWM_RAW = -V_MAX;
                    I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
                }
                Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
            } else {
                VALVE_PWM_RAW = I_REF * mV_PER_mA;
                Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
            }

            ////////////////////////////////////////////////////////////////////////////
            /////////////////  Dead Zone Cancellation & Linearization //////////////////
            ////////////////////////////////////////////////////////////////////////////
            // Dead Zone Cancellation (Mechanical Valve dead-zone)
            if (FLAG_VALVE_DEADZONE) {
                if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
                else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV

                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV

            } else {
                VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
            }

            // Output Voltage Linearization
            double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);  // -8000~8000

            // Dead Zone Cancellation (Electrical dead-zone)
            if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
            else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
            else V_out = (float) (CUR_PWM_lin);
        }
        else {              //////////////////////////sw valve
            // Output Voltage Linearization
            double CUR_PWM_nonlin = V_out; // Unit : mV
            double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);  // -8000~8000

            // Dead Zone Cancellation (Electrical dead-zone)
            if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
            else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
            else V_out = (float) (CUR_PWM_lin);
        }
        
//        if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
//        else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
//        else V_out = V_out;
    
        /*******************************************************
        ***     PWM
        ********************************************************/
        if(DIR_VALVE<0){
            V_out = -V_out;
        }
        
        if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
            V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
        } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
            V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
        }
        PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV

        // Saturation of output voltage to 12.0V
        if(PWM_out > 1.0f) PWM_out=1.0f;
        else if (PWM_out < -1.0f) PWM_out=-1.0f;

        if (PWM_out>0.0f) {
            dtc_v=0.0f;
            dtc_w=PWM_out;
        } else {
            dtc_v=-PWM_out;
            dtc_w=0.0f;
        }

        //pwm
        TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
        TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);


        if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {

            // Position, Velocity, and Torque (ID:1200)
            if (flag_data_request[0] == HIGH) {
                if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
                    if (SENSING_MODE == 0) {
                        CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
                    } else if (SENSING_MODE == 1) {
                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
                    }
                } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
                    if (SENSING_MODE == 0) {
                        CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
                    } else if (SENSING_MODE == 1) {
                        CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
                    }
                }
            }
            if (flag_data_request[1] == HIGH) {
                //valve position
                double t_value = 0;
                if(valve_pos.ref>=(float) VALVE_CENTER) {
                    t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
                } else {
                    t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
                }
//                if(OPERATING_MODE==5) {
//                    if(valve_pos.ref>=(float) VALVE_CENTER) {
//                        t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
//                    } else {
//                        t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
//                    }
                    //t_value = (double) value;
//                } else if(CURRENT_CONTROL_MODE==1) {
//                    t_value = cur.sen * 1000.0f;
//                } else {
//                    t_value = V_out;
//                }
                CAN_TX_TORQUE((int16_t) (t_value)); //1300
                //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
                //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
            }


            if (flag_data_request[2] == LOW) {
                //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
                double t_value = 0;
                if(valve_pos.ref>=(float) VALVE_CENTER) {
                    t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
                } else {
                    t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
                }
                CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
            }

            //If it doesn't rest, below can can not work.
            for (can_rest = 0; can_rest < 10000; can_rest++) {
                ;
            }

            if (flag_data_request[3] == HIGH) {
                //PWM
                //CAN_TX_PWM((int16_t) value); //1500
                CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
            }
            //for (i = 0; i < 10000; i++) {
//                ;
//            }
            if (flag_data_request[4] == HIGH) {
                //valve position
                CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
            }

            // Others : Reference position, Reference FT, PWM, Current  (ID:1300)
//        if (flag_data_request[1] == HIGH) {
//            CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
//        }
            //if (flag_delay_test == 1){
            //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
            //}

            TMR2_COUNT_CAN_TX = 0;
        }
        TMR2_COUNT_CAN_TX++;

    }
    TIM3->SR = 0x0;  // reset the status register

}