Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2

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Dependencies:   mbed FastPWM

setting.h@39:e961db3b93f8, 2019-12-05 (annotated)

Committer:
Lightvalve
Date:
Thu Dec 05 14:29:22 2019 +0000
Revision:
39:e961db3b93f8
Parent:
36:a46e63505ed8 
191205

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3
GiJeongKim 0:51c43836c1d7 4 // pwm
jobuuu 2:a1c0a37df760 5 #define PIN_V PB_7
jobuuu 2:a1c0a37df760 6 #define PIN_W PB_6
jobuuu 2:a1c0a37df760 7 //#define PWM_ARR 0x465 // loop 80k, pwm 40k
jobuuu 2:a1c0a37df760 8 //#define PWM_ARR 0x8CA // loop 40k, pwm 20k
Lightvalve 19:23b7c1ad8683 9 //#define PWM_ARR 0x1194 // loop 20k, pwm 10k
Lightvalve 39:e961db3b93f8 10 //#define PWM_ARR 0x2328 // loop 10k, pwm 5k
Lightvalve 39:e961db3b93f8 11 #define PWM_ARR 0x465
Lightvalve 11:82d8768d7351 12 #define TMR3_COUNT 0x4650 // loop 5k
Lightvalve 23:59218d4a256d 13 #define TMR2_COUNT 0x2710 // loop 500hz with prescale 18
jobuuu 2:a1c0a37df760 14
Lightvalve 30:8d561f16383b 15 #define FREQ_500 500.0f
Lightvalve 30:8d561f16383b 16 #define FREQ_1k 1000.0f
Lightvalve 30:8d561f16383b 17 #define FREQ_5k 5000.0f
Lightvalve 30:8d561f16383b 18 #define FREQ_10k 10000.0f
Lightvalve 30:8d561f16383b 19 #define FREQ_20k 20000.0f
Lightvalve 30:8d561f16383b 20 #define FREQ_40k 40000.0f
Lightvalve 30:8d561f16383b 21 #define DT_500 0.002f
Lightvalve 30:8d561f16383b 22 #define DT_1k 0.0005f
Lightvalve 30:8d561f16383b 23 #define DT_5k 0.0002f
Lightvalve 30:8d561f16383b 24 #define DT_10k 0.0001f
Lightvalve 30:8d561f16383b 25 #define DT_20k 0.00005f
Lightvalve 30:8d561f16383b 26 #define DT_40k 0.000025f
jobuuu 5:a4319f79457b 27
Lightvalve 19:23b7c1ad8683 28 //extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 29 //extern int CID_RX_REF_POSITION;
Lightvalve 19:23b7c1ad8683 30 //extern int CID_RX_REF_TORQUE;
Lightvalve 19:23b7c1ad8683 31 //extern int CID_RX_REF_PRES_DIFF;
Lightvalve 19:23b7c1ad8683 32 //extern int CID_RX_REF_VOUT;
Lightvalve 19:23b7c1ad8683 33 //extern int CID_RX_REF_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 34 //extern int CID_RX_REF_CURRENT;
Lightvalve 19:23b7c1ad8683 35 //
Lightvalve 19:23b7c1ad8683 36 //extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 37 //extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 38 //extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 39 //extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 40 //extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 41 //extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 42
Lightvalve 19:23b7c1ad8683 43
Lightvalve 19:23b7c1ad8683 44
jobuuu 7:e9086c72bb22 45 extern DigitalOut check;
jobuuu 7:e9086c72bb22 46 extern DigitalOut check_2;
jobuuu 7:e9086c72bb22 47 extern AnalogOut dac_1;
jobuuu 7:e9086c72bb22 48 extern AnalogOut dac_2;
jobuuu 7:e9086c72bb22 49
Lightvalve 30:8d561f16383b 50 extern float dtc_v;
Lightvalve 30:8d561f16383b 51 extern float dtc_w;
GiJeongKim 0:51c43836c1d7 52
GiJeongKim 0:51c43836c1d7 53 // I2C
GiJeongKim 0:51c43836c1d7 54 extern I2C i2c; // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 55 extern const int i2c_slave_addr1;
GiJeongKim 0:51c43836c1d7 56 extern unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 57
GiJeongKim 0:51c43836c1d7 58 // SPI
Lightvalve 16:903b5a4433b4 59 //extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 60 //extern DigitalOut eeprom_cs;
GiJeongKim 0:51c43836c1d7 61 extern SPI enc;
GiJeongKim 0:51c43836c1d7 62 extern DigitalOut enc_cs;
GiJeongKim 0:51c43836c1d7 63
GiJeongKim 0:51c43836c1d7 64 // UART
jobuuu 7:e9086c72bb22 65 extern Serial pc; //Serial pc(PA_9,PA_10); _ UART
jobuuu 7:e9086c72bb22 66
jobuuu 7:e9086c72bb22 67 // CAN
jobuuu 7:e9086c72bb22 68 extern CAN can;
jobuuu 7:e9086c72bb22 69 extern CANMessage msg;
jobuuu 7:e9086c72bb22 70
jobuuu 7:e9086c72bb22 71 // Board Information
jobuuu 7:e9086c72bb22 72
jobuuu 7:e9086c72bb22 73
jobuuu 7:e9086c72bb22 74 // User Function
jobuuu 7:e9086c72bb22 75
jobuuu 7:e9086c72bb22 76 void CurrentControl();
jobuuu 7:e9086c72bb22 77 void ValveControl(unsigned int ControlMode);
Lightvalve 11:82d8768d7351 78
Lightvalve 11:82d8768d7351 79
Lightvalve 11:82d8768d7351 80 /*******************************************************************************
Lightvalve 11:82d8768d7351 81 * COMMON Settings
Lightvalve 11:82d8768d7351 82 ******************************************************************************/
Lightvalve 11:82d8768d7351 83 #define LATEST_VERSION 19032
Lightvalve 11:82d8768d7351 84
Lightvalve 11:82d8768d7351 85
Lightvalve 11:82d8768d7351 86
Lightvalve 11:82d8768d7351 87 /*******************************************************************************
Lightvalve 11:82d8768d7351 88 * COMMON CONSTANTS
Lightvalve 11:82d8768d7351 89 ******************************************************************************/
Lightvalve 30:8d561f16383b 90 #define RAD_30 0.523598775598299f
Lightvalve 30:8d561f16383b 91 #define RAD_60 1.047197551196598f
Lightvalve 30:8d561f16383b 92 #define RAD_120 2.094395102393195f
Lightvalve 30:8d561f16383b 93 #define RAD_180 3.141592653589793f
Lightvalve 30:8d561f16383b 94 #define RAD_240 4.188790204786391f
Lightvalve 30:8d561f16383b 95 #define RAD_300 5.235987755982989f
Lightvalve 30:8d561f16383b 96 #define RAD_360 6.283185307179586f
Lightvalve 11:82d8768d7351 97
Lightvalve 11:82d8768d7351 98 #define SYSFREQ 200000000
Lightvalve 11:82d8768d7351 99 #define PBCLK 100000000
Lightvalve 11:82d8768d7351 100
Lightvalve 11:82d8768d7351 101 //#define TMR_FREQ_10k 10000
Lightvalve 11:82d8768d7351 102 #define TMR_FREQ_5k 5000
Lightvalve 11:82d8768d7351 103
Lightvalve 11:82d8768d7351 104 #define FALSE 0
Lightvalve 11:82d8768d7351 105 #define TRUE 1
Lightvalve 11:82d8768d7351 106 #define OUTPUT 0
Lightvalve 11:82d8768d7351 107 #define INPUT 1
Lightvalve 11:82d8768d7351 108 #define LOW 0
Lightvalve 11:82d8768d7351 109 #define HIGH 1
Lightvalve 11:82d8768d7351 110 #define DIGITAL 0
Lightvalve 11:82d8768d7351 111 #define ANALOG 1
Lightvalve 11:82d8768d7351 112
Lightvalve 30:8d561f16383b 113 #define PI 3.141592653589793f
Lightvalve 30:8d561f16383b 114 #define D2R 0.017453292519943f
Lightvalve 30:8d561f16383b 115 #define R2D 57.295779513082323f
Lightvalve 11:82d8768d7351 116
Lightvalve 11:82d8768d7351 117
Lightvalve 11:82d8768d7351 118 /*******************************************************************************
Lightvalve 11:82d8768d7351 119 * HEADER INCLUDE
Lightvalve 11:82d8768d7351 120 ******************************************************************************/
Lightvalve 11:82d8768d7351 121
Lightvalve 11:82d8768d7351 122 /*******************************************************************************
Lightvalve 11:82d8768d7351 123 * VARIABLE
Lightvalve 11:82d8768d7351 124 ******************************************************************************/
Lightvalve 11:82d8768d7351 125
Lightvalve 11:82d8768d7351 126 // Board Information
Lightvalve 11:82d8768d7351 127 extern uint8_t BNO;
Lightvalve 11:82d8768d7351 128 extern uint8_t CONTROL_MODE;
Lightvalve 11:82d8768d7351 129 extern uint8_t OPERATING_MODE;
Lightvalve 11:82d8768d7351 130 extern uint8_t SETTING_SWITCH;
Lightvalve 11:82d8768d7351 131 extern uint8_t SETTING_SWITCH_OLD;
Lightvalve 11:82d8768d7351 132 extern uint8_t REFERENCE_MODE;
Lightvalve 11:82d8768d7351 133 extern uint16_t CAN_FREQ;
Lightvalve 17:1865016ca2e7 134 extern int16_t DIR_JOINT_ENC;
Lightvalve 17:1865016ca2e7 135 extern int16_t DIR_VALVE;
Lightvalve 17:1865016ca2e7 136 extern int16_t DIR_VALVE_ENC;
Lightvalve 11:82d8768d7351 137
Lightvalve 30:8d561f16383b 138 extern float SUPPLY_VOLTAGE;
Lightvalve 30:8d561f16383b 139 extern float VALVE_VOLTAGE_LIMIT;
Lightvalve 11:82d8768d7351 140
Lightvalve 30:8d561f16383b 141 extern float P_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 142 extern float I_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 143 extern float D_GAIN_VALVE_POSITION;
Lightvalve 30:8d561f16383b 144 extern float P_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 145 extern float I_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 146 extern float D_GAIN_JOINT_POSITION;
Lightvalve 30:8d561f16383b 147 extern float P_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 148 extern float I_GAIN_JOINT_TORQUE;
Lightvalve 30:8d561f16383b 149 extern float D_GAIN_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 150
Lightvalve 36:a46e63505ed8 151 //extern float P_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 152 //extern float I_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 153 //extern float D_GAIN_VALVE_POSITION_OPP;
Lightvalve 36:a46e63505ed8 154 //extern float P_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 155 //extern float I_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 156 //extern float D_GAIN_JOINT_POSITION_OPP;
Lightvalve 36:a46e63505ed8 157 //extern float P_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 158 //extern float I_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 159 //extern float D_GAIN_JOINT_TORQUE_OPP;
Lightvalve 36:a46e63505ed8 160
Lightvalve 33:91b17819ec30 161 extern float VALVE_DEADZONE_PLUS;
Lightvalve 33:91b17819ec30 162 extern float VALVE_DEADZONE_MINUS;
Lightvalve 11:82d8768d7351 163
Lightvalve 11:82d8768d7351 164 extern int16_t VELOCITY_COMP_GAIN;
Lightvalve 11:82d8768d7351 165 extern int16_t COMPLIANCE_GAIN;
Lightvalve 11:82d8768d7351 166
Lightvalve 11:82d8768d7351 167 extern int16_t VALVE_CENTER;
Lightvalve 11:82d8768d7351 168
Lightvalve 11:82d8768d7351 169 extern int16_t VALVE_FF;
Lightvalve 11:82d8768d7351 170
Lightvalve 11:82d8768d7351 171 extern int16_t BULK_MODULUS;
Lightvalve 11:82d8768d7351 172
Lightvalve 11:82d8768d7351 173 extern int16_t CHAMBER_VOLUME_A;
Lightvalve 11:82d8768d7351 174 extern int16_t CHAMBER_VOLUME_B;
Lightvalve 11:82d8768d7351 175
Lightvalve 11:82d8768d7351 176 extern int16_t PISTON_AREA_A;
Lightvalve 11:82d8768d7351 177 extern int16_t PISTON_AREA_B;
Lightvalve 30:8d561f16383b 178 extern float PISTON_AREA_alpha;
Lightvalve 11:82d8768d7351 179
Lightvalve 11:82d8768d7351 180
Lightvalve 11:82d8768d7351 181 extern int16_t PRES_SUPPLY;
Lightvalve 11:82d8768d7351 182 extern int16_t PRES_RETURN;
Lightvalve 11:82d8768d7351 183
Lightvalve 11:82d8768d7351 184 extern int16_t ENC_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 185 extern int16_t ENC_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 186
Lightvalve 11:82d8768d7351 187 extern int16_t STROKE;
Lightvalve 11:82d8768d7351 188
Lightvalve 11:82d8768d7351 189
Lightvalve 11:82d8768d7351 190 extern int16_t VALVE_LIMIT_PLUS;
Lightvalve 11:82d8768d7351 191 extern int16_t VALVE_LIMIT_MINUS;
Lightvalve 11:82d8768d7351 192
Lightvalve 11:82d8768d7351 193 extern int16_t ENC_PULSE_PER_POSITION;
Lightvalve 11:82d8768d7351 194 extern int16_t TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 30:8d561f16383b 195 extern float PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 196 extern float PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 11:82d8768d7351 197
Lightvalve 11:82d8768d7351 198 extern int HOMEPOS_OFFSET;
Lightvalve 11:82d8768d7351 199 extern int HOMEPOS_VALVE_OPENING;
Lightvalve 11:82d8768d7351 200
Lightvalve 30:8d561f16383b 201 extern float FRICTION;
Lightvalve 30:8d561f16383b 202 extern float REF_PERIOD;
Lightvalve 30:8d561f16383b 203 extern float REF_MAG;
Lightvalve 11:82d8768d7351 204 extern int REF_NUM;
Lightvalve 11:82d8768d7351 205
Lightvalve 11:82d8768d7351 206
Lightvalve 30:8d561f16383b 207 extern float DAC_REF;
Lightvalve 30:8d561f16383b 208 extern float DAC_RESOL;
Lightvalve 11:82d8768d7351 209
Lightvalve 11:82d8768d7351 210 extern int REF_POSITION;
Lightvalve 11:82d8768d7351 211 extern int REF_VELOCITY;
Lightvalve 11:82d8768d7351 212 extern int16_t REF_TORQUE;
Lightvalve 11:82d8768d7351 213 extern int16_t REF_PRES_DIFF;
Lightvalve 11:82d8768d7351 214 extern int16_t REF_PWM;
Lightvalve 11:82d8768d7351 215 extern int16_t REF_VALVE_POSITION;
Lightvalve 14:8e7590227d22 216 extern int16_t REF_CURRENT;
Lightvalve 11:82d8768d7351 217
Lightvalve 11:82d8768d7351 218 extern int REF_MOVE_TIME_5k;
Lightvalve 11:82d8768d7351 219 extern int INIT_REF_PWM;
Lightvalve 11:82d8768d7351 220 extern int INIT_REF_VALVE_POS;
Lightvalve 11:82d8768d7351 221 extern int INIT_REF_POS;
Lightvalve 11:82d8768d7351 222 extern int INIT_REF_VEL;
Lightvalve 11:82d8768d7351 223 extern int INIT_REF_TORQUE;
Lightvalve 11:82d8768d7351 224 extern int INIT_REF_PRES_DIFF;
Lightvalve 14:8e7590227d22 225 extern int INIT_REF_CURRENT;
Lightvalve 11:82d8768d7351 226
Lightvalve 11:82d8768d7351 227 extern int CUR_POSITION;
Lightvalve 11:82d8768d7351 228 extern int CUR_VELOCITY;
Lightvalve 30:8d561f16383b 229 extern float CUR_TORQUE;
Lightvalve 30:8d561f16383b 230 extern float CUR_PRES_A;
Lightvalve 30:8d561f16383b 231 extern float CUR_PRES_B;
Lightvalve 11:82d8768d7351 232 extern int CUR_PWM;
Lightvalve 11:82d8768d7351 233 extern int CUR_VALVE_POSITION;
Lightvalve 11:82d8768d7351 234
Lightvalve 11:82d8768d7351 235 extern unsigned int TMR2_COUNT_LED1;
Lightvalve 11:82d8768d7351 236 extern unsigned int TMR2_COUNT_LED2;
Lightvalve 11:82d8768d7351 237 extern unsigned int TMR2_COUNT_CAN_TX;
Lightvalve 11:82d8768d7351 238
Lightvalve 11:82d8768d7351 239 extern int num_err;
Lightvalve 11:82d8768d7351 240 extern int flag_err[8];
Lightvalve 11:82d8768d7351 241 extern int flag_err_old[8];
Lightvalve 11:82d8768d7351 242 extern int flag_err_rt;
Lightvalve 11:82d8768d7351 243
Lightvalve 11:82d8768d7351 244 extern int flag_ref_enable;
Lightvalve 11:82d8768d7351 245
Lightvalve 11:82d8768d7351 246 extern int flag_data_request[5];
Lightvalve 11:82d8768d7351 247
Lightvalve 11:82d8768d7351 248 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 249 ////////////////////////////// SEUNGHOON ADD ///////////////////////////////////
Lightvalve 11:82d8768d7351 250 ////////////////////////////////////////////////////////////////////////////////
Lightvalve 11:82d8768d7351 251
Lightvalve 30:8d561f16383b 252 extern float CUR_PRES_A_BAR;
Lightvalve 30:8d561f16383b 253 extern float CUR_PRES_B_BAR;
Lightvalve 30:8d561f16383b 254 extern float CUR_TORQUE_NM;
Lightvalve 30:8d561f16383b 255 extern float CUR_TORQUE_NM_PRESS;
Lightvalve 11:82d8768d7351 256
Lightvalve 30:8d561f16383b 257 extern float PRES_A_VREF;
Lightvalve 30:8d561f16383b 258 extern float PRES_A_VREF_TEST;
Lightvalve 30:8d561f16383b 259 extern float PRES_B_VREF;
Lightvalve 30:8d561f16383b 260 extern float PRES_B_VREF_TEST;
Lightvalve 30:8d561f16383b 261 extern float TORQUE_VREF;
Lightvalve 11:82d8768d7351 262
Lightvalve 30:8d561f16383b 263 extern float VALVE_PWM_RAW_FB;
Lightvalve 30:8d561f16383b 264 extern float VALVE_PWM_RAW_FF;
Lightvalve 11:82d8768d7351 265 extern int VALVE_PWM_VALVE_DZ;
Lightvalve 11:82d8768d7351 266 extern int VALVE_INPUT_PWM;
Lightvalve 11:82d8768d7351 267
Lightvalve 30:8d561f16383b 268 extern float VALVE_GAIN_LPM_PER_V[10];
Lightvalve 30:8d561f16383b 269 extern float VALVE_POS_VS_PWM[25];
Lightvalve 11:82d8768d7351 270 extern long JOINT_VEL[100];
Lightvalve 11:82d8768d7351 271
Lightvalve 11:82d8768d7351 272 extern int VALVE_MAX_POS;
Lightvalve 11:82d8768d7351 273 extern int VALVE_MIN_POS;
Lightvalve 33:91b17819ec30 274 extern float DDV_CENTER;
Lightvalve 11:82d8768d7351 275 extern int VALVE_POS_NUM;
Lightvalve 32:4b8c0fedaf2c 276 extern int VALVE_CENTER_OFFSET_times10;
Lightvalve 32:4b8c0fedaf2c 277 extern float VALVE_CENTER_OFFSET;
Lightvalve 33:91b17819ec30 278 extern float VALVE_DZ_MINUS_OFFSET;
Lightvalve 33:91b17819ec30 279 extern float VALVE_DZ_PLUS_OFFSET;
Lightvalve 33:91b17819ec30 280 extern float VALVE_DEADZONE_MINUS;
Lightvalve 33:91b17819ec30 281 extern float VALVE_DEADZONE_PLUS;
Lightvalve 11:82d8768d7351 282
Lightvalve 14:8e7590227d22 283 extern int TMR3_COUNT_FINDHOME;
Lightvalve 14:8e7590227d22 284 extern int TMR3_COUNT_FLOWRATE;
Lightvalve 14:8e7590227d22 285 extern int TMR3_COUNT_DEADZONE;
Lightvalve 14:8e7590227d22 286 extern int TMR3_COUNT_PRES_NULL;
Lightvalve 14:8e7590227d22 287 extern int TMR3_COUNT_TORQUE_NULL;
Lightvalve 14:8e7590227d22 288 extern int TMR3_COUNT_PRES_CALIB;
Lightvalve 14:8e7590227d22 289 extern int TMR3_COUNT_REFERENCE;
Lightvalve 14:8e7590227d22 290 extern int TMR3_COUNT_JOINT;
Lightvalve 14:8e7590227d22 291 extern int TMR3_COUNT_ROTARY_FRIC_TUNE;
Lightvalve 11:82d8768d7351 292
Lightvalve 11:82d8768d7351 293 extern bool FLAG_REFERENCE_VALVE_PWM;
Lightvalve 11:82d8768d7351 294 extern bool FLAG_REFERENCE_VALVE_POSITION;
Lightvalve 11:82d8768d7351 295 extern bool FLAG_REFERENCE_JOINT_POSITION;
Lightvalve 11:82d8768d7351 296 extern bool FLAG_REFERENCE_JOINT_TORQUE;
Lightvalve 11:82d8768d7351 297 extern bool FLAG_REFERENCE_PRES_DIFF;
Lightvalve 14:8e7590227d22 298 extern bool FLAG_REFERENCE_CURRENT;
Lightvalve 11:82d8768d7351 299
Lightvalve 30:8d561f16383b 300 extern float TUNING_TIME;
Lightvalve 11:82d8768d7351 301
Lightvalve 30:8d561f16383b 302 extern float REFERENCE_FREQ;
Lightvalve 30:8d561f16383b 303 extern float REFERENCE_MAG;
Lightvalve 11:82d8768d7351 304
Lightvalve 11:82d8768d7351 305 extern bool FLAG_FIND_HOME;
Lightvalve 11:82d8768d7351 306
Lightvalve 11:82d8768d7351 307 extern int MODE_JUMP_STATUS;
Lightvalve 11:82d8768d7351 308
Lightvalve 30:8d561f16383b 309 extern float CUR_PRES_DIFF_BAR;
Lightvalve 30:8d561f16383b 310 extern float CUR_PRES_A_sum;
Lightvalve 30:8d561f16383b 311 extern float CUR_PRES_B_sum;
Lightvalve 30:8d561f16383b 312 extern float CUR_PRES_A_mean;
Lightvalve 30:8d561f16383b 313 extern float CUR_PRES_B_mean;
Lightvalve 30:8d561f16383b 314 extern float CUR_TORQUE_sum;
Lightvalve 30:8d561f16383b 315 extern float CUR_TORQUE_mean;
Lightvalve 30:8d561f16383b 316 extern float PRES_A_NULL;
Lightvalve 30:8d561f16383b 317 extern float PRES_B_NULL;
Lightvalve 30:8d561f16383b 318 extern float TORQUE_NULL;
Lightvalve 13:747daba9cf59 319
Lightvalve 30:8d561f16383b 320 extern float Ref_Valve_Pos_Old;
Lightvalve 13:747daba9cf59 321
Lightvalve 13:747daba9cf59 322 extern int VALVE_ID_timer;
Lightvalve 13:747daba9cf59 323 extern int VALVE_DZ_timer;
Lightvalve 13:747daba9cf59 324 extern int VALVE_FR_timer;
Lightvalve 35:34ce7b0347b8 325 extern int VALVE_HPL_timer;
Lightvalve 13:747daba9cf59 326 extern int VALVE_POS_TMP;
Lightvalve 13:747daba9cf59 327 extern int JOINT_VEL_TMP;
Lightvalve 13:747daba9cf59 328 extern int DDV_POS_AVG ;
Lightvalve 19:23b7c1ad8683 329 extern int VALVE_POS_AVG[50];
Lightvalve 13:747daba9cf59 330 extern int VALVE_POS_AVG_OLD;
Lightvalve 13:747daba9cf59 331 extern int data_num;
Lightvalve 13:747daba9cf59 332 extern int ID_index;
Lightvalve 13:747daba9cf59 333 extern int DZ_index;
Lightvalve 19:23b7c1ad8683 334 extern int ID_index_array[50];
Lightvalve 13:747daba9cf59 335 extern int first_check;
Lightvalve 30:8d561f16383b 336 extern float init_time;
Lightvalve 13:747daba9cf59 337 extern int VEL_POINT;
Lightvalve 13:747daba9cf59 338 extern int DZ_case;
Lightvalve 13:747daba9cf59 339 extern int START_POS;
Lightvalve 13:747daba9cf59 340 extern int FINAL_POS;
Lightvalve 13:747daba9cf59 341 extern int DZ_DIRECTION;
Lightvalve 13:747daba9cf59 342 extern int FIRST_DZ;
Lightvalve 13:747daba9cf59 343 extern int SECOND_DZ;
Lightvalve 13:747daba9cf59 344 extern int DZ_NUM;
Lightvalve 13:747daba9cf59 345 extern int one_period_end;
Lightvalve 30:8d561f16383b 346 extern float Ref_Vel_Test;
Lightvalve 13:747daba9cf59 347 extern long TMR2_FOR_SLOW_LOGGING;
Lightvalve 19:23b7c1ad8683 348 //extern int velcount;
Lightvalve 13:747daba9cf59 349 extern char max_check;
Lightvalve 13:747daba9cf59 350 extern char min_check;
Lightvalve 13:747daba9cf59 351
Lightvalve 30:8d561f16383b 352 extern float valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum;
Lightvalve 30:8d561f16383b 353 extern float joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum;
Lightvalve 30:8d561f16383b 354 extern float joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum;
Lightvalve 30:8d561f16383b 355 extern float VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ;
Lightvalve 13:747daba9cf59 356
Lightvalve 30:8d561f16383b 357 extern float CUR_FLOWRATE;
Lightvalve 30:8d561f16383b 358 extern float VALVE_FF_VOLTAGE;
Lightvalve 13:747daba9cf59 359
Lightvalve 13:747daba9cf59 360 extern int pos_plus_end;
Lightvalve 13:747daba9cf59 361 extern int pos_minus_end;
Lightvalve 13:747daba9cf59 362
Lightvalve 13:747daba9cf59 363 extern bool need_enc_init;
Lightvalve 13:747daba9cf59 364
Lightvalve 13:747daba9cf59 365 extern int temp_time;
Lightvalve 13:747daba9cf59 366
Lightvalve 30:8d561f16383b 367 extern float CUR_VELOCITY_sum;
Lightvalve 30:8d561f16383b 368 extern float temp_vel_sum;
Lightvalve 13:747daba9cf59 369
Lightvalve 13:747daba9cf59 370 extern int DZ_dir;
Lightvalve 13:747daba9cf59 371 extern int DZ_temp_cnt;
Lightvalve 13:747daba9cf59 372 extern int DZ_temp_cnt2;
Lightvalve 13:747daba9cf59 373 extern int DZ_end;
Lightvalve 13:747daba9cf59 374 extern int flag_flowrate;
Lightvalve 13:747daba9cf59 375 extern int fl_temp_cnt;
Lightvalve 13:747daba9cf59 376 extern int fl_temp_cnt2;
Lightvalve 13:747daba9cf59 377 extern int cur_vel_sum;
Lightvalve 13:747daba9cf59 378
Lightvalve 13:747daba9cf59 379 // find home
Lightvalve 13:747daba9cf59 380 extern int CUR_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 381 extern int cnt_findhome;
Lightvalve 13:747daba9cf59 382 extern int cnt_vel_findhome;
Lightvalve 13:747daba9cf59 383 extern int FINDHOME_VELOCITY;
Lightvalve 13:747daba9cf59 384 extern int FINDHOME_VELOCITY_OLD;
Lightvalve 13:747daba9cf59 385 extern int FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 386 extern int FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 387
Lightvalve 13:747daba9cf59 388 // valve gain
Lightvalve 13:747daba9cf59 389 extern int check_vel_pos_init;
Lightvalve 13:747daba9cf59 390 extern int check_vel_pos_fin;
Lightvalve 13:747daba9cf59 391 extern int check_vel_pos_interv;
Lightvalve 13:747daba9cf59 392 extern int valve_gain_repeat_cnt;
Lightvalve 30:8d561f16383b 393 extern float VALVE_VOLTAGE;
Lightvalve 13:747daba9cf59 394
Lightvalve 30:8d561f16383b 395 extern float freq_fric_tune;
Lightvalve 13:747daba9cf59 396
Lightvalve 14:8e7590227d22 397 extern bool FLAG_VALVE_OUTPUT_CALIB;
Lightvalve 14:8e7590227d22 398
Lightvalve 14:8e7590227d22 399 extern uint32_t TMR3_COUNT_CAN_TX;
Lightvalve 14:8e7590227d22 400
Lightvalve 30:8d561f16383b 401 extern float I_REF;
Lightvalve 14:8e7590227d22 402 extern int TMR3_COUNT_IREF;
Lightvalve 30:8d561f16383b 403 extern float CUR_CURRENT;
Lightvalve 30:8d561f16383b 404 extern float u_CUR[3];
Lightvalve 19:23b7c1ad8683 405
Lightvalve 29:69f3f5445d6d 406 extern int FINDHOME_STAGE;
Lightvalve 29:69f3f5445d6d 407 extern int FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 408 extern int FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 409 extern int FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 410
Lightvalve 23:59218d4a256d 411 //extern int h1, h2, h3, h4, h5, h6;
Lightvalve 23:59218d4a256d 412
Lightvalve 23:59218d4a256d 413
Lightvalve 23:59218d4a256d 414
Lightvalve 26:8317d883d4f2 415
Lightvalve 30:8d561f16383b 416
Lightvalve 30:8d561f16383b 417
Lightvalve 32:4b8c0fedaf2c 418
Lightvalve 35:34ce7b0347b8 419
Lightvalve 36:a46e63505ed8 420