HydraulicControlBoard_Rainbow_v1_2_ - rainbow

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Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

main.cpp@40:3f2c0619c8c4, 2019-12-19 (annotated)

Committer:: Lightvalve
Date:: Thu Dec 19 11:39:31 2019 +0000
Revision:: 40:3f2c0619c8c4
Parent:: 38:118df027d851
Child:: 41:abbd4e2af68b

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
Lightvalve	31:66738bfecec5	12	///191008////
Lightvalve	31:66738bfecec5	13
jobuuu	7:e9086c72bb22	14	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	15	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	16	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	17	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	18	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	19	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	20	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	21	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	22
Lightvalve	24:ef6e1092e9e6	23
jobuuu	7:e9086c72bb22	24	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	25	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	26	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	30	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	31	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	32
jobuuu	7:e9086c72bb22	33	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	34	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	35	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	36	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	37	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	38	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	39	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	43
jobuuu	7:e9086c72bb22	44	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	45	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	46	CANMessage msg;
Lightvalve	11:82d8768d7351	47	void onMsgReceived()
Lightvalve	11:82d8768d7351	48	{
Lightvalve	11:82d8768d7351	49	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
jobuuu	7:e9086c72bb22	52	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	53	State pos;
jobuuu	7:e9086c72bb22	54	State vel;
jobuuu	7:e9086c72bb22	55	State Vout;
jobuuu	7:e9086c72bb22	56	State torq;
jobuuu	7:e9086c72bb22	57	State pres_A;
jobuuu	7:e9086c72bb22	58	State pres_B;
jobuuu	7:e9086c72bb22	59	State cur;
Lightvalve	14:8e7590227d22	60	State valve_pos;
Lightvalve	14:8e7590227d22	61
Lightvalve	14:8e7590227d22	62	State INIT_Vout;
Lightvalve	14:8e7590227d22	63	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	64	State INIT_Pos;
Lightvalve	14:8e7590227d22	65	State INIT_torq;
jobuuu	5:a4319f79457b	66
Lightvalve	30:8d561f16383b	67	float V_out=0.0f;
Lightvalve	30:8d561f16383b	68	float V_rem=0.0f; // for anti-windup
Lightvalve	30:8d561f16383b	69	float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu	5:a4319f79457b	70
Lightvalve	30:8d561f16383b	71	float PWM_out=0.0f;
Lightvalve	12:6f2531038ea4	72
Lightvalve	17:1865016ca2e7	73	int timer_while = 0;
Lightvalve	17:1865016ca2e7	74	int while_index = 0;
Lightvalve	17:1865016ca2e7	75
Lightvalve	19:23b7c1ad8683	76
Lightvalve	19:23b7c1ad8683	77	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	78	extern int CID_RX_REF_POSITION;
Lightvalve	19:23b7c1ad8683	79	extern int CID_RX_REF_TORQUE;
Lightvalve	19:23b7c1ad8683	80	extern int CID_RX_REF_PRES_DIFF;
Lightvalve	19:23b7c1ad8683	81	extern int CID_RX_REF_VOUT;
Lightvalve	19:23b7c1ad8683	82	extern int CID_RX_REF_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	83	extern int CID_RX_REF_CURRENT;
Lightvalve	19:23b7c1ad8683	84
Lightvalve	19:23b7c1ad8683	85	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	86	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	87	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	88	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	89	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	90	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	91
jobuuu	7:e9086c72bb22	92	// =============================================================================
jobuuu	7:e9086c72bb22	93	// =============================================================================
jobuuu	7:e9086c72bb22	94	// =============================================================================
jobuuu	7:e9086c72bb22	95
Lightvalve	12:6f2531038ea4	96	/*******************************************************************************
Lightvalve	12:6f2531038ea4	97	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	98	******************************************************************************/
Lightvalve	13:747daba9cf59	99	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	100	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	101	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	102	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	103	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	104	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	105	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	106	};
Lightvalve	12:6f2531038ea4	107
Lightvalve	12:6f2531038ea4	108	/*******************************************************************************
Lightvalve	12:6f2531038ea4	109	* CONTROL MODE
Lightvalve	12:6f2531038ea4	110	******************************************************************************/
Lightvalve	13:747daba9cf59	111	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	112	//control mode
Lightvalve	12:6f2531038ea4	113	MODE_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	114	MODE_VALVE_OPEN_LOOP, //1
Lightvalve	12:6f2531038ea4	115	MODE_VALVE_POSITION_CONTROL, //2
Lightvalve	13:747daba9cf59	116
Lightvalve	12:6f2531038ea4	117	MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve	12:6f2531038ea4	118	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	119	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	120
Lightvalve	12:6f2531038ea4	121	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	122	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	123	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	124
Lightvalve	12:6f2531038ea4	125	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	126	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	127
Lightvalve	14:8e7590227d22	128	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	129	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	130	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	131
Lightvalve	12:6f2531038ea4	132	//utility
Lightvalve	12:6f2531038ea4	133	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	134	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	135	MODE_FIND_HOME, //22
Lightvalve	12:6f2531038ea4	136	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	137	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	138	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	139	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	140
Lightvalve	12:6f2531038ea4	141	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	142	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	143	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	12:6f2531038ea4	144	};
Lightvalve	12:6f2531038ea4	145
GiJeongKim	0:51c43836c1d7	146	int main()
GiJeongKim	0:51c43836c1d7	147	{
jobuuu	6:df07d3491e3a	148	/*********************************
jobuuu	1:e04e563be5ce	149	*** Initialization
jobuuu	6:df07d3491e3a	150	*********************************/
Lightvalve	19:23b7c1ad8683	151	//LED = 1;
Lightvalve	19:23b7c1ad8683	152	//pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	153
GiJeongKim	0:51c43836c1d7	154	// i2c init
Lightvalve	8:5d2eebdad025	155	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	156	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	157	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	158	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	159	make_delay();
jobuuu	2:a1c0a37df760	160
GiJeongKim	0:51c43836c1d7	161	// // spi init
Lightvalve	16:903b5a4433b4	162	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	163	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	164	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	165	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	166	make_delay();
Lightvalve	21:e5f1a43ea6f9	167
Lightvalve	16:903b5a4433b4	168	//rom
Lightvalve	19:23b7c1ad8683	169	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	170	make_delay();
Lightvalve	13:747daba9cf59	171
GiJeongKim	0:51c43836c1d7	172	// ADC init
jobuuu	5:a4319f79457b	173	Init_ADC();
Lightvalve	11:82d8768d7351	174	make_delay();
jobuuu	2:a1c0a37df760	175
GiJeongKim	0:51c43836c1d7	176	// Pwm init
GiJeongKim	0:51c43836c1d7	177	Init_PWM();
GiJeongKim	0:51c43836c1d7	178	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	179	make_delay();
Lightvalve	13:747daba9cf59	180
Lightvalve	11:82d8768d7351	181	// TMR3 init
Lightvalve	11:82d8768d7351	182	Init_TMR3();
Lightvalve	11:82d8768d7351	183	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	184	make_delay();
Lightvalve	21:e5f1a43ea6f9	185
Lightvalve	20:806196fda269	186	// TMR5 init
Lightvalve	23:59218d4a256d	187	Init_TMR2();
Lightvalve	23:59218d4a256d	188	TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	20:806196fda269	189	make_delay();
Lightvalve	21:e5f1a43ea6f9	190
GiJeongKim	0:51c43836c1d7	191	// CAN
jobuuu	2:a1c0a37df760	192	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	193	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	194	make_delay();
Lightvalve	34:bb2ca2fc2a8e	195
Lightvalve	23:59218d4a256d	196	//Timer priority
Lightvalve	23:59218d4a256d	197	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	23:59218d4a256d	198	NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	23:59218d4a256d	199	NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve	34:bb2ca2fc2a8e	200
Lightvalve	23:59218d4a256d	201	//can.reset();
Lightvalve	19:23b7c1ad8683	202	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	203
GiJeongKim	0:51c43836c1d7	204	// spi _ enc
GiJeongKim	0:51c43836c1d7	205	spi_enc_set_init();
Lightvalve	11:82d8768d7351	206	make_delay();
Lightvalve	13:747daba9cf59	207
Lightvalve	11:82d8768d7351	208	//DAC init
Lightvalve	38:118df027d851	209	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	38:118df027d851	210	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	11:82d8768d7351	211	make_delay();
Lightvalve	13:747daba9cf59	212
Lightvalve	19:23b7c1ad8683	213	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	214	if(i%2==0)
Lightvalve	38:118df027d851	215	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	216	else
Lightvalve	38:118df027d851	217	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	218	}
Lightvalve	13:747daba9cf59	219
jobuuu	6:df07d3491e3a	220	/************************************
jobuuu	1:e04e563be5ce	221	*** Program is operating!
jobuuu	6:df07d3491e3a	222	*************************************/
GiJeongKim	0:51c43836c1d7	223	while(1) {
Lightvalve	21:e5f1a43ea6f9	224	if(timer_while==1000) {
Lightvalve	28:2a62d73e3dd0	225	//pc.printf("cmd %d\n ");
Lightvalve	17:1865016ca2e7	226	//i2c
Lightvalve	17:1865016ca2e7	227	read_field(i2c_slave_addr1);
Lightvalve	17:1865016ca2e7	228	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	21:e5f1a43ea6f9	229
Lightvalve	19:23b7c1ad8683	230	// if(LED==1) {
Lightvalve	19:23b7c1ad8683	231	// LED=0;
Lightvalve	19:23b7c1ad8683	232	// } else
Lightvalve	19:23b7c1ad8683	233	// LED = 1;
Lightvalve	17:1865016ca2e7	234	timer_while = 0;
Lightvalve	21:e5f1a43ea6f9	235
Lightvalve	17:1865016ca2e7	236	}
Lightvalve	17:1865016ca2e7	237	timer_while ++;
GiJeongKim	0:51c43836c1d7	238	}
jobuuu	1:e04e563be5ce	239	}
jobuuu	1:e04e563be5ce	240
Lightvalve	33:91b17819ec30	241	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	242	{
Lightvalve	14:8e7590227d22	243
Lightvalve	13:747daba9cf59	244	int i = 0;
Lightvalve	33:91b17819ec30	245	float Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	14:8e7590227d22	246	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	247	if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve	14:8e7590227d22	248	if(i==0) {
Lightvalve	38:118df027d851	249	if(JOINT_VEL[i+1] == JOINT_VEL[i]){
Lightvalve	38:118df027d851	250	Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	38:118df027d851	251	}else{
Lightvalve	38:118df027d851	252	Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve	38:118df027d851	253	}
Lightvalve	14:8e7590227d22	254	} else {
Lightvalve	38:118df027d851	255	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]){
Lightvalve	38:118df027d851	256	Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve	38:118df027d851	257	}else{
Lightvalve	38:118df027d851	258	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])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve	38:118df027d851	259	}
Lightvalve	13:747daba9cf59	260	}
Lightvalve	13:747daba9cf59	261	break;
Lightvalve	13:747daba9cf59	262	}
Lightvalve	13:747daba9cf59	263	}
Lightvalve	14:8e7590227d22	264	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	265	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	266	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	267	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	268	}
Lightvalve	36:a46e63505ed8	269
Lightvalve	35:34ce7b0347b8	270	//VELOCITY_COMP_GAIN = 20;
Lightvalve	35:34ce7b0347b8	271	//CAN_TX_PRES((int16_t)(Ref_Valve_Pos_FF), (int16_t) (7));
Lightvalve	33:91b17819ec30	272	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + DDV_CENTER;
Lightvalve	34:bb2ca2fc2a8e	273
Lightvalve	13:747daba9cf59	274	return Ref_Valve_Pos_FF;
Lightvalve	13:747daba9cf59	275	}
jobuuu	6:df07d3491e3a	276
jobuuu	6:df07d3491e3a	277
Lightvalve	30:8d561f16383b	278	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	279	{
Lightvalve	13:747daba9cf59	280	int i = 0;
Lightvalve	13:747daba9cf59	281
Lightvalve	38:118df027d851	282	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	283	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	284	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	285	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	286	}
Lightvalve	38:118df027d851	287
Lightvalve	13:747daba9cf59	288	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	289	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	290	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	291	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	292	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	293	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	294
Lightvalve	13:747daba9cf59	295	VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve	14:8e7590227d22	296
Lightvalve	38:118df027d851	297
Lightvalve	34:bb2ca2fc2a8e	298
Lightvalve	34:bb2ca2fc2a8e	299
Lightvalve	23:59218d4a256d	300	// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve	23:59218d4a256d	301	// {
Lightvalve	23:59218d4a256d	302	// if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve	30:8d561f16383b	303	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve	23:59218d4a256d	304	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve	30:8d561f16383b	305	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1];
Lightvalve	23:59218d4a256d	306	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve	30:8d561f16383b	307	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3];
Lightvalve	23:59218d4a256d	308	// }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve	30:8d561f16383b	309	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5];
Lightvalve	23:59218d4a256d	310	// }else
Lightvalve	23:59218d4a256d	311	// VALVE_PWM_RAW_FF = 12000.0;
Lightvalve	23:59218d4a256d	312	// }
Lightvalve	23:59218d4a256d	313	// else
Lightvalve	23:59218d4a256d	314	// {
Lightvalve	23:59218d4a256d	315	// if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve	30:8d561f16383b	316	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2];
Lightvalve	23:59218d4a256d	317	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve	30:8d561f16383b	318	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4];
Lightvalve	23:59218d4a256d	319	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve	30:8d561f16383b	320	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6];
Lightvalve	23:59218d4a256d	321	// }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve	30:8d561f16383b	322	// VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8];
Lightvalve	23:59218d4a256d	323	// }else
Lightvalve	23:59218d4a256d	324	// VALVE_PWM_RAW_FF = -12000.0;
Lightvalve	23:59218d4a256d	325	// }
Lightvalve	14:8e7590227d22	326
Lightvalve	18:b8adf1582ea3	327	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	328	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	329	if(i==0) {
Lightvalve	30:8d561f16383b	330	VALVE_PWM_RAW_FF = (float) 1000.0 / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	331	} else {
Lightvalve	30:8d561f16383b	332	VALVE_PWM_RAW_FF = (float) 1000.0* (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]) + 1000.0* (float) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	333	}
Lightvalve	13:747daba9cf59	334	break;
Lightvalve	13:747daba9cf59	335	}
Lightvalve	13:747daba9cf59	336	}
Lightvalve	19:23b7c1ad8683	337
Lightvalve	14:8e7590227d22	338	V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	27:a2254a485f23	339	//V_out = VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	340	}
Lightvalve	13:747daba9cf59	341
Lightvalve	14:8e7590227d22	342	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	343	float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve	34:bb2ca2fc2a8e	344	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	345	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	346	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	347	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	348	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	349	}; // duty
Lightvalve	30:8d561f16383b	350	float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve	34:bb2ca2fc2a8e	351	-196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve	34:bb2ca2fc2a8e	352	-156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	353	12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve	34:bb2ca2fc2a8e	354	173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve	34:bb2ca2fc2a8e	355	214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve	34:bb2ca2fc2a8e	356	}; // mV
Lightvalve	13:747daba9cf59	357
Lightvalve	30:8d561f16383b	358	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	359	{
Lightvalve	30:8d561f16383b	360	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	361	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	362	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	363	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	364	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	365	} else {
Lightvalve	13:747daba9cf59	366	int idx = 0;
Lightvalve	13:747daba9cf59	367	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	368	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	369	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	370	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	371	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	372	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	373	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	374	break;
Lightvalve	13:747daba9cf59	375	}
Lightvalve	13:747daba9cf59	376	}
Lightvalve	13:747daba9cf59	377	}
Lightvalve	14:8e7590227d22	378
Lightvalve	13:747daba9cf59	379	return PWM_duty;
Lightvalve	13:747daba9cf59	380	}
jobuuu	6:df07d3491e3a	381
jobuuu	2:a1c0a37df760	382	/*******************************************************************************
jobuuu	2:a1c0a37df760	383	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	384	*******************************************************************************/
jobuuu	2:a1c0a37df760	385
Lightvalve	19:23b7c1ad8683	386	//unsigned long CNT_TMR4 = 0;
Lightvalve	30:8d561f16383b	387	float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve	30:8d561f16383b	388	float DT_TMR4 = (float)DT_10k;
jobuuu	1:e04e563be5ce	389	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	390	{
Lightvalve	23:59218d4a256d	391
Lightvalve	19:23b7c1ad8683	392	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	393
Lightvalve	21:e5f1a43ea6f9	394	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	395	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	396	********************************************************/
Lightvalve	13:747daba9cf59	397
Lightvalve	19:23b7c1ad8683	398
Lightvalve	21:e5f1a43ea6f9	399	//Using LoadCell
Lightvalve	15:bd0d12728506	400	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	15:bd0d12728506	401	// //while((ADC1->SR & 0b10));
Lightvalve	30:8d561f16383b	402	// float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	30:8d561f16383b	403	// float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve	30:8d561f16383b	404	// torq.sen = torq.sen(1.0f-alpha_update_torque)+torque_new(alpha_update_torque);
Lightvalve	17:1865016ca2e7	405
Lightvalve	19:23b7c1ad8683	406
Lightvalve	17:1865016ca2e7	407
Lightvalve	21:e5f1a43ea6f9	408	//Pressure sensor A
Lightvalve	21:e5f1a43ea6f9	409	ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	21:e5f1a43ea6f9	410	//while((ADC1->SR & 0b10));
Lightvalve	30:8d561f16383b	411	float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	38:118df027d851	412	// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	38:118df027d851	413	float pres_A_new = ((float)ADC1->DR);
Lightvalve	30:8d561f16383b	414	pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	38:118df027d851	415	torq.sen = - (pres_A.sen-2048.0f)*10000.0f / 2048.0f; //N
Lightvalve	38:118df027d851	416
Lightvalve	19:23b7c1ad8683	417
Lightvalve	21:e5f1a43ea6f9	418	//Pressure sensor 1B
Lightvalve	38:118df027d851	419	//float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f));
Lightvalve	38:118df027d851	420	//float pres_B_new = ((float)ADC2->DR);
Lightvalve	38:118df027d851	421	//pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	38:118df027d851	422	//torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	423
Lightvalve	17:1865016ca2e7	424
Lightvalve	17:1865016ca2e7	425
Lightvalve	21:e5f1a43ea6f9	426	//Current
Lightvalve	21:e5f1a43ea6f9	427	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	11:82d8768d7351	428	// a1=ADC2->DR;
Lightvalve	25:3e6b574cab5c	429	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	430	//while((ADC3->SR & 0b10));
Lightvalve	30:8d561f16383b	431	float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f3.14f1000.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	432	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	433	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	434	//cur.sen = raw_cur;
Lightvalve	17:1865016ca2e7	435
Lightvalve	21:e5f1a43ea6f9	436	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	437	*** Timer Counting & etc.
Lightvalve	21:e5f1a43ea6f9	438	********************************************************/
Lightvalve	21:e5f1a43ea6f9	439	//CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	440	}
Lightvalve	11:82d8768d7351	441	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	442	}
Lightvalve	19:23b7c1ad8683	443
Lightvalve	19:23b7c1ad8683	444
Lightvalve	18:b8adf1582ea3	445	int j =0;
Lightvalve	19:23b7c1ad8683	446	//unsigned long CNT_TMR3 = 0;
Lightvalve	30:8d561f16383b	447	//float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	30:8d561f16383b	448	float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve	30:8d561f16383b	449	//float DT_TMR3 = (float)DT_5k;
Lightvalve	30:8d561f16383b	450	float DT_TMR3 = (float)DT_1k;
Lightvalve	11:82d8768d7351	451	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	452	{
Lightvalve	19:23b7c1ad8683	453	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	12:6f2531038ea4	454	ENC_UPDATE();
Lightvalve	13:747daba9cf59	455
Lightvalve	19:23b7c1ad8683	456	// CONTROL LOOP ------------------------------------------------------------
Lightvalve	13:747daba9cf59	457
Lightvalve	14:8e7590227d22	458	switch (CONTROL_MODE) {
Lightvalve	14:8e7590227d22	459	case MODE_NO_ACT: {
Lightvalve	30:8d561f16383b	460	V_out = 0.0f;
Lightvalve	13:747daba9cf59	461	break;
Lightvalve	13:747daba9cf59	462	}
Lightvalve	14:8e7590227d22	463
Lightvalve	14:8e7590227d22	464	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	30:8d561f16383b	465	V_out = (float) Vout.ref;
Lightvalve	14:8e7590227d22	466	break;
Lightvalve	14:8e7590227d22	467	}
Lightvalve	14:8e7590227d22	468
Lightvalve	14:8e7590227d22	469	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	14:8e7590227d22	470	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	471	break;
Lightvalve	14:8e7590227d22	472	}
Lightvalve	14:8e7590227d22	473
Lightvalve	14:8e7590227d22	474	case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve	30:8d561f16383b	475	float PWM_RAW_POS_FB = 0.0f; // PWM by Position Feedback
Lightvalve	30:8d561f16383b	476	float PWM_RAW_POS_FF = 0.0f; // PWM by Position Feedforward
Lightvalve	30:8d561f16383b	477	float PWM_RAW_FORCE_FB = 0.0f; // PWM by Force Feedback
Lightvalve	14:8e7590227d22	478
Lightvalve	13:747daba9cf59	479	// feedback input for position control
Lightvalve	30:8d561f16383b	480	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	481	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	482	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	483	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	484	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	485	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	486	// PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	30:8d561f16383b	487	PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve	30:8d561f16383b	488	PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01f;
Lightvalve	14:8e7590227d22	489
Lightvalve	13:747daba9cf59	490	// feedforward input for position control
Lightvalve	30:8d561f16383b	491	float Ref_Vel_Act = vel.ref/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	492	float K_ff = 0.9f;
Lightvalve	30:8d561f16383b	493	if(Ref_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve	30:8d561f16383b	494	if(Ref_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve	30:8d561f16383b	495	PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50f;
Lightvalve	14:8e7590227d22	496
Lightvalve	13:747daba9cf59	497	// torque feedback
Lightvalve	15:bd0d12728506	498	// torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	499	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	500	// torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	501	// torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	502	// if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	503	// if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	504	// VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	30:8d561f16383b	505	// VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve	19:23b7c1ad8683	506
Lightvalve	30:8d561f16383b	507	PWM_RAW_FORCE_FB = 0.0f;
Lightvalve	14:8e7590227d22	508
Lightvalve	14:8e7590227d22	509	V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve	14:8e7590227d22	510
Lightvalve	13:747daba9cf59	511	break;
Lightvalve	13:747daba9cf59	512	}
Lightvalve	14:8e7590227d22	513
Lightvalve	14:8e7590227d22	514	case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve	30:8d561f16383b	515	float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve	30:8d561f16383b	516	//float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve	30:8d561f16383b	517	float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve	19:23b7c1ad8683	518	//int DDV_JOINT_CAN = 0;
Lightvalve	13:747daba9cf59	519	// feedback input for position control
Lightvalve	30:8d561f16383b	520	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	521	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	522	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	523	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	524	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	525	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	32:4b8c0fedaf2c	526	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve	30:8d561f16383b	527	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	14:8e7590227d22	528
Lightvalve	14:8e7590227d22	529
Lightvalve	13:747daba9cf59	530	//Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve	13:747daba9cf59	531	// feedforward input for position control
Lightvalve	30:8d561f16383b	532	// float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	533	// float K_ff = 0.9f;
Lightvalve	30:8d561f16383b	534	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve	30:8d561f16383b	535	// if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve	30:8d561f16383b	536	// VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve	14:8e7590227d22	537
Lightvalve	38:118df027d851	538	//torque feedback
Lightvalve	38:118df027d851	539	torq.err = - torq.ref + torq.sen;
Lightvalve	38:118df027d851	540	torq.err_diff = torq.err - torq.err_old;
Lightvalve	38:118df027d851	541	torq.err_old = torq.err;
Lightvalve	38:118df027d851	542	torq.err_sum += torq.err;
Lightvalve	38:118df027d851	543	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	38:118df027d851	544	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	38:118df027d851	545	VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	38:118df027d851	546	VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve	14:8e7590227d22	547
Lightvalve	33:91b17819ec30	548	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve	34:bb2ca2fc2a8e	549
Lightvalve	34:bb2ca2fc2a8e	550	if (valve_pos.ref > DDV_CENTER) {
Lightvalve	32:4b8c0fedaf2c	551	valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS - DDV_CENTER;
Lightvalve	34:bb2ca2fc2a8e	552	} else if(valve_pos.ref < DDV_CENTER) {
Lightvalve	32:4b8c0fedaf2c	553	valve_pos.ref = valve_pos.ref - DDV_CENTER + VALVE_DEADZONE_MINUS;
Lightvalve	32:4b8c0fedaf2c	554	}
Lightvalve	14:8e7590227d22	555	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	556
Lightvalve	34:bb2ca2fc2a8e	557
Lightvalve	13:747daba9cf59	558	break;
Lightvalve	13:747daba9cf59	559	}
Lightvalve	14:8e7590227d22	560
Lightvalve	14:8e7590227d22	561	case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	562
Lightvalve	13:747daba9cf59	563	break;
Lightvalve	13:747daba9cf59	564	}
Lightvalve	14:8e7590227d22	565
Lightvalve	14:8e7590227d22	566	case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve	30:8d561f16383b	567	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	568	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	569	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	570	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	571	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	572	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	573	VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve	14:8e7590227d22	574
Lightvalve	14:8e7590227d22	575	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	576	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	577	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	578	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	579	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	580	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	581	VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	582
Lightvalve	30:8d561f16383b	583	VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve	14:8e7590227d22	584
Lightvalve	30:8d561f16383b	585	V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	586
Lightvalve	30:8d561f16383b	587	CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve	30:8d561f16383b	588	CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2pi/655365000(pulse/tic to rad/s) 0.5757=0.025250.020.00952601000 (radius area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve	13:747daba9cf59	589	if (DIR_VALVE > 0) {
Lightvalve	30:8d561f16383b	590	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]1.0f - 0.0f) + 0.0f;
Lightvalve	30:8d561f16383b	591	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0f) / (VALVE_GAIN_LPM_PER_V[2]2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve	30:8d561f16383b	592	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0f) / (VALVE_GAIN_LPM_PER_V[4]3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve	30:8d561f16383b	593	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0f) / (VALVE_GAIN_LPM_PER_V[6]4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve	30:8d561f16383b	594	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0f) / (VALVE_GAIN_LPM_PER_V[8]5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve	30:8d561f16383b	595	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve	30:8d561f16383b	596	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1](-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve	30:8d561f16383b	597	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3](-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve	30:8d561f16383b	598	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5](-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve	30:8d561f16383b	599	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7](-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve	30:8d561f16383b	600	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9](-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve	30:8d561f16383b	601	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	602	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	603	} else {
Lightvalve	30:8d561f16383b	604	if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]1.0f - 0.0f) + 0.0f;
Lightvalve	30:8d561f16383b	605	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]1.0f) / (VALVE_GAIN_LPM_PER_V[2]2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve	30:8d561f16383b	606	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]2.0f) / (VALVE_GAIN_LPM_PER_V[4]3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve	30:8d561f16383b	607	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]3.0f) / (VALVE_GAIN_LPM_PER_V[6]4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve	30:8d561f16383b	608	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]4.0f) / (VALVE_GAIN_LPM_PER_V[8]5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve	30:8d561f16383b	609	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve	30:8d561f16383b	610	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0](-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1](-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve	30:8d561f16383b	611	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2](-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1](-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3](-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1](-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve	30:8d561f16383b	612	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4](-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3](-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5](-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3](-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve	30:8d561f16383b	613	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6](-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5](-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7](-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5](-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve	30:8d561f16383b	614	else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8](-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7](-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9](-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7](-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve	30:8d561f16383b	615	else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve	13:747daba9cf59	616	else VALVE_FF_VOLTAGE = 0;
Lightvalve	13:747daba9cf59	617	}
Lightvalve	30:8d561f16383b	618	// VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve	14:8e7590227d22	619
Lightvalve	30:8d561f16383b	620	if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve	30:8d561f16383b	621	else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve	14:8e7590227d22	622
Lightvalve	18:b8adf1582ea3	623	V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve	14:8e7590227d22	624	break;
Lightvalve	14:8e7590227d22	625	}
Lightvalve	14:8e7590227d22	626
Lightvalve	14:8e7590227d22	627	case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve	30:8d561f16383b	628	pos.err = pos.ref - (float) pos.sen;
Lightvalve	14:8e7590227d22	629	pos.err_diff = pos.err - pos.err_old;
Lightvalve	14:8e7590227d22	630	pos.err_old = pos.err;
Lightvalve	14:8e7590227d22	631	pos.err_sum += pos.err;
Lightvalve	14:8e7590227d22	632	if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve	14:8e7590227d22	633	if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve	30:8d561f16383b	634	VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve	14:8e7590227d22	635
Lightvalve	15:bd0d12728506	636	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	637	torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	638	torq.err_old = torq.err;
Lightvalve	14:8e7590227d22	639	torq.err_sum += torq.err;
Lightvalve	14:8e7590227d22	640	if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve	14:8e7590227d22	641	if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve	30:8d561f16383b	642	VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve	14:8e7590227d22	643
Lightvalve	14:8e7590227d22	644	valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve	14:8e7590227d22	645	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	19:23b7c1ad8683	646
Lightvalve	14:8e7590227d22	647	break;
Lightvalve	14:8e7590227d22	648	}
Lightvalve	14:8e7590227d22	649
Lightvalve	14:8e7590227d22	650	case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve	14:8e7590227d22	651
Lightvalve	14:8e7590227d22	652	break;
Lightvalve	14:8e7590227d22	653	}
Lightvalve	14:8e7590227d22	654
Lightvalve	19:23b7c1ad8683	655
Lightvalve	19:23b7c1ad8683	656	case MODE_TEST_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	657	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	658	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	659	}
Lightvalve	19:23b7c1ad8683	660	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	661
Lightvalve	19:23b7c1ad8683	662	// Set Current Reference
Lightvalve	30:8d561f16383b	663	float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve	30:8d561f16383b	664	float I_REF_MID = 0.0f;
Lightvalve	14:8e7590227d22	665	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	30:8d561f16383b	666	I_REF = I_REF_MID + 1.0f;
Lightvalve	14:8e7590227d22	667	} else {
Lightvalve	30:8d561f16383b	668	I_REF = I_REF_MID - 1.0f;
Lightvalve	19:23b7c1ad8683	669	}
Lightvalve	30:8d561f16383b	670	// float T = 1.0; // wave period
Lightvalve	30:8d561f16383b	671	// I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve	30:8d561f16383b	672	// I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve	19:23b7c1ad8683	673
Lightvalve	14:8e7590227d22	674	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	23:59218d4a256d	675	//CAN_TX_PRES((int16_t)(I_REF1000.0), (int16_t) (CUR_CURRENT1000.0)); // to check the datas
Lightvalve	14:8e7590227d22	676	}
Lightvalve	14:8e7590227d22	677	break;
Lightvalve	14:8e7590227d22	678	}
Lightvalve	19:23b7c1ad8683	679
Lightvalve	19:23b7c1ad8683	680	case MODE_TEST_PWM_CONTROL: {
Lightvalve	14:8e7590227d22	681	if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	682	TMR3_COUNT_IREF = 0;
Lightvalve	19:23b7c1ad8683	683	}
Lightvalve	19:23b7c1ad8683	684	TMR3_COUNT_IREF++;
Lightvalve	19:23b7c1ad8683	685
Lightvalve	14:8e7590227d22	686	// Set PWM reference
Lightvalve	30:8d561f16383b	687	float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve	30:8d561f16383b	688	//float I_REF_MID = 0.0f;
Lightvalve	14:8e7590227d22	689	if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve	14:8e7590227d22	690	CUR_PWM = 1000;
Lightvalve	14:8e7590227d22	691	} else {
Lightvalve	14:8e7590227d22	692	CUR_PWM = -1000;
Lightvalve	19:23b7c1ad8683	693	}
Lightvalve	19:23b7c1ad8683	694
Lightvalve	14:8e7590227d22	695	if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve	30:8d561f16383b	696	//CAN_TX_PRES((int16_t)(u_CUR[0]1000.0f), (int16_t) (CUR_CURRENT1000.0f)); // to check the datas
Lightvalve	14:8e7590227d22	697	}
Lightvalve	13:747daba9cf59	698	break;
Lightvalve	13:747daba9cf59	699	}
Lightvalve	19:23b7c1ad8683	700
Lightvalve	19:23b7c1ad8683	701
Lightvalve	14:8e7590227d22	702	case MODE_CURRENT_CONTROL: {
Lightvalve	14:8e7590227d22	703
Lightvalve	14:8e7590227d22	704	cur.ref = cur.ref; // Unit : mA
Lightvalve	14:8e7590227d22	705	CurrentControl();
Lightvalve	14:8e7590227d22	706	break;
Lightvalve	14:8e7590227d22	707	}
Lightvalve	19:23b7c1ad8683	708
Lightvalve	14:8e7590227d22	709	case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve	30:8d561f16383b	710	float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve	30:8d561f16383b	711	float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve	30:8d561f16383b	712	float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	713	float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	714
Lightvalve	14:8e7590227d22	715	// feedback input for position control
Lightvalve	14:8e7590227d22	716	pos.err = pos.ref - pos.sen;
Lightvalve	30:8d561f16383b	717	float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f3.1415f50.0f)); // f_cutoff : 50Hz
Lightvalve	30:8d561f16383b	718	float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve	30:8d561f16383b	719	pos.err_diff = (1.0f-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	720	pos.err_old = pos.err;
Lightvalve	30:8d561f16383b	721	I_REF_POS_FB = 0.001f((float)P_GAIN_JOINT_POSITION pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve	19:23b7c1ad8683	722
Lightvalve	14:8e7590227d22	723	// feedforward input for position control
Lightvalve	30:8d561f16383b	724	float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	725	float K_ff = 1.3f;
Lightvalve	30:8d561f16383b	726	float K_v = 0.0f;
Lightvalve	30:8d561f16383b	727	if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve	30:8d561f16383b	728	if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	729	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	730
Lightvalve	14:8e7590227d22	731	// feedback input for position control
Lightvalve	30:8d561f16383b	732	I_REF_FORCE_FB = 0.0f;
Lightvalve	19:23b7c1ad8683	733
Lightvalve	14:8e7590227d22	734	// feedforward input for position control
Lightvalve	30:8d561f16383b	735	I_REF_FORCE_FF = 0.0f;
Lightvalve	19:23b7c1ad8683	736
Lightvalve	14:8e7590227d22	737	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	738
Lightvalve	14:8e7590227d22	739	CurrentControl();
Lightvalve	19:23b7c1ad8683	740
Lightvalve	13:747daba9cf59	741	break;
Lightvalve	13:747daba9cf59	742	}
Lightvalve	19:23b7c1ad8683	743
Lightvalve	14:8e7590227d22	744	case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve	30:8d561f16383b	745	//float T_REF = 0.0; // Torque Reference
Lightvalve	30:8d561f16383b	746	float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	747	float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve	19:23b7c1ad8683	748
Lightvalve	14:8e7590227d22	749	// feedback input for position control
Lightvalve	30:8d561f16383b	750	//float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	751	//float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	752	//float K_spring = 0.7f;
Lightvalve	30:8d561f16383b	753	//float D_damper = 0.02f;
Lightvalve	14:8e7590227d22	754	// T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve	19:23b7c1ad8683	755
Lightvalve	14:8e7590227d22	756	// torque feedback
Lightvalve	15:bd0d12728506	757	torq.err = torq.ref - torq.sen;
Lightvalve	14:8e7590227d22	758	// torq.err_diff = torq.err - torq.err_old;
Lightvalve	14:8e7590227d22	759	// torq.err_old = torq.err;
Lightvalve	30:8d561f16383b	760	torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	761	I_REF_FORCE_FB = 0.001f((float)P_GAIN_JOINT_TORQUE torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	19:23b7c1ad8683	762
Lightvalve	14:8e7590227d22	763	// velocity compensation for torque control
Lightvalve	30:8d561f16383b	764	float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	765	float K_vc = 1.5f; // Velocity comp. gain
Lightvalve	30:8d561f16383b	766	float K_v = 0.0f; // Valve gain
Lightvalve	30:8d561f16383b	767	if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve	30:8d561f16383b	768	if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve	14:8e7590227d22	769	I_REF_VC = K_vcK_vJoint_Vel_Act;
Lightvalve	19:23b7c1ad8683	770
Lightvalve	14:8e7590227d22	771	cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	772	// cur.ref = I_REF_FORCE_FB;
Lightvalve	19:23b7c1ad8683	773
Lightvalve	30:8d561f16383b	774	float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	30:8d561f16383b	775	float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve	14:8e7590227d22	776	if(cur.ref > I_MAX) {
Lightvalve	30:8d561f16383b	777	float I_rem = cur.ref-I_MAX;
Lightvalve	14:8e7590227d22	778	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	779	cur.ref = I_MAX;
Lightvalve	30:8d561f16383b	780	torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	781	} else if(cur.ref < -I_MAX) {
Lightvalve	30:8d561f16383b	782	float I_rem = cur.ref-(-I_MAX);
Lightvalve	19:23b7c1ad8683	783	I_rem = Ka*I_rem;
Lightvalve	14:8e7590227d22	784	cur.ref = -I_MAX;
Lightvalve	30:8d561f16383b	785	torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve	14:8e7590227d22	786	}
Lightvalve	19:23b7c1ad8683	787
Lightvalve	14:8e7590227d22	788	CurrentControl();
Lightvalve	19:23b7c1ad8683	789
Lightvalve	19:23b7c1ad8683	790
Lightvalve	14:8e7590227d22	791	/*
Lightvalve	30:8d561f16383b	792	float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve	30:8d561f16383b	793	float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve	30:8d561f16383b	794	float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	30:8d561f16383b	795	float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve	19:23b7c1ad8683	796
Lightvalve	14:8e7590227d22	797	// feedback input for position control
Lightvalve	14:8e7590227d22	798	pos.err = pos.ref - pos.sen;
Lightvalve	30:8d561f16383b	799	float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f3.1415f50.0f)); // f_cutoff : 50Hz
Lightvalve	30:8d561f16383b	800	float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve	30:8d561f16383b	801	pos.err_diff = (1.0f-alpha_update_vel)pos.err_diff + alpha_update_velerr_diff;
Lightvalve	14:8e7590227d22	802	pos.err_old = pos.err;
Lightvalve	30:8d561f16383b	803	I_REF_POS_FB = 0.001f((float)P_GAIN_JOINT_POSITION pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve	19:23b7c1ad8683	804
Lightvalve	14:8e7590227d22	805	// feedforward input for position control
Lightvalve	30:8d561f16383b	806	float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve	30:8d561f16383b	807	float K_ff = 1.3f;
Lightvalve	30:8d561f16383b	808	float K_v = 0.0f;
Lightvalve	30:8d561f16383b	809	if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve	30:8d561f16383b	810	if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve	14:8e7590227d22	811	I_REF_POS_FF = K_ffK_vVel_Act_Ref;
Lightvalve	19:23b7c1ad8683	812
Lightvalve	14:8e7590227d22	813	// feedback input for position control
Lightvalve	30:8d561f16383b	814	I_REF_FORCE_FB = 0.0f;
Lightvalve	19:23b7c1ad8683	815
Lightvalve	14:8e7590227d22	816	// feedforward input for position control
Lightvalve	30:8d561f16383b	817	I_REF_FORCE_FF = 0.0f;
Lightvalve	19:23b7c1ad8683	818
Lightvalve	14:8e7590227d22	819	cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve	19:23b7c1ad8683	820
Lightvalve	14:8e7590227d22	821	CurrentControl();
Lightvalve	14:8e7590227d22	822	*/
Lightvalve	19:23b7c1ad8683	823
Lightvalve	13:747daba9cf59	824	break;
Lightvalve	13:747daba9cf59	825	}
Lightvalve	14:8e7590227d22	826
Lightvalve	14:8e7590227d22	827	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	828	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	829	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	830	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	831
Lightvalve	14:8e7590227d22	832	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	833	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	834	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	835
Lightvalve	30:8d561f16383b	836	TORQUE_VREF += 0.0001f * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	837
Lightvalve	30:8d561f16383b	838	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	13:747daba9cf59	839	if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve	19:23b7c1ad8683	840
Lightvalve	16:903b5a4433b4	841	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	842
Lightvalve	16:903b5a4433b4	843	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	844	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	845	}
Lightvalve	13:747daba9cf59	846	} else {
Lightvalve	13:747daba9cf59	847	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	848	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	849	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	850	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	851
Lightvalve	16:903b5a4433b4	852	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	853
Lightvalve	16:903b5a4433b4	854	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	19:23b7c1ad8683	855
Lightvalve	17:1865016ca2e7	856	//pc.printf("%f\n", TORQUE_VREF);
Lightvalve	30:8d561f16383b	857	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	858
Lightvalve	13:747daba9cf59	859	}
Lightvalve	14:8e7590227d22	860	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	861	break;
Lightvalve	19:23b7c1ad8683	862	}
Lightvalve	14:8e7590227d22	863
Lightvalve	14:8e7590227d22	864	case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	14:8e7590227d22	865	if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	13:747daba9cf59	866	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	867	else temp_time = 0;
Lightvalve	13:747daba9cf59	868	}
Lightvalve	13:747daba9cf59	869	if (need_enc_init) {
Lightvalve	30:8d561f16383b	870	if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	871	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	872	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	873	} else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	874	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	875	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	876	} else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	13:747daba9cf59	877	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	878	}
Lightvalve	14:8e7590227d22	879
Lightvalve	14:8e7590227d22	880	if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	881	V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	882	VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	14:8e7590227d22	883
Lightvalve	30:8d561f16383b	884	} else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	18:b8adf1582ea3	885	V_out = 0;
Lightvalve	13:747daba9cf59	886	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	14:8e7590227d22	887	} else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	888	if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	889	else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	13:747daba9cf59	890	else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	13:747daba9cf59	891	else DZ_temp_cnt2 = DZ_end;
Lightvalve	13:747daba9cf59	892	CUR_VELOCITY_sum = 0;
Lightvalve	14:8e7590227d22	893	} else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	894	if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	14:8e7590227d22	895
Lightvalve	13:747daba9cf59	896	// Position of Dead Zone
Lightvalve	13:747daba9cf59	897	// (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	14:8e7590227d22	898	// \| / \| / \|/
Lightvalve	13:747daba9cf59	899	// \| ______/ ___\|___/ ______/\|
Lightvalve	13:747daba9cf59	900	// \|/ / \| / \|
Lightvalve	13:747daba9cf59	901	// /\| / \| / \|
Lightvalve	13:747daba9cf59	902	// 0V 0V 0V
Lightvalve	14:8e7590227d22	903
Lightvalve	13:747daba9cf59	904	if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	14:8e7590227d22	905	if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	13:747daba9cf59	906	CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	13:747daba9cf59	907	} else {
Lightvalve	18:b8adf1582ea3	908	V_out -= DZ_dir;
Lightvalve	13:747daba9cf59	909	if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	13:747daba9cf59	910	CUR_VELOCITY_sum = 0;
Lightvalve	13:747daba9cf59	911	}
Lightvalve	13:747daba9cf59	912	if (DZ_temp_cnt == 5) {
Lightvalve	18:b8adf1582ea3	913	if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	18:b8adf1582ea3	914	else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	13:747daba9cf59	915	DZ_dir = -DZ_dir;
Lightvalve	13:747daba9cf59	916	DZ_temp_cnt = 0;
Lightvalve	13:747daba9cf59	917	DZ_temp_cnt2++;
Lightvalve	13:747daba9cf59	918	}
Lightvalve	13:747daba9cf59	919	} else {
Lightvalve	14:8e7590227d22	920	TMR3_COUNT_DEADZONE = -1;
Lightvalve	13:747daba9cf59	921	VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	13:747daba9cf59	922	if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	13:747daba9cf59	923	VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	924	VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	13:747daba9cf59	925	}
Lightvalve	18:b8adf1582ea3	926	V_out = 0;
Lightvalve	19:23b7c1ad8683	927
Lightvalve	16:903b5a4433b4	928	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	929
Lightvalve	16:903b5a4433b4	930	//spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	16:903b5a4433b4	931	//spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	14:8e7590227d22	932
Lightvalve	13:747daba9cf59	933	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	934	DZ_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	935	}
Lightvalve	13:747daba9cf59	936	}
Lightvalve	14:8e7590227d22	937	TMR3_COUNT_DEADZONE++;
Lightvalve	13:747daba9cf59	938	break;
Lightvalve	13:747daba9cf59	939	}
Lightvalve	14:8e7590227d22	940
Lightvalve	14:8e7590227d22	941	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	942	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	943	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	944	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	945	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	29:69f3f5445d6d	946	pos.ref_home_pos = pos.sen;
Lightvalve	30:8d561f16383b	947	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	948	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	40:3f2c0619c8c4	949	CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
Lightvalve	29:69f3f5445d6d	950	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	29:69f3f5445d6d	951	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	29:69f3f5445d6d	952	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	953	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	954	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	955	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	956	}
Lightvalve	29:69f3f5445d6d	957	cnt_findhome++;
Lightvalve	30:8d561f16383b	958	//if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve	14:8e7590227d22	959
Lightvalve	29:69f3f5445d6d	960	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	961	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	962	} else {
Lightvalve	29:69f3f5445d6d	963	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	964	}
Lightvalve	19:23b7c1ad8683	965
Lightvalve	30:8d561f16383b	966	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome <= 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	967	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	30:8d561f16383b	968	if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve	30:8d561f16383b	969	else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve	29:69f3f5445d6d	970	pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	30:8d561f16383b	971	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	30:8d561f16383b	972	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve	30:8d561f16383b	973	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	29:69f3f5445d6d	974	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	29:69f3f5445d6d	975	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	34:bb2ca2fc2a8e	976
Lightvalve	30:8d561f16383b	977	//float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	978	//I_REF = 0.04fwn_Pos((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve	29:69f3f5445d6d	979	//// L velocity >> mA convert
Lightvalve	30:8d561f16383b	980	//if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve	30:8d561f16383b	981	//if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve	29:69f3f5445d6d	982	//FLAG_CURRNET_CONTROL = true;
Lightvalve	29:69f3f5445d6d	983	} else {
Lightvalve	29:69f3f5445d6d	984	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	29:69f3f5445d6d	985	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	986	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	987	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	988	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	989	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	990	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	991	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	992	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	993	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	29:69f3f5445d6d	994	}
Lightvalve	29:69f3f5445d6d	995	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	996	int T_move = 2*TMR_FREQ_5k;
Lightvalve	30:8d561f16383b	997	pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)0.5f(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve	30:8d561f16383b	998	vel.ref_home_pos = 0.0f;
Lightvalve	40:3f2c0619c8c4	999	CAN_TX_PRES((int16_t)(pos.ref_home_pos), (int16_t) (6));
Lightvalve	19:23b7c1ad8683	1000
Lightvalve	29:69f3f5445d6d	1001	// input for position control
Lightvalve	40:3f2c0619c8c4	1002	pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve	30:8d561f16383b	1003	float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	30:8d561f16383b	1004	VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve	30:8d561f16383b	1005	VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve	29:69f3f5445d6d	1006	valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve	29:69f3f5445d6d	1007	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	1008
Lightvalve	19:23b7c1ad8683	1009
Lightvalve	29:69f3f5445d6d	1010	// if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	30:8d561f16383b	1011	// float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1012	// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve	29:69f3f5445d6d	1013	// // L when P-gain = 100, f_cut = 10Hz
Lightvalve	30:8d561f16383b	1014	// if (temp_vel > 0.0f ) I_REF = temp_vel((float)PISTON_AREA_A0.00006f/(K_vsqrt(2.0falpha3/(alpha3+1.0f))));
Lightvalve	30:8d561f16383b	1015	// else I_REF = temp_vel((float)PISTON_AREA_B0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve	29:69f3f5445d6d	1016	// // ------------------------------------------------------------------------
Lightvalve	29:69f3f5445d6d	1017	// // L thetadot(rad/s) >> I_ref(mA)
Lightvalve	29:69f3f5445d6d	1018	// } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve	30:8d561f16383b	1019	// float wn_Pos = 2.0fPI5.0f; // f_cut : 10Hz Position Control
Lightvalve	30:8d561f16383b	1020	// float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve	29:69f3f5445d6d	1021	// // L when P-gain = 100, f_cut = 10Hz
Lightvalve	30:8d561f16383b	1022	// if (temp_vel > 0.0f ) I_REF = temp_vel((float)PISTON_AREA_A0.00006f/(K_vsqrt(2.0falpha3/(alpha3+1.0f))));
Lightvalve	30:8d561f16383b	1023	// else I_REF = temp_vel((float)PISTON_AREA_B0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve	29:69f3f5445d6d	1024	// // ------------------------------------------------------------------------
Lightvalve	29:69f3f5445d6d	1025	// // L xdot(mm/s) >> I_ref(mA)
Lightvalve	29:69f3f5445d6d	1026	// }
Lightvalve	29:69f3f5445d6d	1027
Lightvalve	29:69f3f5445d6d	1028	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	1029	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	1030	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	1031	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1032	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1033	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1034	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1035	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1036	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	29:69f3f5445d6d	1037	CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve	29:69f3f5445d6d	1038	}
Lightvalve	13:747daba9cf59	1039	}
Lightvalve	19:23b7c1ad8683	1040
Lightvalve	13:747daba9cf59	1041	break;
Lightvalve	13:747daba9cf59	1042	}
Lightvalve	14:8e7590227d22	1043
Lightvalve	14:8e7590227d22	1044	case MODE_VALVE_GAIN_SETTING: {
Lightvalve	14:8e7590227d22	1045	if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	13:747daba9cf59	1046	if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	13:747daba9cf59	1047	else {
Lightvalve	18:b8adf1582ea3	1048	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1049	temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	13:747daba9cf59	1050	}
Lightvalve	13:747daba9cf59	1051	}
Lightvalve	13:747daba9cf59	1052	if (need_enc_init) {
Lightvalve	30:8d561f16383b	1053	if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1054	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1055	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1056	} else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1057	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1058	pos_minus_end = pos.sen;
Lightvalve	14:8e7590227d22	1059	} else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1060	need_enc_init = false;
Lightvalve	30:8d561f16383b	1061	check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	30:8d561f16383b	1062	check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	13:747daba9cf59	1063	check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	13:747daba9cf59	1064	}
Lightvalve	13:747daba9cf59	1065	temp_time = TMR_FREQ_5k;
Lightvalve	13:747daba9cf59	1066	}
Lightvalve	14:8e7590227d22	1067	TMR3_COUNT_FLOWRATE++;
Lightvalve	14:8e7590227d22	1068	if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	13:747daba9cf59	1069	if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	30:8d561f16383b	1070	VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1071	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1072	if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1073	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1074	} else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	30:8d561f16383b	1075	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=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	30:8d561f16383b	1076	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	13:747daba9cf59	1077	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1078	}
Lightvalve	13:747daba9cf59	1079	} else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	30:8d561f16383b	1080	VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	18:b8adf1582ea3	1081	V_out = VALVE_VOLTAGE;
Lightvalve	14:8e7590227d22	1082	if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	13:747daba9cf59	1083	fl_temp_cnt++;
Lightvalve	14:8e7590227d22	1084	} else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	30:8d561f16383b	1085	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);
Lightvalve	30:8d561f16383b	1086	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	13:747daba9cf59	1087	fl_temp_cnt2++;
Lightvalve	13:747daba9cf59	1088	}
Lightvalve	13:747daba9cf59	1089	}
Lightvalve	13:747daba9cf59	1090	if (fl_temp_cnt2 == 100) {
Lightvalve	19:23b7c1ad8683	1091
Lightvalve	16:903b5a4433b4	1092	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1093
Lightvalve	30:8d561f16383b	1094	//spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	13:747daba9cf59	1095	cur_vel_sum = 0;
Lightvalve	13:747daba9cf59	1096	fl_temp_cnt = 0;
Lightvalve	13:747daba9cf59	1097	fl_temp_cnt2 = 0;
Lightvalve	13:747daba9cf59	1098	flag_flowrate++;
Lightvalve	13:747daba9cf59	1099	}
Lightvalve	13:747daba9cf59	1100	if (flag_flowrate == 10) {
Lightvalve	18:b8adf1582ea3	1101	V_out = 0;
Lightvalve	13:747daba9cf59	1102	flag_flowrate = 0;
Lightvalve	14:8e7590227d22	1103	TMR3_COUNT_FLOWRATE = 0;
Lightvalve	13:747daba9cf59	1104	valve_gain_repeat_cnt++;
Lightvalve	13:747daba9cf59	1105	if (valve_gain_repeat_cnt >= 1) {
Lightvalve	13:747daba9cf59	1106	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1107	valve_gain_repeat_cnt = 0;
Lightvalve	13:747daba9cf59	1108	}
Lightvalve	14:8e7590227d22	1109
Lightvalve	13:747daba9cf59	1110	}
Lightvalve	13:747daba9cf59	1111	break;
Lightvalve	13:747daba9cf59	1112	}
Lightvalve	14:8e7590227d22	1113
Lightvalve	13:747daba9cf59	1114	}
Lightvalve	14:8e7590227d22	1115
Lightvalve	14:8e7590227d22	1116	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1117	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1118	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1119	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1120	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1121
Lightvalve	14:8e7590227d22	1122	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1123	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1124	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1125	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1126	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1127
Lightvalve	38:118df027d851	1128	float VREF_NullingGain = 0.0003f;
Lightvalve	38:118df027d851	1129	PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve	38:118df027d851	1130	PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve	14:8e7590227d22	1131
Lightvalve	30:8d561f16383b	1132	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1133	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1134	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1135	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1136
Lightvalve	30:8d561f16383b	1137	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1138	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1139	}
Lightvalve	13:747daba9cf59	1140	} else {
Lightvalve	13:747daba9cf59	1141	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1142	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1143	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1144	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1145	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1146	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1147
Lightvalve	16:903b5a4433b4	1148	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1149
Lightvalve	30:8d561f16383b	1150	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1151	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1152	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1153	}
Lightvalve	14:8e7590227d22	1154	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1155	break;
Lightvalve	13:747daba9cf59	1156	}
Lightvalve	14:8e7590227d22	1157
Lightvalve	14:8e7590227d22	1158	case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	14:8e7590227d22	1159	if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1160	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1161	if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1162	CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	13:747daba9cf59	1163	}
Lightvalve	14:8e7590227d22	1164	} else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	18:b8adf1582ea3	1165	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1166	if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	13:747daba9cf59	1167	CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	13:747daba9cf59	1168	}
Lightvalve	13:747daba9cf59	1169	} else {
Lightvalve	13:747daba9cf59	1170	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1171	TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	18:b8adf1582ea3	1172	V_out = 0;
Lightvalve	30:8d561f16383b	1173	PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	30:8d561f16383b	1174	PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	30:8d561f16383b	1175	PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	30:8d561f16383b	1176	PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	13:747daba9cf59	1177	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1178	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1179	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1180	CUR_PRES_B_mean = 0;
Lightvalve	19:23b7c1ad8683	1181
Lightvalve	16:903b5a4433b4	1182	ROM_RESET_DATA();
Lightvalve	14:8e7590227d22	1183
Lightvalve	30:8d561f16383b	1184	//spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	30:8d561f16383b	1185	//spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	13:747daba9cf59	1186	}
Lightvalve	14:8e7590227d22	1187	TMR3_COUNT_PRES_CALIB++;
Lightvalve	13:747daba9cf59	1188	break;
Lightvalve	13:747daba9cf59	1189	}
Lightvalve	14:8e7590227d22	1190
Lightvalve	14:8e7590227d22	1191	case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	30:8d561f16383b	1192	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);
Lightvalve	30:8d561f16383b	1193	V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	18:b8adf1582ea3	1194	if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	18:b8adf1582ea3	1195	else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1196	TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	14:8e7590227d22	1197	if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	14:8e7590227d22	1198	TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	30:8d561f16383b	1199	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1200	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1201	}
Lightvalve	13:747daba9cf59	1202	break;
Lightvalve	13:747daba9cf59	1203	}
Lightvalve	14:8e7590227d22	1204
Lightvalve	14:8e7590227d22	1205	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	13:747daba9cf59	1206	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1207
Lightvalve	14:8e7590227d22	1208	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	30:8d561f16383b	1209	V_out = 3000.0f * sin(23.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1210	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	30:8d561f16383b	1211	V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1212	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1213	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1214	data_num = 0;
Lightvalve	14:8e7590227d22	1215	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1216	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1217	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1218	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1219	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1220	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1221	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1222	}
Lightvalve	14:8e7590227d22	1223
Lightvalve	17:1865016ca2e7	1224	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1225	int i;
Lightvalve	13:747daba9cf59	1226	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1227	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1228	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1229	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1230	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1231	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1232	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1233	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1234	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1235	}
Lightvalve	13:747daba9cf59	1236	}
Lightvalve	27:a2254a485f23	1237	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1238	ID_index = 0;
Lightvalve	13:747daba9cf59	1239	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1240	}
Lightvalve	14:8e7590227d22	1241
Lightvalve	14:8e7590227d22	1242
Lightvalve	13:747daba9cf59	1243	break;
Lightvalve	13:747daba9cf59	1244	}
Lightvalve	14:8e7590227d22	1245
Lightvalve	14:8e7590227d22	1246	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	14:8e7590227d22	1247
Lightvalve	13:747daba9cf59	1248	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1249	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1250	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1251	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1252	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1253	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1254	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1255	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1256	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1257	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1258	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1259	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1260	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1261	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1262	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1263	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	1264	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1265	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1266	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1267	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	13:747daba9cf59	1268	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1269	START_POS = pos.sen;
Lightvalve	23:59218d4a256d	1270	//CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve	13:747daba9cf59	1271	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1272	data_num = 0;
Lightvalve	14:8e7590227d22	1273
Lightvalve	30:8d561f16383b	1274	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1275	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1276	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1277	//CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve	14:8e7590227d22	1278
Lightvalve	30:8d561f16383b	1279	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1280	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1281	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1282	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1283	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1284	else
Lightvalve	13:747daba9cf59	1285	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1286	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1287	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1288	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1289	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1290	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1291	// {
Lightvalve	14:8e7590227d22	1292	// DZ_case = 1;
Lightvalve	14:8e7590227d22	1293	// }
Lightvalve	14:8e7590227d22	1294	// else
Lightvalve	14:8e7590227d22	1295	// {
Lightvalve	14:8e7590227d22	1296	// DZ_case = -1;
Lightvalve	14:8e7590227d22	1297	// }
Lightvalve	14:8e7590227d22	1298	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1299	// {
Lightvalve	14:8e7590227d22	1300	// DZ_case = 0;
Lightvalve	14:8e7590227d22	1301	// }
Lightvalve	14:8e7590227d22	1302
Lightvalve	14:8e7590227d22	1303	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1304	DZ_case = 1;
Lightvalve	14:8e7590227d22	1305	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	13:747daba9cf59	1306	DZ_case = -1;
Lightvalve	14:8e7590227d22	1307	} else {
Lightvalve	13:747daba9cf59	1308	DZ_case = 0;
Lightvalve	13:747daba9cf59	1309	}
Lightvalve	14:8e7590227d22	1310
Lightvalve	14:8e7590227d22	1311	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1312	first_check = 1;
Lightvalve	13:747daba9cf59	1313	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1314	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1315	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1316	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1317	DZ_index = 1;
Lightvalve	18:b8adf1582ea3	1318	//CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve	14:8e7590227d22	1319
Lightvalve	13:747daba9cf59	1320	}
Lightvalve	19:23b7c1ad8683	1321	} else {
Lightvalve	14:8e7590227d22	1322	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1323	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1324	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1325	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1326	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1327	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1328	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1329	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1330	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1331	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1332	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1333	}
Lightvalve	14:8e7590227d22	1334	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1335	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1336	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1337	else
Lightvalve	13:747daba9cf59	1338	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1339	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1340	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1341	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1342	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1343	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1344	// else
Lightvalve	14:8e7590227d22	1345	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1346	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1347	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1348
Lightvalve	14:8e7590227d22	1349	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1350	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1351	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1352	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1353	} else {
Lightvalve	13:747daba9cf59	1354	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1355	}
Lightvalve	14:8e7590227d22	1356
Lightvalve	14:8e7590227d22	1357	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1358
Lightvalve	13:747daba9cf59	1359	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1360	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1361	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1362	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1363	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1364	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1365	DZ_index = 1;
Lightvalve	13:747daba9cf59	1366	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1367	}
Lightvalve	14:8e7590227d22	1368
Lightvalve	13:747daba9cf59	1369	//CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1370	}
Lightvalve	14:8e7590227d22	1371	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1372	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1373	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1374	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1375	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1376	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1377	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1378	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1379	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1380	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1381	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1382	}
Lightvalve	14:8e7590227d22	1383	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1384	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1385	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1386	else
Lightvalve	13:747daba9cf59	1387	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1388	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1389	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1390	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1391	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1392	// DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1393	// else
Lightvalve	14:8e7590227d22	1394	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1395	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1396	// DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1397
Lightvalve	14:8e7590227d22	1398	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1399	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1400	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1401	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1402	} else {
Lightvalve	13:747daba9cf59	1403	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1404	}
Lightvalve	14:8e7590227d22	1405
Lightvalve	14:8e7590227d22	1406	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1407
Lightvalve	14:8e7590227d22	1408
Lightvalve	13:747daba9cf59	1409	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1410	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1411	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1412	SECOND_DZ = valve_pos.ref;
Lightvalve	33:91b17819ec30	1413	DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve	13:747daba9cf59	1414	first_check = 0;
Lightvalve	33:91b17819ec30	1415	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1416	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1417
Lightvalve	16:903b5a4433b4	1418	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1419
Lightvalve	13:747daba9cf59	1420	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1421	DZ_index = 1;
Lightvalve	13:747daba9cf59	1422	}
Lightvalve	14:8e7590227d22	1423
Lightvalve	23:59218d4a256d	1424	//CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1425	}
Lightvalve	14:8e7590227d22	1426	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1427	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1428	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1429	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1430	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1431	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1432	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1433	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1434	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1435	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1436	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1437	}
Lightvalve	14:8e7590227d22	1438	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1439	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1440	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1441	else
Lightvalve	13:747daba9cf59	1442	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1443	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1444	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1445	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1446	// if(VEL_POINT >= 0)
Lightvalve	14:8e7590227d22	1447	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1448	// else
Lightvalve	14:8e7590227d22	1449	// DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1450	// if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	14:8e7590227d22	1451	// DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1452
Lightvalve	14:8e7590227d22	1453	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1454	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1455	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1456	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1457	} else {
Lightvalve	13:747daba9cf59	1458	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1459	}
Lightvalve	14:8e7590227d22	1460
Lightvalve	14:8e7590227d22	1461	VEL_POINT = 0;
Lightvalve	13:747daba9cf59	1462	//CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve	13:747daba9cf59	1463	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1464	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1465	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1466	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1467	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1468	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1469	DZ_index = 1;
Lightvalve	13:747daba9cf59	1470	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1471	}
Lightvalve	13:747daba9cf59	1472	}
Lightvalve	14:8e7590227d22	1473	} else {
Lightvalve	30:8d561f16383b	1474	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1475	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1476	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1477	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1478	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1479	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1480	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1481	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1482	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1483	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1484	}
Lightvalve	14:8e7590227d22	1485	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1486	if(CUR_VELOCITY >= 0)
Lightvalve	13:747daba9cf59	1487	VEL_POINT = VEL_POINT + 1;
Lightvalve	13:747daba9cf59	1488	else
Lightvalve	13:747daba9cf59	1489	VEL_POINT = VEL_POINT - 1;
Lightvalve	30:8d561f16383b	1490	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1491	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1492	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1493	if(VEL_POINT >= 0)
Lightvalve	13:747daba9cf59	1494	DZ_DIRECTION = -1;
Lightvalve	13:747daba9cf59	1495	else
Lightvalve	13:747daba9cf59	1496	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1497	if(abs(FINAL_POS - START_POS) < 100)
Lightvalve	13:747daba9cf59	1498	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1499
Lightvalve	14:8e7590227d22	1500	VEL_POINT = 0;
Lightvalve	14:8e7590227d22	1501
Lightvalve	14:8e7590227d22	1502
Lightvalve	13:747daba9cf59	1503	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1504	//CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1505	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1506	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1507	SECOND_DZ = valve_pos.ref;
Lightvalve	33:91b17819ec30	1508	DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve	13:747daba9cf59	1509	first_check = 0;
Lightvalve	33:91b17819ec30	1510	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1511	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	34:bb2ca2fc2a8e	1512
Lightvalve	13:747daba9cf59	1513	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1514	DZ_index = 1;
Lightvalve	13:747daba9cf59	1515	}
Lightvalve	14:8e7590227d22	1516
Lightvalve	13:747daba9cf59	1517	//CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve	13:747daba9cf59	1518	}
Lightvalve	13:747daba9cf59	1519	}
Lightvalve	14:8e7590227d22	1520	}
Lightvalve	13:747daba9cf59	1521	break;
Lightvalve	13:747daba9cf59	1522	}
Lightvalve	14:8e7590227d22	1523
Lightvalve	14:8e7590227d22	1524	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	13:747daba9cf59	1525	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1526	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1527	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1528	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	23:59218d4a256d	1529	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1530	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1531	V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1532	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1533	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1534	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	18:b8adf1582ea3	1535	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	30:8d561f16383b	1536	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1537	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	18:b8adf1582ea3	1538	V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve	14:8e7590227d22	1539	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1540	first_check = 1;
Lightvalve	13:747daba9cf59	1541	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1542	valve_pos.ref = DDV_CENTER;
Lightvalve	13:747daba9cf59	1543	ID_index = 0;
Lightvalve	13:747daba9cf59	1544	max_check = 0;
Lightvalve	13:747daba9cf59	1545	min_check = 0;
Lightvalve	13:747daba9cf59	1546	}
Lightvalve	14:8e7590227d22	1547	} else {
Lightvalve	30:8d561f16383b	1548	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	30:8d561f16383b	1549	V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	30:8d561f16383b	1550	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1551	data_num = 0;
Lightvalve	33:91b17819ec30	1552	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1553
Lightvalve	14:8e7590227d22	1554	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1555	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1556	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	33:91b17819ec30	1557	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve	14:8e7590227d22	1558	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1559	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1560	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1561	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1562	one_period_end = 1;
Lightvalve	13:747daba9cf59	1563	}
Lightvalve	30:8d561f16383b	1564	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1565	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1566	one_period_end = 1;
Lightvalve	13:747daba9cf59	1567	}
Lightvalve	14:8e7590227d22	1568
Lightvalve	14:8e7590227d22	1569	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1570	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1571	max_check = 1;
Lightvalve	14:8e7590227d22	1572	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1573	min_check = 1;
Lightvalve	13:747daba9cf59	1574	}
Lightvalve	13:747daba9cf59	1575	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1576
Lightvalve	19:23b7c1ad8683	1577	//ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1578
Lightvalve	16:903b5a4433b4	1579	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve	16:903b5a4433b4	1580	//spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve	13:747daba9cf59	1581	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1582	one_period_end = 0;
Lightvalve	13:747daba9cf59	1583	ID_index= ID_index +1;
Lightvalve	14:8e7590227d22	1584	// CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve	30:8d561f16383b	1585	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1586	}
Lightvalve	14:8e7590227d22	1587
Lightvalve	14:8e7590227d22	1588	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1589
Lightvalve	16:903b5a4433b4	1590	//spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve	13:747daba9cf59	1591	VALVE_POS_NUM = ID_index;
Lightvalve	27:a2254a485f23	1592	//ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1593	ID_index = 0;
Lightvalve	13:747daba9cf59	1594	first_check = 0;
Lightvalve	13:747daba9cf59	1595	VALVE_FR_timer = 0;
Lightvalve	14:8e7590227d22	1596	// CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve	13:747daba9cf59	1597	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1598	}
Lightvalve	13:747daba9cf59	1599	}
Lightvalve	13:747daba9cf59	1600	break;
Lightvalve	13:747daba9cf59	1601	}
Lightvalve	14:8e7590227d22	1602
Lightvalve	12:6f2531038ea4	1603	default:
Lightvalve	12:6f2531038ea4	1604	break;
Lightvalve	12:6f2531038ea4	1605	}
Lightvalve	14:8e7590227d22	1606
Lightvalve	13:747daba9cf59	1607	if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve	13:747daba9cf59	1608	// Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve	14:8e7590227d22	1609	// if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve	14:8e7590227d22	1610	// if (V_out > 0.) {
Lightvalve	14:8e7590227d22	1611	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1612	// } else if (V_out < 0.) {
Lightvalve	14:8e7590227d22	1613	// VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1614	// } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1615	// } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve	14:8e7590227d22	1616
Lightvalve	14:8e7590227d22	1617	if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve	14:8e7590227d22	1618	else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve	14:8e7590227d22	1619
Lightvalve	14:8e7590227d22	1620	VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve	14:8e7590227d22	1621
Lightvalve	13:747daba9cf59	1622	// Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	30:8d561f16383b	1623	float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve	30:8d561f16383b	1624	float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	14:8e7590227d22	1625
Lightvalve	14:8e7590227d22	1626	if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve	14:8e7590227d22	1627	else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve	14:8e7590227d22	1628	else V_out = CUR_PWM_DZ;
Lightvalve	13:747daba9cf59	1629	} else {
Lightvalve	17:1865016ca2e7	1630	V_out = V_out;
Lightvalve	13:747daba9cf59	1631	}
Lightvalve	14:8e7590227d22	1632
jobuuu	7:e9086c72bb22	1633	/*******************************************************
jobuuu	7:e9086c72bb22	1634	*** PWM
jobuuu	7:e9086c72bb22	1635	********************************************************/
Lightvalve	34:bb2ca2fc2a8e	1636	if (V_out >= 12000.0f) {
Lightvalve	30:8d561f16383b	1637	V_out = 12000.0f;
Lightvalve	34:bb2ca2fc2a8e	1638	} else if(V_out<=-12000.0f) {
Lightvalve	30:8d561f16383b	1639	V_out = -12000.0f;
Lightvalve	27:a2254a485f23	1640	}
Lightvalve	18:b8adf1582ea3	1641	PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1642
jobuuu	2:a1c0a37df760	1643	// Saturation of output voltage to 5.0V
Lightvalve	17:1865016ca2e7	1644	// if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve	17:1865016ca2e7	1645	// else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve	19:23b7c1ad8683	1646
Lightvalve	19:23b7c1ad8683	1647	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1648	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1649	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1650
Lightvalve	30:8d561f16383b	1651	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1652	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1653	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1654	} else {
jobuuu	2:a1c0a37df760	1655	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1656	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1657	}
Lightvalve	13:747daba9cf59	1658
jobuuu	1:e04e563be5ce	1659	//pwm
Lightvalve	30:8d561f16383b	1660	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1661	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1662
jobuuu	1:e04e563be5ce	1663	}
Lightvalve	11:82d8768d7351	1664	TIM3->SR = 0x0; // reset the status register
Lightvalve	21:e5f1a43ea6f9	1665
jobuuu	7:e9086c72bb22	1666	}
jobuuu	7:e9086c72bb22	1667
Lightvalve	20:806196fda269	1668
Lightvalve	20:806196fda269	1669
Lightvalve	20:806196fda269	1670	//unsigned long CNT_TMR5 = 0;
Lightvalve	30:8d561f16383b	1671	//float FREQ_TMR5 = (float)FREQ_500;
Lightvalve	30:8d561f16383b	1672	//float DT_TMR5 = (float)DT_500;
Lightvalve	23:59218d4a256d	1673	extern "C" void TIM2_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	1674	{
Lightvalve	23:59218d4a256d	1675	if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	1676
Lightvalve	20:806196fda269	1677	//CAN ----------------------------------------------------------------------
Lightvalve	20:806196fda269	1678	if (flag_data_request[0] == HIGH) {
Lightvalve	20:806196fda269	1679	//position+velocity
Lightvalve	20:806196fda269	1680	CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve	20:806196fda269	1681	//CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve	20:806196fda269	1682	//CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve	20:806196fda269	1683	//pc.printf("can good");
Lightvalve	20:806196fda269	1684	// CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve	20:806196fda269	1685	}
Lightvalve	20:806196fda269	1686
Lightvalve	20:806196fda269	1687	if (flag_data_request[1] == HIGH) {
Lightvalve	20:806196fda269	1688	//torque
Lightvalve	20:806196fda269	1689	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve	20:806196fda269	1690	//CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve	20:806196fda269	1691	CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve	20:806196fda269	1692	// CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve	20:806196fda269	1693	}
Lightvalve	20:806196fda269	1694
Lightvalve	20:806196fda269	1695	if (flag_data_request[2] == HIGH) {
Lightvalve	20:806196fda269	1696	//pressure A and B
Lightvalve	38:118df027d851	1697	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF * 1000.0)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	38:118df027d851	1698	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve	20:806196fda269	1699	// CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve	20:806196fda269	1700	// CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)1000.), (int16_t) ((DEADZONE_PLUS + 1.))1000.);
Lightvalve	20:806196fda269	1701	// CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve	20:806196fda269	1702
Lightvalve	20:806196fda269	1703	}
Lightvalve	20:806196fda269	1704
Lightvalve	20:806196fda269	1705	if (flag_data_request[3] == HIGH) {
Lightvalve	20:806196fda269	1706	//PWM
Lightvalve	20:806196fda269	1707	CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve	20:806196fda269	1708	// CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve	20:806196fda269	1709	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve	20:806196fda269	1710	// CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve	20:806196fda269	1711
Lightvalve	20:806196fda269	1712	}
Lightvalve	20:806196fda269	1713
Lightvalve	20:806196fda269	1714	if (flag_data_request[4] == HIGH) {
Lightvalve	20:806196fda269	1715	//valve position
Lightvalve	27:a2254a485f23	1716	CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve	33:91b17819ec30	1717	//CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve	20:806196fda269	1718
Lightvalve	20:806196fda269	1719	//CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve	20:806196fda269	1720	// CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve	20:806196fda269	1721	// CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve	20:806196fda269	1722	// CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve	20:806196fda269	1723	// CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve	20:806196fda269	1724	}
Lightvalve	20:806196fda269	1725
Lightvalve	20:806196fda269	1726	}
Lightvalve	23:59218d4a256d	1727	TIM2->SR = 0x0; // reset the status register
Lightvalve	20:806196fda269	1728	}
Lightvalve	20:806196fda269	1729
Lightvalve	20:806196fda269	1730
Lightvalve	20:806196fda269	1731
Lightvalve	13:747daba9cf59	1732	void CurrentControl()
Lightvalve	13:747daba9cf59	1733	{
jobuuu	7:e9086c72bb22	1734	cur.err = cur.ref - cur.sen;
jobuuu	7:e9086c72bb22	1735	cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu	7:e9086c72bb22	1736	cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu	7:e9086c72bb22	1737	cur.err_old = cur.err;
jobuuu	7:e9086c72bb22	1738
Lightvalve	30:8d561f16383b	1739	float R_model = 150.0f; // ohm
Lightvalve	30:8d561f16383b	1740	float L_model = 0.3f;
Lightvalve	30:8d561f16383b	1741	float w0 = 2.0f3.14f90.0f;
Lightvalve	30:8d561f16383b	1742	float KP_I = L_model*w0;
Lightvalve	30:8d561f16383b	1743	float KI_I = R_model*w0;
Lightvalve	30:8d561f16383b	1744	float KD_I = 0.0f;
jobuuu	7:e9086c72bb22	1745
Lightvalve	30:8d561f16383b	1746	float FF_gain = 0.0f;
jobuuu	7:e9086c72bb22	1747	V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu	7:e9086c72bb22	1748	// V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu	7:e9086c72bb22	1749	V_out = V_out + FF_gain * (R_modelcur.ref + L_modelcur.ref_diff); // Unit : mV
Lightvalve	13:747daba9cf59	1750
Lightvalve	30:8d561f16383b	1751	float Ka = 5.0f/KP_I;
jobuuu	7:e9086c72bb22	1752	if(V_out > V_MAX) {
jobuuu	7:e9086c72bb22	1753	V_rem = V_out-V_MAX;
jobuuu	7:e9086c72bb22	1754	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1755	V_out = V_MAX;
jobuuu	7:e9086c72bb22	1756	cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu	7:e9086c72bb22	1757	} else if(V_out < -V_MAX) {
jobuuu	7:e9086c72bb22	1758	V_rem = V_out-(-V_MAX);
Lightvalve	13:747daba9cf59	1759	V_rem = Ka*V_rem;
jobuuu	7:e9086c72bb22	1760	V_out = -V_MAX;
jobuuu	7:e9086c72bb22	1761	cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve	13:747daba9cf59	1762	}
Lightvalve	21:e5f1a43ea6f9	1763	}
Lightvalve	23:59218d4a256d	1764
Lightvalve	28:2a62d73e3dd0	1765
Lightvalve	30:8d561f16383b	1766
Lightvalve	32:4b8c0fedaf2c	1767
Lightvalve	36:a46e63505ed8	1768

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Aug 2022
Imports:	0
Forks:	0
Commits:	258
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@40:3f2c0619c8c4, 2019-12-19 (annotated)

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