Sungwoo Kim
/
HydraulicControlBoard_Rainbow_v1_2
rainbow
Diff: setting.h
- Revision:
- 230:2c3e5ecbe7e1
- Parent:
- 227:699c3e572283
- Child:
- 237:c2cfe349f5c1
diff -r 7a1c46b9b471 -r 2c3e5ecbe7e1 setting.h --- a/setting.h Tue Apr 20 00:42:45 2021 +0000 +++ b/setting.h Wed Apr 21 04:20:39 2021 +0000 @@ -19,12 +19,15 @@ #define FREQ_20k 20000.0f #define FREQ_40k 40000.0f #define DT_500 0.002f -#define DT_1k 0.0005f +#define DT_1k 0.001f #define DT_5k 0.0002f #define DT_10k 0.0001f #define DT_20k 0.00005f #define DT_40k 0.000025f +//#define TMR_FREQ_10k 10000 +#define TMR_FREQ_5k 5000 + extern DigitalOut check; extern DigitalOut check_2; extern AnalogOut dac_1; @@ -79,9 +82,6 @@ #define SYSFREQ 200000000 #define PBCLK 100000000 -//#define TMR_FREQ_10k 10000 -#define TMR_FREQ_5k 5000 - #define FALSE 0 #define TRUE 1 #define OUTPUT 0 @@ -109,6 +109,8 @@ extern uint8_t CONTROL_MODE; extern uint8_t OPERATING_MODE; extern uint8_t SENSING_MODE; +extern uint8_t SUPPLY_PRESSURE_UPDATE; + extern uint8_t CONTROL_UTILITY_MODE; extern uint8_t CURRENT_CONTROL_MODE; extern uint8_t FLAG_VALVE_DEADZONE; @@ -169,16 +171,14 @@ extern float PISTON_AREA_alpha; extern float alpha3; - -extern int16_t PRES_SUPPLY; -extern int16_t PRES_RETURN; +extern float PRES_SUPPLY_NOM; +extern float PRES_SUPPLY; extern int16_t ENC_LIMIT_PLUS; extern int16_t ENC_LIMIT_MINUS; extern int16_t STROKE; - extern float Amm; extern float beta; extern float Ps; @@ -209,11 +209,13 @@ extern float DAC_REF; extern float DAC_RESOL; +extern float REF_FORCE; +extern float REF_TORQUE; extern float REF_POSITION; extern float REF_VELOCITY; -extern float REF_TORQUE; -extern float REF_TORQUE_OLD; -extern float REF_PRES_DIFF; + +extern float REF_POSITION_FINDHOME; + extern int16_t REF_PWM; extern int16_t REF_VALVE_POSITION; extern int16_t REF_CURRENT; @@ -221,19 +223,11 @@ extern int REF_MOVE_TIME_5k; extern int INIT_REF_PWM; extern int INIT_REF_VALVE_POS; -extern int32_t INIT_REF_POS; extern int INIT_REF_VEL; extern int INIT_REF_TORQUE; extern int INIT_REF_PRES_DIFF; extern int INIT_REF_CURRENT; -extern int CUR_POSITION; -extern int CUR_VELOCITY; -extern float CUR_TORQUE; -extern float CUR_PRES_A; -extern float CUR_PRES_B; -extern int CUR_VALVE_POSITION; - extern unsigned int TMR2_COUNT_LED1; extern unsigned int TMR2_COUNT_LED2; extern unsigned int TMR2_COUNT_CAN_TX; @@ -254,14 +248,12 @@ extern int cnt_buffer; extern float CUR_CURRENT_mA; -extern float CUR_PRES_A_BAR; -extern float CUR_PRES_B_BAR; extern float CUR_TORQUE_NM; extern float CUR_TORQUE_NM_PRESS; +extern float FORCE_VREF; extern float PRES_A_VREF; extern float PRES_B_VREF; -extern float TORQUE_VREF; extern float VALVE_PWM_RAW_FB; extern float VALVE_PWM_RAW_FF; @@ -303,11 +295,9 @@ extern float CUR_PRES_B_sum; extern float CUR_PRES_A_mean; extern float CUR_PRES_B_mean; -extern float CUR_TORQUE_sum; -extern float CUR_TORQUE_mean; -extern float PRES_A_NULL; -extern float PRES_B_NULL; -extern float TORQUE_NULL; +extern float PRES_A_NULL_pulse; +extern float PRES_B_NULL_pulse; +extern float FORCE_NULL_pulse; extern float Ref_Valve_Pos_Old; @@ -367,17 +357,6 @@ extern int fl_temp_cnt2; extern int cur_vel_sum; -extern float Cur_Valve_Open_pulse; - -// find home -extern int CUR_VELOCITY_OLD; -extern int cnt_findhome; -extern int cnt_vel_findhome; -extern int FINDHOME_VELOCITY; -extern int FINDHOME_VELOCITY_OLD; -extern int FINDHOME_POSITION; -extern int FINDHOME_POSITION_OLD; - extern int cnt_finddz; extern int cnt_vel_finddz; extern int flag_finddz; @@ -449,6 +428,7 @@ extern float PWM_out; extern double K_v; +extern double C_d; extern double mV_PER_mA; extern double mV_PER_pulse; extern double mA_PER_pulse;