Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

main.cpp@255:1ba0cc8fee52, 2022-07-29 (annotated)

Committer:
Lightvalve
Date:
Fri Jul 29 07:11:58 2022 +0000
Revision:
255:1ba0cc8fee52
Parent:
254:9f487eaa87b5
Child:
256:8586c11b4c30
force control vibration reduciing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 243:30896263bd8b 1 //Hydraulic Control Board Rainbow
Lightvalve 224:985dba42f261 2 //distributed by Sungwoo Kim
Lightvalve 243:30896263bd8b 3 // 2022/05/31
Lightvalve 224:985dba42f261 4
GiJeongKim 0:51c43836c1d7 5 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 6 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 7 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 8 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 9 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 10 #include "setting.h"
Lightvalve 11:82d8768d7351 11 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 12 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 13 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 14 #include <string>
Lightvalve 170:42c938a40313 15 #include <iostream>
Lightvalve 179:d5377766d7ea 16 #include <cmath>
Lightvalve 61:bc8c8270f0ab 17
GiJeongKim 0:51c43836c1d7 18
Lightvalve 243:30896263bd8b 19 // DAC ///////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 20 AnalogOut dac_1(PA_4); // 0.0f ~ 1.0f
jobuuu 230:2c3e5ecbe7e1 21 AnalogOut dac_2(PA_5); // 0.0f ~ 1.0f
Lightvalve 243:30896263bd8b 22
Lightvalve 243:30896263bd8b 23 // ADC ///////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 24 ADC_HandleTypeDef hadc1;
Lightvalve 244:e9c5ec04e378 25 ADC_HandleTypeDef hadc2;
Lightvalve 244:e9c5ec04e378 26 ADC_HandleTypeDef hadc3;
Lightvalve 244:e9c5ec04e378 27
Lightvalve 244:e9c5ec04e378 28 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 244:e9c5ec04e378 29 AnalogIn adc2(PC_5); //pressure_2
Lightvalve 244:e9c5ec04e378 30 AnalogIn adc3(PC_1); //current
Lightvalve 244:e9c5ec04e378 31 AnalogIn adc4(PB_1); //V_EXI
Lightvalve 244:e9c5ec04e378 32 AnalogIn adc5(PA_1); //LVDT
GiJeongKim 0:51c43836c1d7 33
jobuuu 7:e9086c72bb22 34 // PWM ///////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 35 float PWM_duty = 0.0f;
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 38 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 39 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 40 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 41 DigitalOut enc_cs(PD_2);
Lightvalve 243:30896263bd8b 42
Lightvalve 243:30896263bd8b 43 // LED ///////////////////////////////////////////
Lightvalve 11:82d8768d7351 44 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 45
Lightvalve 244:e9c5ec04e378 46 // LVDT ///////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 47 DigitalOut LVDT_H(PB_6);
Lightvalve 244:e9c5ec04e378 48 DigitalOut LVDT_L(PB_7);
Lightvalve 244:e9c5ec04e378 49
Lightvalve 244:e9c5ec04e378 50 // MOTOR_ENA ///////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 51 DigitalOut M_ENABLE(PA_2);
Lightvalve 244:e9c5ec04e378 52
jobuuu 7:e9086c72bb22 53 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 54 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 55 CANMessage msg;
Lightvalve 242:b235d67d25ba 56 //void onMsgReceived()
Lightvalve 242:b235d67d25ba 57 //{
Lightvalve 242:b235d67d25ba 58 // CAN_RX_HANDLER();
Lightvalve 242:b235d67d25ba 59 //}
jobuuu 2:a1c0a37df760 60
jobuuu 7:e9086c72bb22 61 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 62 State pos;
jobuuu 7:e9086c72bb22 63 State vel;
jobuuu 7:e9086c72bb22 64 State Vout;
jobuuu 230:2c3e5ecbe7e1 65 State force;
jobuuu 230:2c3e5ecbe7e1 66 State torq; // unit : N
Lightvalve 207:c70c5a9f17dd 67 State torq_dot;
jobuuu 230:2c3e5ecbe7e1 68 State pres_A; // unit : bar
jobuuu 7:e9086c72bb22 69 State pres_B;
jobuuu 230:2c3e5ecbe7e1 70 State cur; // unit : mA
Lightvalve 14:8e7590227d22 71 State valve_pos;
Lightvalve 238:4e660aa77eb7 72 State valve_pos_raw;
Lightvalve 14:8e7590227d22 73
Lightvalve 19:23b7c1ad8683 74 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 75 extern int CID_RX_REF_POSITION;
hyhoon 227:699c3e572283 76 extern int CID_RX_REF_OPENLOOP;
Lightvalve 45:35fa6884d0c6 77 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 78
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_INFO;
hyhoon 227:699c3e572283 80 extern int CID_TX_POS_VEL_TORQ;
hyhoon 227:699c3e572283 81 extern int CID_TX_PWM;
hyhoon 227:699c3e572283 82 extern int CID_TX_CURRENT;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_VALVE_POSITION;
jeongyeseong 225:9c0becc196ba 85 extern int CID_TX_SOMETHING;
Lightvalve 19:23b7c1ad8683 86
Lightvalve 235:c831718303c9 87 inline float tanh_inv(float y)
Lightvalve 235:c831718303c9 88 {
Lightvalve 235:c831718303c9 89 if(y >= 1.0f - 0.000001f) y = 1.0f - 0.000001f;
Lightvalve 235:c831718303c9 90 if(y <= -1.0f + 0.000001f) y = -1.0f + 0.000001f;
jobuuu 230:2c3e5ecbe7e1 91 return log(sqrt((1.0f+y)/(1.0f-y)));
jobuuu 230:2c3e5ecbe7e1 92 }
jobuuu 230:2c3e5ecbe7e1 93
hyhoon 227:699c3e572283 94
Lightvalve 12:6f2531038ea4 95 /*******************************************************************************
Lightvalve 12:6f2531038ea4 96 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 97 ******************************************************************************/
Lightvalve 13:747daba9cf59 98 enum _REFERENCE_MODE {
Lightvalve 235:c831718303c9 99 MODE_REF_NO_ACT = 0,
Lightvalve 235:c831718303c9 100 MODE_REF_DIRECT,
Lightvalve 235:c831718303c9 101 MODE_REF_FINDHOME
Lightvalve 12:6f2531038ea4 102 };
Lightvalve 12:6f2531038ea4 103
Lightvalve 12:6f2531038ea4 104 /*******************************************************************************
Lightvalve 12:6f2531038ea4 105 * CONTROL MODE
Lightvalve 12:6f2531038ea4 106 ******************************************************************************/
Lightvalve 13:747daba9cf59 107 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 108 //control mode
Lightvalve 12:6f2531038ea4 109 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 110 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 111 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 112
Lightvalve 47:fdcb8bd86fd6 113 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 114 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 115 MODE_RL, //5
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 122 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 123
Lightvalve 14:8e7590227d22 124 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 125 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 224:985dba42f261 127 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 128
Lightvalve 12:6f2531038ea4 129 //utility
Lightvalve 12:6f2531038ea4 130 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 131 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 132 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 133 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 134 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 135 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 136 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 137
Lightvalve 224:985dba42f261 138 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 139 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 140 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 141 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 142 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 143 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 144 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 145 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 146 };
Lightvalve 12:6f2531038ea4 147
Lightvalve 65:a2d7c63419c2 148 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 149 {
Lightvalve 169:645207e160ca 150 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 151 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 152
Lightvalve 169:645207e160ca 153 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 154 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 243:30896263bd8b 155
Lightvalve 240:fb5b57e3f157 156 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
Lightvalve 240:fb5b57e3f157 157 RCC_OscInitStruct.HSEState = RCC_HSE_ON;
Lightvalve 240:fb5b57e3f157 158 // RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 159 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 240:fb5b57e3f157 160 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
Lightvalve 240:fb5b57e3f157 161 RCC_OscInitStruct.PLL.PLLM = 4;//4
Lightvalve 240:fb5b57e3f157 162 RCC_OscInitStruct.PLL.PLLN = 96; //96
Lightvalve 169:645207e160ca 163 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 164 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 165 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 166 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 167 //Error_Handler();
Lightvalve 169:645207e160ca 168 }
Lightvalve 169:645207e160ca 169 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 170 //Error_Handler();
Lightvalve 169:645207e160ca 171 }
Lightvalve 169:645207e160ca 172 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 173 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 174 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 175 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 176 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 177 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 178 }
Lightvalve 65:a2d7c63419c2 179
Lightvalve 170:42c938a40313 180
Lightvalve 243:30896263bd8b 181
GiJeongKim 0:51c43836c1d7 182 int main()
GiJeongKim 0:51c43836c1d7 183 {
Lightvalve 244:e9c5ec04e378 184
Lightvalve 224:985dba42f261 185 HAL_Init();
Lightvalve 224:985dba42f261 186 SystemClock_Config();
hyhoon 226:82a3ca333004 187
Lightvalve 69:3995ffeaa786 188 LED = 0;
Lightvalve 21:e5f1a43ea6f9 189
Lightvalve 243:30896263bd8b 190 // SPI INIT
hyhoon 227:699c3e572283 191 eeprom_cs = 1;
Lightvalve 170:42c938a40313 192 eeprom.format(8,3);
Lightvalve 170:42c938a40313 193 eeprom.frequency(5000000); //5M
hyhoon 227:699c3e572283 194 eeprom_cs = 0;
hyhoon 227:699c3e572283 195 make_delay();
hyhoon 227:699c3e572283 196
Lightvalve 244:e9c5ec04e378 197 enc_cs = 1;
GiJeongKim 0:51c43836c1d7 198 enc.format(8,0);
hyhoon 227:699c3e572283 199 enc.frequency(5000000); //10M
Lightvalve 243:30896263bd8b 200 enc_cs = 0;
Lightvalve 11:82d8768d7351 201 make_delay();
Lightvalve 21:e5f1a43ea6f9 202
hyhoon 226:82a3ca333004 203 // spi _ enc
hyhoon 226:82a3ca333004 204 spi_enc_set_init();
hyhoon 226:82a3ca333004 205 make_delay();
hyhoon 226:82a3ca333004 206
Lightvalve 243:30896263bd8b 207 // bno rom
Lightvalve 240:fb5b57e3f157 208 spi_eeprom_write(RID_BNO, (int16_t) 0);
Lightvalve 238:4e660aa77eb7 209 make_delay();
hyhoon 226:82a3ca333004 210 ////////
hyhoon 226:82a3ca333004 211
Lightvalve 224:985dba42f261 212 // rom
Lightvalve 19:23b7c1ad8683 213 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 214 make_delay();
Lightvalve 13:747daba9cf59 215
GiJeongKim 0:51c43836c1d7 216 // ADC init
Lightvalve 244:e9c5ec04e378 217 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC3
Lightvalve 244:e9c5ec04e378 218 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
Lightvalve 244:e9c5ec04e378 219 RCC->APB2ENR |= RCC_APB2ENR_ADC3EN; // clock for ADC1
jobuuu 2:a1c0a37df760 220
Lightvalve 244:e9c5ec04e378 221 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; // Enable clock for GPIOC
Lightvalve 244:e9c5ec04e378 222 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // Enable clock for GPIOB
Lightvalve 244:e9c5ec04e378 223 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // Enable clock for GPIOB
Lightvalve 244:e9c5ec04e378 224
Lightvalve 244:e9c5ec04e378 225 Init_ADC1();
Lightvalve 244:e9c5ec04e378 226 Init_ADC2();
Lightvalve 244:e9c5ec04e378 227 Init_ADC3();
Lightvalve 11:82d8768d7351 228 make_delay();
Lightvalve 13:747daba9cf59 229
GiJeongKim 0:51c43836c1d7 230 // CAN
jobuuu 2:a1c0a37df760 231 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 232 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 233 make_delay();
Lightvalve 34:bb2ca2fc2a8e 234
hyhoon 226:82a3ca333004 235 //can.reset();
Lightvalve 243:30896263bd8b 236 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 243:30896263bd8b 237 // can.filter(0b100000000, 0b100000010, CANStandard); //CAN ID 100~400번대 통과하게
hyhoon 226:82a3ca333004 238
Lightvalve 244:e9c5ec04e378 239 // TMR1 init (PWM)
Lightvalve 243:30896263bd8b 240 Init_TMR1();
Lightvalve 247:bfdf0f479a38 241 TIM1->CR1 &= ~(TIM_CR1_UDIS);
Lightvalve 243:30896263bd8b 242 make_delay();
Lightvalve 243:30896263bd8b 243
Lightvalve 244:e9c5ec04e378 244 // TMR2 init (Control)
Lightvalve 244:e9c5ec04e378 245 Init_TMR2();
Lightvalve 247:bfdf0f479a38 246 TIM2->CR1 &= ~(TIM_CR1_UDIS);
Lightvalve 244:e9c5ec04e378 247 make_delay();
Lightvalve 244:e9c5ec04e378 248
Lightvalve 244:e9c5ec04e378 249 // TMR3 init (Sensors)
Lightvalve 244:e9c5ec04e378 250 Init_TMR3();
Lightvalve 247:bfdf0f479a38 251 TIM3->CR1 &= ~(TIM_CR1_UDIS);
Lightvalve 244:e9c5ec04e378 252 make_delay();
Lightvalve 34:bb2ca2fc2a8e 253
Lightvalve 244:e9c5ec04e378 254 // TIM4 init (LVDT)
Lightvalve 244:e9c5ec04e378 255 Init_TIM4();
Lightvalve 247:bfdf0f479a38 256 TIM4->CR1 &= ~(TIM_CR1_UDIS);
Lightvalve 244:e9c5ec04e378 257 make_delay();
Lightvalve 243:30896263bd8b 258
Lightvalve 244:e9c5ec04e378 259 //Timer priority
Lightvalve 244:e9c5ec04e378 260 NVIC_SetPriority(TIM3_IRQn, 3);
Lightvalve 244:e9c5ec04e378 261 NVIC_SetPriority(TIM2_IRQn, 4);
Lightvalve 244:e9c5ec04e378 262 NVIC_SetPriority(TIM4_IRQn, 2);
Lightvalve 244:e9c5ec04e378 263 HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 14, 0);
hyhoon 226:82a3ca333004 264
Lightvalve 11:82d8768d7351 265 //DAC init
Lightvalve 58:2eade98630e2 266 if (SENSING_MODE == 0) {
jobuuu 230:2c3e5ecbe7e1 267 dac_1 = FORCE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 268 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 269 } else if (SENSING_MODE == 1) {
Lightvalve 240:fb5b57e3f157 270 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 240:fb5b57e3f157 271 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 272 }
Lightvalve 255:1ba0cc8fee52 273
Lightvalve 11:82d8768d7351 274 make_delay();
Lightvalve 13:747daba9cf59 275
Lightvalve 19:23b7c1ad8683 276 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 277 if(i%2==0)
Lightvalve 38:118df027d851 278 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 279 else
Lightvalve 38:118df027d851 280 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 281 }
Lightvalve 169:645207e160ca 282
Lightvalve 244:e9c5ec04e378 283 M_ENABLE = 1;
Lightvalve 244:e9c5ec04e378 284
jobuuu 6:df07d3491e3a 285 /************************************
jobuuu 1:e04e563be5ce 286 *** Program is operating!
jobuuu 6:df07d3491e3a 287 *************************************/
GiJeongKim 0:51c43836c1d7 288 while(1) {
Lightvalve 169:645207e160ca 289
Lightvalve 244:e9c5ec04e378 290 // if (LED > 0) LED = 0;
Lightvalve 244:e9c5ec04e378 291 // else LED = 1;
GiJeongKim 0:51c43836c1d7 292 }
jobuuu 1:e04e563be5ce 293 }
jobuuu 1:e04e563be5ce 294
Lightvalve 224:985dba42f261 295
Lightvalve 224:985dba42f261 296 // Velocity feedforward for SW valve
Lightvalve 33:91b17819ec30 297 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 298 {
Lightvalve 13:747daba9cf59 299 int i = 0;
Lightvalve 48:889798ff9329 300 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 301 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 302 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 303 if(i==0) {
Lightvalve 50:3c630b5eba9f 304 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 305 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 306 } else {
Lightvalve 57:f4819de54e7a 307 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 308 }
Lightvalve 14:8e7590227d22 309 } else {
Lightvalve 50:3c630b5eba9f 310 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 311 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 312 } else {
Lightvalve 57:f4819de54e7a 313 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 314 }
Lightvalve 13:747daba9cf59 315 }
Lightvalve 13:747daba9cf59 316 break;
Lightvalve 13:747daba9cf59 317 }
Lightvalve 13:747daba9cf59 318 }
Lightvalve 14:8e7590227d22 319 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 320 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 321 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 322 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 323 }
Lightvalve 36:a46e63505ed8 324
Lightvalve 224:985dba42f261 325 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve 13:747daba9cf59 326 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 327 }
jobuuu 6:df07d3491e3a 328
Lightvalve 224:985dba42f261 329 // Valve feedforward for SW valve
Lightvalve 30:8d561f16383b 330 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 331 {
Lightvalve 13:747daba9cf59 332 int i = 0;
Lightvalve 13:747daba9cf59 333
Lightvalve 38:118df027d851 334 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 335 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 336 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 337 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 338 }
Lightvalve 243:30896263bd8b 339 valve_pos_err = (float) (REF_VALVE_POS - valve_pos.sen);
Lightvalve 13:747daba9cf59 340 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 341 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 342 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 343 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 344 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 345
Lightvalve 13:747daba9cf59 346 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 347
Lightvalve 18:b8adf1582ea3 348 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 349 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 350 if(i==0) {
Lightvalve 48:889798ff9329 351 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 352 } else {
Lightvalve 48:889798ff9329 353 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 354 }
Lightvalve 13:747daba9cf59 355 break;
Lightvalve 13:747daba9cf59 356 }
Lightvalve 13:747daba9cf59 357 }
Lightvalve 59:f308b1656d9c 358 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 253:c53d4c26b04a 359 // int R_FET = 1.5f;
Lightvalve 253:c53d4c26b04a 360 // int R_Motor = 5.4f;
Lightvalve 253:c53d4c26b04a 361 // Vout.ref = Vout.ref + Vout.ref/R_Motor*R_FET*2.0f;
Lightvalve 13:747daba9cf59 362 }
Lightvalve 13:747daba9cf59 363
Lightvalve 238:4e660aa77eb7 364 // Valve feedforward for SW valve
Lightvalve 248:544011ad9c85 365 void VALVE_POS_CONTROL_DZ(float REF_VALVE_POS)
Lightvalve 238:4e660aa77eb7 366 {
Lightvalve 238:4e660aa77eb7 367 int i = 0;
Lightvalve 248:544011ad9c85 368 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 248:544011ad9c85 369 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 248:544011ad9c85 370 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 248:544011ad9c85 371 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 372 }
Lightvalve 250:91d3ec3a087e 373 valve_pos_err = (float) (REF_VALVE_POS - valve_pos.sen);
Lightvalve 238:4e660aa77eb7 374 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 238:4e660aa77eb7 375 valve_pos_err_old = valve_pos_err;
Lightvalve 238:4e660aa77eb7 376 valve_pos_err_sum += valve_pos_err;
Lightvalve 238:4e660aa77eb7 377 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 238:4e660aa77eb7 378 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 238:4e660aa77eb7 379
Lightvalve 238:4e660aa77eb7 380 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 238:4e660aa77eb7 381
Lightvalve 238:4e660aa77eb7 382 for(i=0; i<24; i++) {
Lightvalve 250:91d3ec3a087e 383 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 238:4e660aa77eb7 384 if(i==0) {
Lightvalve 250:91d3ec3a087e 385 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 238:4e660aa77eb7 386 } else {
Lightvalve 250:91d3ec3a087e 387 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 238:4e660aa77eb7 388 }
Lightvalve 238:4e660aa77eb7 389 break;
Lightvalve 238:4e660aa77eb7 390 }
Lightvalve 238:4e660aa77eb7 391 }
Lightvalve 238:4e660aa77eb7 392 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 253:c53d4c26b04a 393 // int R_FET = 1.5f;
Lightvalve 253:c53d4c26b04a 394 // int R_Motor = 5.4f;
Lightvalve 253:c53d4c26b04a 395 // Vout.ref = Vout.ref + Vout.ref/R_Motor*R_FET*2.0f;
Lightvalve 238:4e660aa77eb7 396 }
Lightvalve 238:4e660aa77eb7 397
Lightvalve 224:985dba42f261 398 // PWM duty vs. voltage output of L6205 in STM board
Lightvalve 14:8e7590227d22 399 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 400 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 401 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 402 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 403 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 404 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 405 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 406 }; // duty
Lightvalve 67:c2812cf26c38 407 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 408 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 409 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 410 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 411 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 412 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 413 }; // mV
Lightvalve 13:747daba9cf59 414
Lightvalve 30:8d561f16383b 415 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 416 {
Lightvalve 30:8d561f16383b 417 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 418 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 419 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 420 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 421 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 422 } else {
Lightvalve 13:747daba9cf59 423 int idx = 0;
Lightvalve 13:747daba9cf59 424 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 425 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 426 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 427 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 428 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 429 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 430 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 431 break;
Lightvalve 13:747daba9cf59 432 }
Lightvalve 13:747daba9cf59 433 }
Lightvalve 13:747daba9cf59 434 }
Lightvalve 13:747daba9cf59 435 return PWM_duty;
Lightvalve 13:747daba9cf59 436 }
jobuuu 6:df07d3491e3a 437
Lightvalve 57:f4819de54e7a 438
Lightvalve 57:f4819de54e7a 439
jobuuu 2:a1c0a37df760 440 /*******************************************************************************
jobuuu 2:a1c0a37df760 441 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 442 *******************************************************************************/
jobuuu 2:a1c0a37df760 443
Lightvalve 244:e9c5ec04e378 444 //------------------------------------------------
Lightvalve 247:bfdf0f479a38 445 // TMR3 : Sensor 20kHz
Lightvalve 247:bfdf0f479a38 446 //------------------------------------------------
Lightvalve 244:e9c5ec04e378 447 float FREQ_TMR3 = (float)FREQ_20k;
Lightvalve 244:e9c5ec04e378 448 long CNT_TMR3 = 0;
Lightvalve 244:e9c5ec04e378 449 float DT_TMR3 = (float)DT_20k;
Lightvalve 240:fb5b57e3f157 450 extern "C" void TIM3_IRQHandler(void)
Lightvalve 240:fb5b57e3f157 451 {
Lightvalve 240:fb5b57e3f157 452 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 240:fb5b57e3f157 453
Lightvalve 245:071785d74ad0 454 // if (LED > 0) LED = 0;
Lightvalve 245:071785d74ad0 455 // else LED = 1;
Lightvalve 244:e9c5ec04e378 456
Lightvalve 244:e9c5ec04e378 457 float PSEN1 = 0.0f;
Lightvalve 244:e9c5ec04e378 458 float PSEN2 = 0.0f;
Lightvalve 244:e9c5ec04e378 459 float CURRENT_SEN = 0.0f;
Lightvalve 244:e9c5ec04e378 460
Lightvalve 244:e9c5ec04e378 461 /////////////////////////Current////////////////////////////////////////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 462 HAL_ADC_Start(&hadc2);
Lightvalve 244:e9c5ec04e378 463 HAL_ADC_PollForConversion(&hadc2, 1);
Lightvalve 244:e9c5ec04e378 464 CURRENT_SEN = (float) HAL_ADC_GetValue(&hadc2);
Lightvalve 244:e9c5ec04e378 465 cur.UpdateSen(((float)CURRENT_SEN-2047.5f)/2047.5f*10.0f, FREQ_TMR3, 500.0f); // unit : mA
Lightvalve 244:e9c5ec04e378 466
Lightvalve 244:e9c5ec04e378 467 /////////////////////////V_EXI////////////////////////////////////////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 468 HAL_ADC_Start(&hadc2);
Lightvalve 244:e9c5ec04e378 469 HAL_ADC_PollForConversion(&hadc2, 1);
Lightvalve 244:e9c5ec04e378 470 V_EXI = (float) HAL_ADC_GetValue(&hadc2);
Lightvalve 244:e9c5ec04e378 471
Lightvalve 244:e9c5ec04e378 472 /////////////////////////Encoder////////////////////////////////////////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 473 // if (CNT_TMR1 % 2) == 0) {
Lightvalve 244:e9c5ec04e378 474 ENC_UPDATE();
Lightvalve 243:30896263bd8b 475 // }
Lightvalve 240:fb5b57e3f157 476
Lightvalve 244:e9c5ec04e378 477 /////////////////////////Force or Pressure//////////////////////////////////////////////////////////////////
Lightvalve 244:e9c5ec04e378 478 if (SENSING_MODE == 0) { // Force sensing
Lightvalve 245:071785d74ad0 479
Lightvalve 244:e9c5ec04e378 480 HAL_ADC_Start(&hadc1);
Lightvalve 244:e9c5ec04e378 481 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 244:e9c5ec04e378 482 PSEN1 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 245:071785d74ad0 483
Lightvalve 245:071785d74ad0 484 HAL_ADC_Start(&hadc1);
Lightvalve 245:071785d74ad0 485 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 245:071785d74ad0 486 PSEN2 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 245:071785d74ad0 487
Lightvalve 255:1ba0cc8fee52 488 force.UpdateSen((((float)PSEN1) - 2047.5f)/TORQUE_SENSOR_PULSE_PER_TORQUE, FREQ_TMR3, 100.0f); // unit : N //100Hz
Lightvalve 243:30896263bd8b 489
Lightvalve 244:e9c5ec04e378 490 } else if (SENSING_MODE == 1) { // Pressure sensing
Lightvalve 240:fb5b57e3f157 491
Lightvalve 244:e9c5ec04e378 492 HAL_ADC_Start(&hadc1);
Lightvalve 244:e9c5ec04e378 493 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 244:e9c5ec04e378 494 PSEN1 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 243:30896263bd8b 495
Lightvalve 244:e9c5ec04e378 496 HAL_ADC_Start(&hadc1);
Lightvalve 244:e9c5ec04e378 497 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 244:e9c5ec04e378 498 PSEN2 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 243:30896263bd8b 499
Lightvalve 244:e9c5ec04e378 500 float pres_A_new, pres_B_new;
Lightvalve 244:e9c5ec04e378 501 pres_A_new = (((float)PSEN1) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 244:e9c5ec04e378 502 pres_B_new = (((float)PSEN2) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 240:fb5b57e3f157 503
Lightvalve 244:e9c5ec04e378 504 pres_A.UpdateSen(pres_A_new,FREQ_TMR3,200.0f);
Lightvalve 244:e9c5ec04e378 505 pres_B.UpdateSen(pres_B_new,FREQ_TMR3,200.0f);
Lightvalve 240:fb5b57e3f157 506
Lightvalve 244:e9c5ec04e378 507 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 244:e9c5ec04e378 508 float torq_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 255:1ba0cc8fee52 509 torq.UpdateSen(torq_new,FREQ_TMR3,100.0f); // unit : Nm //1000Hz
Lightvalve 244:e9c5ec04e378 510 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 244:e9c5ec04e378 511 float force_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.1f; // mm^2*bar >> N
Lightvalve 255:1ba0cc8fee52 512 force.UpdateSen(force_new,FREQ_TMR3,100.0f); // unit : N //1000Hz
Lightvalve 244:e9c5ec04e378 513 }
Lightvalve 244:e9c5ec04e378 514 }
Lightvalve 244:e9c5ec04e378 515 CNT_TMR3++;
Lightvalve 240:fb5b57e3f157 516 }
Lightvalve 240:fb5b57e3f157 517 TIM3->SR = 0x0; // reset the status register
Lightvalve 240:fb5b57e3f157 518 }
Lightvalve 240:fb5b57e3f157 519
Lightvalve 240:fb5b57e3f157 520
Lightvalve 240:fb5b57e3f157 521
jobuuu 230:2c3e5ecbe7e1 522 //------------------------------------------------
Lightvalve 244:e9c5ec04e378 523 // TMR4 : LVDT 1kHz
Lightvalve 244:e9c5ec04e378 524 //------------------------------------------------
Lightvalve 247:bfdf0f479a38 525 float LVDT_new = 0.0f;
Lightvalve 247:bfdf0f479a38 526 float LVDT_old = 0.0f;
Lightvalve 247:bfdf0f479a38 527 float LVDT_f_cut = 1000.0f;
Lightvalve 247:bfdf0f479a38 528 float LVDT_LPF = 0.0f;
Lightvalve 247:bfdf0f479a38 529 float LVDT_sum = 0.0f;
Lightvalve 247:bfdf0f479a38 530 float FREQ_TMR4 = (float)FREQ_1k;
Lightvalve 247:bfdf0f479a38 531 float DT_TMR4 = (float)DT_1k;
Lightvalve 57:f4819de54e7a 532 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 533 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 534 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 535 {
Lightvalve 19:23b7c1ad8683 536 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 13:747daba9cf59 537
Lightvalve 244:e9c5ec04e378 538 float LVDT_OUT = 0.0f;
Lightvalve 244:e9c5ec04e378 539 LVDT_sum = 0.0f;
Lightvalve 244:e9c5ec04e378 540
Lightvalve 244:e9c5ec04e378 541 LVDT_L = 0;
Lightvalve 244:e9c5ec04e378 542 LVDT_H = 1;
Lightvalve 235:c831718303c9 543
Lightvalve 253:c53d4c26b04a 544 for (int ij = 0; ij<120; ij++) {
Lightvalve 253:c53d4c26b04a 545 if (ij < 20) {
Lightvalve 253:c53d4c26b04a 546 continue;
Lightvalve 253:c53d4c26b04a 547 } else if (ij == 20) {
Lightvalve 253:c53d4c26b04a 548 // LED = 1;
Lightvalve 253:c53d4c26b04a 549 } else if (ij == 100) {
Lightvalve 253:c53d4c26b04a 550 LVDT_H = 0;
Lightvalve 253:c53d4c26b04a 551 LVDT_L = 0;
Lightvalve 253:c53d4c26b04a 552 }
Lightvalve 244:e9c5ec04e378 553 ADC3->CR2 |= 0x40000000;
Lightvalve 250:91d3ec3a087e 554 LVDT_new = ((float)ADC3->DR - 2047.0f);
Lightvalve 250:91d3ec3a087e 555 if(DIR_VALVE_ENC < 0) LVDT_new = 0.0f - LVDT_new;
Lightvalve 244:e9c5ec04e378 556 LVDT_sum = LVDT_sum + LVDT_new;
Lightvalve 57:f4819de54e7a 557 }
Lightvalve 253:c53d4c26b04a 558 // LED = 0;
Lightvalve 61:bc8c8270f0ab 559
Lightvalve 253:c53d4c26b04a 560 // LVDT_H = 0;
Lightvalve 253:c53d4c26b04a 561 // LVDT_L = 0;
Lightvalve 50:3c630b5eba9f 562
Lightvalve 253:c53d4c26b04a 563 LVDT_new = (LVDT_sum + 2047.0f * 100.0f) * 0.01f;
Lightvalve 61:bc8c8270f0ab 564
Lightvalve 244:e9c5ec04e378 565 float alpha_LVDT = 1.0f/(1.0f+TMR_FREQ_1k/(2.0f*PI*300.0f));
Lightvalve 244:e9c5ec04e378 566 LVDT_LPF = (1.0f-alpha_LVDT) * LVDT_LPF + alpha_LVDT * LVDT_new;
Lightvalve 244:e9c5ec04e378 567 valve_pos.sen = LVDT_LPF;
Lightvalve 250:91d3ec3a087e 568
Lightvalve 243:30896263bd8b 569
Lightvalve 57:f4819de54e7a 570 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 571 }
Lightvalve 11:82d8768d7351 572 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 573 }
Lightvalve 19:23b7c1ad8683 574
Lightvalve 244:e9c5ec04e378 575 //------------------------------------------------
Lightvalve 244:e9c5ec04e378 576 // TMR2 : Control 5kHz
Lightvalve 244:e9c5ec04e378 577 //------------------------------------------------
Lightvalve 244:e9c5ec04e378 578 float FREQ_TMR2 = (float)FREQ_5k;
Lightvalve 244:e9c5ec04e378 579 float DT_TMR2 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 580 int cnt_trans = 0;
Lightvalve 253:c53d4c26b04a 581 int cnt_jitter = 0;
Lightvalve 240:fb5b57e3f157 582 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 583 {
Lightvalve 240:fb5b57e3f157 584 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 253:c53d4c26b04a 585 LED = 1;
Lightvalve 50:3c630b5eba9f 586 if(MODE_POS_FT_TRANS == 1) {
jobuuu 230:2c3e5ecbe7e1 587 if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
Lightvalve 244:e9c5ec04e378 588 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR2 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 589 cnt_trans++;
Lightvalve 233:2ec0de8590d3 590 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 591 force.err_int = 0.0f;
Lightvalve 244:e9c5ec04e378 592 if((float)cnt_trans * DT_TMR2 > 3.0f)
Lightvalve 45:35fa6884d0c6 593 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 594 } else if(MODE_POS_FT_TRANS == 3) {
jobuuu 230:2c3e5ecbe7e1 595 if (alpha_trans == 0.0f) MODE_POS_FT_TRANS = 0;
Lightvalve 244:e9c5ec04e378 596 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR2 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 597 cnt_trans++;
Lightvalve 233:2ec0de8590d3 598 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 599 force.err_int = 0.0f;
Lightvalve 244:e9c5ec04e378 600 if((float) cnt_trans * DT_TMR2 > 3.0f )
Lightvalve 45:35fa6884d0c6 601 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 602 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 603 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 604 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 605 } else {
Lightvalve 58:2eade98630e2 606 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 607 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 608 }
Lightvalve 45:35fa6884d0c6 609
Lightvalve 50:3c630b5eba9f 610
jobuuu 230:2c3e5ecbe7e1 611 // Reference Update ==========================================================
hyhoon 227:699c3e572283 612 switch (REFERENCE_MODE) {
hyhoon 227:699c3e572283 613 case MODE_REF_NO_ACT: {
hyhoon 227:699c3e572283 614 break;
hyhoon 227:699c3e572283 615 }
hyhoon 227:699c3e572283 616 case MODE_REF_DIRECT: {
hyhoon 227:699c3e572283 617 pos.ref = REF_POSITION;
hyhoon 227:699c3e572283 618 vel.ref = REF_VELOCITY;
hyhoon 227:699c3e572283 619 torq.ref = REF_TORQUE;
jobuuu 230:2c3e5ecbe7e1 620 force.ref = REF_FORCE;
jobuuu 230:2c3e5ecbe7e1 621 break;
jobuuu 230:2c3e5ecbe7e1 622 }
jobuuu 230:2c3e5ecbe7e1 623 case MODE_REF_FINDHOME: {
jobuuu 230:2c3e5ecbe7e1 624 pos.ref = REF_POSITION_FINDHOME;
jobuuu 230:2c3e5ecbe7e1 625 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 626 torq.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 627 force.ref = 0.0f;
hyhoon 227:699c3e572283 628 break;
hyhoon 227:699c3e572283 629 }
hyhoon 227:699c3e572283 630 default:
hyhoon 227:699c3e572283 631 break;
hyhoon 227:699c3e572283 632 }
hyhoon 227:699c3e572283 633
Lightvalve 237:c2cfe349f5c1 634 if (((OPERATING_MODE&0b110)>>1) == 0) {
jobuuu 230:2c3e5ecbe7e1 635 K_v = 1.03f; // Q = K_v*sqrt(deltaP)*tanh(C_d*Xv);
Lightvalve 235:c831718303c9 636 C_d = 0.16f;
jobuuu 230:2c3e5ecbe7e1 637 mV_PER_mA = 500.0f; // 5000mV/10mA
jobuuu 230:2c3e5ecbe7e1 638 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 639 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 237:c2cfe349f5c1 640 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
jobuuu 230:2c3e5ecbe7e1 641 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
jobuuu 230:2c3e5ecbe7e1 642 mV_PER_mA = 166.6666f; // 5000mV/30mA
jobuuu 230:2c3e5ecbe7e1 643 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 644 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 237:c2cfe349f5c1 645 } else if (((OPERATING_MODE&0b110)>>1) == 2) {
Lightvalve 237:c2cfe349f5c1 646 C_d = 0.0000845f; // Q = C_d * Valve_pos * sqrt(deltaP*alpha/(1+alpha)) : Valve_pos = 10000, deltaP = 70, alpha = 1 -> Q = 5
jobuuu 230:2c3e5ecbe7e1 647 }
Lightvalve 235:c831718303c9 648
jobuuu 230:2c3e5ecbe7e1 649 // =====================================================================
jobuuu 230:2c3e5ecbe7e1 650 // CONTROL LOOP --------------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 651 // =====================================================================
Lightvalve 57:f4819de54e7a 652 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 653 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 654
Lightvalve 57:f4819de54e7a 655 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 656 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 657 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 658 } else {
Lightvalve 57:f4819de54e7a 659 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 660 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 661 }
Lightvalve 57:f4819de54e7a 662 // UTILITY MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 663 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 664 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 665 break;
Lightvalve 13:747daba9cf59 666 }
Lightvalve 14:8e7590227d22 667
Lightvalve 235:c831718303c9 668 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 245:071785d74ad0 669 static float FORCE_pulse_sum = 0.0f;
Lightvalve 245:071785d74ad0 670 static float PresA_pulse_sum = 0.0f;
Lightvalve 245:071785d74ad0 671 static float PresB_pulse_sum = 0.0f;
Lightvalve 235:c831718303c9 672
Lightvalve 13:747daba9cf59 673 // DAC Voltage reference set
Lightvalve 232:2976cf1b4252 674 float VREF_TuningGain = -0.000003f;
jobuuu 230:2c3e5ecbe7e1 675 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
jobuuu 230:2c3e5ecbe7e1 676 LED = 1;
jobuuu 230:2c3e5ecbe7e1 677 if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 678 FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 230:2c3e5ecbe7e1 679 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 680 float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 681 FORCE_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 682 FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 683 if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 684 if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 685 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 686 }
Lightvalve 235:c831718303c9 687 } else if (SENSING_MODE == 1) { // Pressure Sensor
jobuuu 230:2c3e5ecbe7e1 688 PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 689 PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 690 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 691 float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 692 float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 693 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 694 PresB_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 695
jobuuu 230:2c3e5ecbe7e1 696 PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 697 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 698 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 699 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 700 PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 701 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 235:c831718303c9 702 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 703 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 704 }
Lightvalve 13:747daba9cf59 705 }
jobuuu 230:2c3e5ecbe7e1 706 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 707 } else {
jobuuu 230:2c3e5ecbe7e1 708 if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 709 FORCE_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 710 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 711 spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 712 } else if (SENSING_MODE == 1) {
jobuuu 230:2c3e5ecbe7e1 713 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 714 PresB_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 715 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 716 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 717 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 718 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 719 }
Lightvalve 58:2eade98630e2 720 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 721 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 722 }
Lightvalve 13:747daba9cf59 723 break;
Lightvalve 19:23b7c1ad8683 724 }
Lightvalve 14:8e7590227d22 725
Lightvalve 235:c831718303c9 726 case MODE_FIND_HOME: {
jobuuu 230:2c3e5ecbe7e1 727 static int cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 728 static int cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 729 static float FINDHOME_POSITION_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 730 static float FINDHOME_POSITION_pulse_OLD = 0.0f;
jobuuu 230:2c3e5ecbe7e1 731 static float FINDHOME_VELOCITY_pulse = 0.0f;
Lightvalve 235:c831718303c9 732 static float REF_POSITION_FINDHOME_INIT = 0.0f;
jobuuu 230:2c3e5ecbe7e1 733
Lightvalve 29:69f3f5445d6d 734 if (FINDHOME_STAGE == FINDHOME_INIT) {
jobuuu 230:2c3e5ecbe7e1 735 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 14:8e7590227d22 736 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 737 cnt_terminate_findhome = 0;
Lightvalve 59:f308b1656d9c 738 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 739 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 740 REF_POSITION_FINDHOME = pos.ref;
Lightvalve 29:69f3f5445d6d 741 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 742 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
jobuuu 230:2c3e5ecbe7e1 743 int cnt_check_enc = (TMR_FREQ_5k/20); // 5000/20 = 250tic = 50msec
Lightvalve 29:69f3f5445d6d 744 if(cnt_findhome%cnt_check_enc == 0) {
jobuuu 230:2c3e5ecbe7e1 745 FINDHOME_POSITION_pulse = pos.sen*ENC_PULSE_PER_POSITION;
jobuuu 230:2c3e5ecbe7e1 746 FINDHOME_VELOCITY_pulse = FINDHOME_POSITION_pulse - FINDHOME_POSITION_pulse_OLD;
jobuuu 230:2c3e5ecbe7e1 747 FINDHOME_POSITION_pulse_OLD = FINDHOME_POSITION_pulse;
Lightvalve 29:69f3f5445d6d 748 }
Lightvalve 29:69f3f5445d6d 749 cnt_findhome++;
Lightvalve 14:8e7590227d22 750
jobuuu 230:2c3e5ecbe7e1 751 if (fabs(FINDHOME_VELOCITY_pulse) <= 1) {
jobuuu 230:2c3e5ecbe7e1 752 cnt_terminate_findhome = cnt_terminate_findhome + 1;
Lightvalve 29:69f3f5445d6d 753 } else {
jobuuu 230:2c3e5ecbe7e1 754 cnt_terminate_findhome = 0;
Lightvalve 29:69f3f5445d6d 755 }
Lightvalve 19:23b7c1ad8683 756
jobuuu 230:2c3e5ecbe7e1 757 if ((cnt_terminate_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
jobuuu 230:2c3e5ecbe7e1 758 double GOTOHOME_SPEED = 10.0f; // 20mm/s or 20deg/s
hyhoon 226:82a3ca333004 759 if (HOMEPOS_OFFSET > 0) {
Lightvalve 235:c831718303c9 760 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME + GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 761 } else {
jobuuu 230:2c3e5ecbe7e1 762 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME - GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 763 }
Lightvalve 59:f308b1656d9c 764 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 765 alpha_trans = 0.0f;
Lightvalve 29:69f3f5445d6d 766 } else {
jobuuu 230:2c3e5ecbe7e1 767 ENC_SET((long)((long)HOMEPOS_OFFSET*10));
jobuuu 230:2c3e5ecbe7e1 768 REF_POSITION_FINDHOME_INIT = (float)((long)HOMEPOS_OFFSET*10);
jobuuu 230:2c3e5ecbe7e1 769 FINDHOME_POSITION_pulse = 0;
jobuuu 230:2c3e5ecbe7e1 770 FINDHOME_POSITION_pulse_OLD = 0;
jobuuu 230:2c3e5ecbe7e1 771 FINDHOME_VELOCITY_pulse = 0;
Lightvalve 235:c831718303c9 772
Lightvalve 29:69f3f5445d6d 773 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 774 cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 775 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 776 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 777 }
Lightvalve 29:69f3f5445d6d 778 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 235:c831718303c9 779
Lightvalve 232:2976cf1b4252 780 // int T_move = 2*TMR_FREQ_5k;
Lightvalve 232:2976cf1b4252 781 int T_move = 10000;
Lightvalve 232:2976cf1b4252 782 REF_POSITION_FINDHOME = ((0.0f - REF_POSITION_FINDHOME_INIT)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)REF_POSITION_FINDHOME_INIT)/ENC_PULSE_PER_POSITION;
Lightvalve 235:c831718303c9 783
Lightvalve 29:69f3f5445d6d 784 cnt_findhome++;
Lightvalve 235:c831718303c9 785
Lightvalve 232:2976cf1b4252 786 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 232:2976cf1b4252 787 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 232:2976cf1b4252 788 alpha_trans = 0.0f;
Lightvalve 235:c831718303c9 789
Lightvalve 29:69f3f5445d6d 790 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 791 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 792 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 793 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 794 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
jobuuu 230:2c3e5ecbe7e1 795 REFERENCE_MODE = MODE_REF_DIRECT;
hyhoon 226:82a3ca333004 796 }
Lightvalve 13:747daba9cf59 797 }
Lightvalve 13:747daba9cf59 798 break;
Lightvalve 13:747daba9cf59 799 }
Lightvalve 237:c2cfe349f5c1 800
Lightvalve 237:c2cfe349f5c1 801 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 237:c2cfe349f5c1 802 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 803 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 237:c2cfe349f5c1 804
Lightvalve 237:c2cfe349f5c1 805 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 237:c2cfe349f5c1 806 Vout.ref = 3000.0f * sin(2.0f*3.14159f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 237:c2cfe349f5c1 807 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 808 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 253:c53d4c26b04a 809 // int R_FET = 1.5f;
Lightvalve 253:c53d4c26b04a 810 // int R_Motor = 5.4f;
Lightvalve 253:c53d4c26b04a 811 // Vout.ref = Vout.ref + Vout.ref/R_Motor*R_FET*2.0f;
Lightvalve 237:c2cfe349f5c1 812 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 813 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 814 data_num = 0;
Lightvalve 237:c2cfe349f5c1 815 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 816 data_num = data_num + 1;
Lightvalve 242:b235d67d25ba 817 VALVE_POS_TMP = VALVE_POS_TMP + valve_pos.sen;
Lightvalve 237:c2cfe349f5c1 818 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 819 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 820 } else {
Lightvalve 237:c2cfe349f5c1 821 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 822 VALVE_ID_timer = 0;
Lightvalve 237:c2cfe349f5c1 823 ID_index= ID_index +1;
Lightvalve 237:c2cfe349f5c1 824 }
Lightvalve 237:c2cfe349f5c1 825
Lightvalve 237:c2cfe349f5c1 826 if(ID_index>=25) {
Lightvalve 237:c2cfe349f5c1 827 int i;
Lightvalve 237:c2cfe349f5c1 828 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 237:c2cfe349f5c1 829 for(i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 830 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 237:c2cfe349f5c1 831 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 832 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 833 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 834 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 835 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 836 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 837 }
Lightvalve 237:c2cfe349f5c1 838 }
Lightvalve 237:c2cfe349f5c1 839 VALVE_ELECTRIC_CENTER = VALVE_POS_VS_PWM[0];
Lightvalve 237:c2cfe349f5c1 840 spi_eeprom_write(RID_VALVE_ELECTRIC_CENTER, (int16_t) VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 841 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 237:c2cfe349f5c1 842 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 237:c2cfe349f5c1 843 for(int i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 844 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 237:c2cfe349f5c1 845 }
Lightvalve 237:c2cfe349f5c1 846 ID_index = 0;
Lightvalve 237:c2cfe349f5c1 847 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 848 }
Lightvalve 237:c2cfe349f5c1 849 break;
Lightvalve 237:c2cfe349f5c1 850 }
Lightvalve 237:c2cfe349f5c1 851 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 237:c2cfe349f5c1 852 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 853 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 237:c2cfe349f5c1 854 if(first_check == 0) {
Lightvalve 237:c2cfe349f5c1 855 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 856 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 857 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 858 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 859 pos_plus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 860 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 861 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 862 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 863 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 864 pos_minus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 865 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 866 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 867 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 868 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 869 data_num = data_num + 1;
Lightvalve 243:30896263bd8b 870 VALVE_POS_TMP = VALVE_POS_TMP + valve_pos.sen;
Lightvalve 237:c2cfe349f5c1 871 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 872 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 873 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 874 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 875 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 876 data_num = 0;
Lightvalve 237:c2cfe349f5c1 877
Lightvalve 237:c2cfe349f5c1 878 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 879 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 880 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 881
Lightvalve 237:c2cfe349f5c1 882 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 883 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 884 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 885
Lightvalve 237:c2cfe349f5c1 886 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 887 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 888 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 889 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 890
Lightvalve 238:4e660aa77eb7 891 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 892 DZ_case = 1;
Lightvalve 238:4e660aa77eb7 893 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 894 DZ_case = -1;
Lightvalve 237:c2cfe349f5c1 895 } else {
Lightvalve 237:c2cfe349f5c1 896 DZ_case = 0;
Lightvalve 237:c2cfe349f5c1 897 }
Lightvalve 237:c2cfe349f5c1 898
Lightvalve 237:c2cfe349f5c1 899 first_check = 1;
Lightvalve 237:c2cfe349f5c1 900 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 901 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 902 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 237:c2cfe349f5c1 903 DZ_NUM = 1;
Lightvalve 237:c2cfe349f5c1 904 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 905
Lightvalve 237:c2cfe349f5c1 906 }
Lightvalve 237:c2cfe349f5c1 907 } else {
Lightvalve 237:c2cfe349f5c1 908 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 243:30896263bd8b 909 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 910 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 911 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 912 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 913 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 250:91d3ec3a087e 914 // valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 250:91d3ec3a087e 915 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 2048 / DZ_index;
Lightvalve 238:4e660aa77eb7 916 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 917 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 918 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 919 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 920 }
Lightvalve 238:4e660aa77eb7 921 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 922
Lightvalve 237:c2cfe349f5c1 923 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 924 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 925 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 926
Lightvalve 238:4e660aa77eb7 927 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 928 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 238:4e660aa77eb7 929 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 930 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 931 } else {
Lightvalve 237:c2cfe349f5c1 932 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 933 }
Lightvalve 237:c2cfe349f5c1 934
Lightvalve 237:c2cfe349f5c1 935 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 936 DZ_index= DZ_index *2;
Lightvalve 250:91d3ec3a087e 937 // if(DZ_index >= 128) {
Lightvalve 250:91d3ec3a087e 938 if(DZ_index >= 4096) {
Lightvalve 238:4e660aa77eb7 939 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 940 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 941 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 942 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 943 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 944 }
Lightvalve 237:c2cfe349f5c1 945 }
Lightvalve 237:c2cfe349f5c1 946 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 237:c2cfe349f5c1 947 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 948 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 949 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 950 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 951 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 250:91d3ec3a087e 952 // valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 250:91d3ec3a087e 953 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 2048 / DZ_index;
Lightvalve 238:4e660aa77eb7 954 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 955 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 956 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 957 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 958 }
Lightvalve 238:4e660aa77eb7 959 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 960
Lightvalve 237:c2cfe349f5c1 961 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 962 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 963 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 964 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 965 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 966
Lightvalve 238:4e660aa77eb7 967 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 968 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 238:4e660aa77eb7 969 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 970 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 971 } else {
Lightvalve 237:c2cfe349f5c1 972 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 973 }
Lightvalve 237:c2cfe349f5c1 974
Lightvalve 237:c2cfe349f5c1 975 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 976 DZ_index= DZ_index * 2;
Lightvalve 250:91d3ec3a087e 977 // if(DZ_index >= 128) {
Lightvalve 250:91d3ec3a087e 978 if(DZ_index >= 4096) {
Lightvalve 238:4e660aa77eb7 979 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 980 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 981 first_check = 0;
Lightvalve 237:c2cfe349f5c1 982 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 983 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 984
Lightvalve 237:c2cfe349f5c1 985 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 986 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 987 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 988
Lightvalve 237:c2cfe349f5c1 989 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 990 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 991 }
Lightvalve 237:c2cfe349f5c1 992 }
Lightvalve 237:c2cfe349f5c1 993 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 237:c2cfe349f5c1 994 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 995 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 996 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 997 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 998 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 250:91d3ec3a087e 999 // valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 250:91d3ec3a087e 1000 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 2048 / DZ_index;
Lightvalve 238:4e660aa77eb7 1001 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 1002 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 1003 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 1004 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 1005 }
Lightvalve 238:4e660aa77eb7 1006 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 1007
Lightvalve 237:c2cfe349f5c1 1008 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1009 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1010 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1011
Lightvalve 238:4e660aa77eb7 1012 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 1013 DZ_DIRECTION = 1;
Lightvalve 238:4e660aa77eb7 1014 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 1015 DZ_DIRECTION = -1;
Lightvalve 237:c2cfe349f5c1 1016 } else {
Lightvalve 237:c2cfe349f5c1 1017 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1018 }
Lightvalve 237:c2cfe349f5c1 1019 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 1020 DZ_index= DZ_index *2;
Lightvalve 250:91d3ec3a087e 1021 // if(DZ_index >= 128) {
Lightvalve 250:91d3ec3a087e 1022 if(DZ_index >= 4096) {
Lightvalve 238:4e660aa77eb7 1023 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1024 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 1025 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 1026 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 1027 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1028 }
Lightvalve 237:c2cfe349f5c1 1029 }
Lightvalve 237:c2cfe349f5c1 1030 } else {
Lightvalve 237:c2cfe349f5c1 1031 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1032 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 1033 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1034 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1035 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 250:91d3ec3a087e 1036 // valve_pos_raw.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 250:91d3ec3a087e 1037 valve_pos_raw.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 2048 / DZ_index;
Lightvalve 238:4e660aa77eb7 1038 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 1039 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 1040 } else if(valve_pos_raw.ref > VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 1041 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 1042 }
Lightvalve 238:4e660aa77eb7 1043 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 1044
Lightvalve 237:c2cfe349f5c1 1045 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1046 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1047 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1048 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1049 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1050
Lightvalve 238:4e660aa77eb7 1051 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 1052 DZ_DIRECTION = -1;
Lightvalve 238:4e660aa77eb7 1053 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 1054 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1055 } else {
Lightvalve 237:c2cfe349f5c1 1056 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1057 }
Lightvalve 237:c2cfe349f5c1 1058
Lightvalve 237:c2cfe349f5c1 1059 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 1060 DZ_index= DZ_index *2;
Lightvalve 250:91d3ec3a087e 1061 // if(DZ_index >= 128) {
Lightvalve 250:91d3ec3a087e 1062 if(DZ_index >= 4096) {
Lightvalve 238:4e660aa77eb7 1063 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1064 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 1065 first_check = 0;
Lightvalve 237:c2cfe349f5c1 1066 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 1067 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 1068
Lightvalve 237:c2cfe349f5c1 1069 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 1070 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 1071 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 1072
Lightvalve 237:c2cfe349f5c1 1073 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1074 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 1075 }
Lightvalve 237:c2cfe349f5c1 1076 }
Lightvalve 237:c2cfe349f5c1 1077 }
Lightvalve 237:c2cfe349f5c1 1078 }
Lightvalve 237:c2cfe349f5c1 1079 break;
Lightvalve 237:c2cfe349f5c1 1080 }
Lightvalve 238:4e660aa77eb7 1081
Lightvalve 237:c2cfe349f5c1 1082 case MODE_STEP_TEST: {
Lightvalve 237:c2cfe349f5c1 1083 float valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1084 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1085 valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1086 } else {
Lightvalve 237:c2cfe349f5c1 1087 valve_pos_ref = 10000.0f;
Lightvalve 237:c2cfe349f5c1 1088 }
Lightvalve 237:c2cfe349f5c1 1089 if(valve_pos_ref >= 0) {
Lightvalve 243:30896263bd8b 1090 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER + (float)valve_pos_ref * ((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1091 } else {
Lightvalve 243:30896263bd8b 1092 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER - (float)valve_pos_ref * ((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1093 }
Lightvalve 240:fb5b57e3f157 1094
Lightvalve 248:544011ad9c85 1095 VALVE_POS_CONTROL_DZ(valve_pos_raw.ref);
Lightvalve 240:fb5b57e3f157 1096
Lightvalve 237:c2cfe349f5c1 1097 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 244:e9c5ec04e378 1098 if(valve_pos.sen >= (float) VALVE_ELECTRIC_CENTER) {
Lightvalve 243:30896263bd8b 1099 pos_array[cnt_step_test] = 10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1100 } else {
Lightvalve 243:30896263bd8b 1101 pos_array[cnt_step_test] = -10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1102 }
Lightvalve 237:c2cfe349f5c1 1103
Lightvalve 238:4e660aa77eb7 1104 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 1105 cnt_step_test++;
Lightvalve 237:c2cfe349f5c1 1106 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1107 buffer_data_size = cnt_step_test;
Lightvalve 237:c2cfe349f5c1 1108 cnt_step_test = 0;
Lightvalve 237:c2cfe349f5c1 1109 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1110 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1111 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1112 }
Lightvalve 237:c2cfe349f5c1 1113
Lightvalve 237:c2cfe349f5c1 1114 break;
Lightvalve 237:c2cfe349f5c1 1115 }
Lightvalve 237:c2cfe349f5c1 1116 case MODE_SEND_OVER: {
Lightvalve 237:c2cfe349f5c1 1117 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1118 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1119 break;
Lightvalve 237:c2cfe349f5c1 1120 }
Lightvalve 238:4e660aa77eb7 1121
Lightvalve 237:c2cfe349f5c1 1122 case MODE_FREQ_TEST: {
Lightvalve 244:e9c5ec04e378 1123 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR2);
Lightvalve 237:c2cfe349f5c1 1124 if(valve_pos_ref >= 0) {
Lightvalve 243:30896263bd8b 1125 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER + (float)valve_pos_ref * ((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1126 } else {
Lightvalve 243:30896263bd8b 1127 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (float)valve_pos_ref * ((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1128 }
Lightvalve 240:fb5b57e3f157 1129
Lightvalve 248:544011ad9c85 1130 VALVE_POS_CONTROL_DZ(valve_pos_raw.ref);
Lightvalve 240:fb5b57e3f157 1131
Lightvalve 237:c2cfe349f5c1 1132 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 243:30896263bd8b 1133 // if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 244:e9c5ec04e378 1134 if(valve_pos.sen>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 243:30896263bd8b 1135 // pos_array[cnt_freq_test] = 10000.0f*((float)value - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 243:30896263bd8b 1136 pos_array[cnt_freq_test] = 10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1137 } else {
Lightvalve 243:30896263bd8b 1138 // pos_array[cnt_freq_test] = -10000.0f*((float)value - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 243:30896263bd8b 1139 pos_array[cnt_freq_test] = -10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1140 }
Lightvalve 237:c2cfe349f5c1 1141
Lightvalve 238:4e660aa77eb7 1142 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 1143 cnt_freq_test++;
Lightvalve 244:e9c5ec04e378 1144 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR2 > 2) {
Lightvalve 237:c2cfe349f5c1 1145 buffer_data_size = cnt_freq_test;
Lightvalve 237:c2cfe349f5c1 1146 cnt_freq_test = 0;
Lightvalve 237:c2cfe349f5c1 1147 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1148 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 237:c2cfe349f5c1 1149 if (freq_test_valve_ref >= 400) {
Lightvalve 237:c2cfe349f5c1 1150 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1151 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1152 }
Lightvalve 237:c2cfe349f5c1 1153 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1154 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1155
Lightvalve 237:c2cfe349f5c1 1156 }
Lightvalve 237:c2cfe349f5c1 1157 break;
Lightvalve 237:c2cfe349f5c1 1158 }
Lightvalve 237:c2cfe349f5c1 1159
Lightvalve 57:f4819de54e7a 1160 default:
Lightvalve 57:f4819de54e7a 1161 break;
Lightvalve 57:f4819de54e7a 1162 }
Lightvalve 57:f4819de54e7a 1163
Lightvalve 57:f4819de54e7a 1164 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1165 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1166 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1167 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1168 break;
Lightvalve 57:f4819de54e7a 1169 }
Lightvalve 57:f4819de54e7a 1170
Lightvalve 57:f4819de54e7a 1171 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1172 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 238:4e660aa77eb7 1173 VALVE_POS_CONTROL_DZ(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1174 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1175 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 239:8ac5c6162bc1 1176 I_REF = valve_pos.ref;
Lightvalve 169:645207e160ca 1177 } else {
jobuuu 230:2c3e5ecbe7e1 1178 I_REF = valve_pos.ref * 0.001f; // Unit : pulse >> mA
jobuuu 230:2c3e5ecbe7e1 1179 float I_MAX = 10.0f; // Max : 10mA
jobuuu 230:2c3e5ecbe7e1 1180 if (I_REF > I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1181 I_REF = I_MAX;
jobuuu 230:2c3e5ecbe7e1 1182 } else if (I_REF < -I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1183 I_REF = -I_MAX;
jobuuu 230:2c3e5ecbe7e1 1184 }
Lightvalve 57:f4819de54e7a 1185 }
Lightvalve 57:f4819de54e7a 1186 break;
Lightvalve 57:f4819de54e7a 1187 }
Lightvalve 57:f4819de54e7a 1188
Lightvalve 235:c831718303c9 1189 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1190
jobuuu 230:2c3e5ecbe7e1 1191 float temp_vel_pos = 0.0f; // desired velocity for position control
Lightvalve 235:c831718303c9 1192 float temp_vel_FT = 0.0f; // desired velocity for force/torque control
Lightvalve 235:c831718303c9 1193 float temp_vel_ff = 0.0f; // desired velocity for feedforward control
jobuuu 230:2c3e5ecbe7e1 1194 float temp_vel = 0.0f;
Lightvalve 58:2eade98630e2 1195
jobuuu 230:2c3e5ecbe7e1 1196 float wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 235:c831718303c9 1197
jobuuu 230:2c3e5ecbe7e1 1198 pos.err = pos.ref - pos.sen; // Unit : mm or deg
jobuuu 230:2c3e5ecbe7e1 1199 vel.err = vel.ref - vel.sen; // Unit : mm/s or deg/s
Lightvalve 235:c831718303c9 1200
jobuuu 230:2c3e5ecbe7e1 1201 // position control command ===============================================================================================================================================
Lightvalve 238:4e660aa77eb7 1202 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 235:c831718303c9 1203 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err) * PI / 180.0f; // rad/s
Lightvalve 235:c831718303c9 1204 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1205 } else {
Lightvalve 235:c831718303c9 1206 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 235:c831718303c9 1207 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1208 }
Lightvalve 57:f4819de54e7a 1209
jobuuu 230:2c3e5ecbe7e1 1210 // torque control command ===============================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1211 float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
Lightvalve 238:4e660aa77eb7 1212 K_LPF = (1.0f-alpha_SpringDamper) * K_LPF + alpha_SpringDamper * K_SPRING;
Lightvalve 238:4e660aa77eb7 1213 D_LPF = (1.0f-alpha_SpringDamper) * D_LPF + alpha_SpringDamper * D_DAMPER;
Lightvalve 235:c831718303c9 1214
Lightvalve 238:4e660aa77eb7 1215 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 238:4e660aa77eb7 1216 float torq_ref_act = torq.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : Nm
jobuuu 230:2c3e5ecbe7e1 1217 torq.err = torq_ref_act - torq.sen;
Lightvalve 255:1ba0cc8fee52 1218 if (torq.err > 10.0f || torq.err < -10.0f) {
Lightvalve 255:1ba0cc8fee52 1219 torq.err_int += torq.err/((float)TMR_FREQ_5k);
Lightvalve 255:1ba0cc8fee52 1220 }
Lightvalve 255:1ba0cc8fee52 1221 temp_vel_FT = 0.01f * (P_GAIN_JOINT_TORQUE * torq.err + I_GAIN_JOINT_TORQUE * torq.err_int); // Nm >> rad/s
Lightvalve 57:f4819de54e7a 1222 } else {
Lightvalve 238:4e660aa77eb7 1223 float force_ref_act = force.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : N
Lightvalve 239:8ac5c6162bc1 1224 //////////////////////////////////////////////////force_reference_filter////////////////////////////////////////////////////////////////////
Lightvalve 240:fb5b57e3f157 1225 // float alpha_torque_ref = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*1.0f));
Lightvalve 240:fb5b57e3f157 1226 // force_ref_filter = (1.0f-alpha_torque_ref) * force_ref_filter + alpha_torque_ref * force_ref_act;
Lightvalve 239:8ac5c6162bc1 1227 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 240:fb5b57e3f157 1228 force.err = force_ref_act - force.sen;
Lightvalve 255:1ba0cc8fee52 1229 if (force.err > 10.0f || force.err < -10.0f) {
Lightvalve 255:1ba0cc8fee52 1230 force.err_int += force.err/((float)TMR_FREQ_5k);
Lightvalve 255:1ba0cc8fee52 1231 }
Lightvalve 255:1ba0cc8fee52 1232 temp_vel_FT = 0.01f * (P_GAIN_JOINT_TORQUE * force.err + I_GAIN_JOINT_TORQUE * force.err_int); // N >> mm/s
jobuuu 230:2c3e5ecbe7e1 1233 }
Lightvalve 235:c831718303c9 1234
Lightvalve 235:c831718303c9 1235
Lightvalve 235:c831718303c9 1236 // velocity feedforward command ========================================================================================================================================
Lightvalve 238:4e660aa77eb7 1237 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
jobuuu 230:2c3e5ecbe7e1 1238 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref * PI / 180.0f; // rad/s
jobuuu 230:2c3e5ecbe7e1 1239 } else {
jobuuu 230:2c3e5ecbe7e1 1240 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref; // mm/s
jobuuu 230:2c3e5ecbe7e1 1241 }
Lightvalve 169:645207e160ca 1242
Lightvalve 235:c831718303c9 1243 // command integration =================================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1244 temp_vel = (1.0f - alpha_trans) * temp_vel_pos + alpha_trans * temp_vel_FT + temp_vel_ff; // Position Control + Torque Control + Velocity Feedforward
Lightvalve 237:c2cfe349f5c1 1245
Lightvalve 235:c831718303c9 1246 float Qact = 0.0f; // required flow rate
Lightvalve 237:c2cfe349f5c1 1247 float valve_pos_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 1248 if( temp_vel > 0.0f ) {
jobuuu 230:2c3e5ecbe7e1 1249 Qact = temp_vel * ((float)PISTON_AREA_A * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1250 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1251 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f))))/C_d;
Lightvalve 238:4e660aa77eb7 1252 // I_REF = Qact*2.0f;
Lightvalve 237:c2cfe349f5c1 1253 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1254 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1255 }
jobuuu 230:2c3e5ecbe7e1 1256 } else {
jobuuu 230:2c3e5ecbe7e1 1257 Qact = temp_vel * ((float)PISTON_AREA_B * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1258 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1259 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f))))/C_d;
Lightvalve 238:4e660aa77eb7 1260 // I_REF = Qact*2.0f;
Lightvalve 237:c2cfe349f5c1 1261 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1262 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1263 }
jobuuu 230:2c3e5ecbe7e1 1264 }
Lightvalve 237:c2cfe349f5c1 1265
Lightvalve 237:c2cfe349f5c1 1266 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1267
Lightvalve 237:c2cfe349f5c1 1268 float I_MAX = 10.0f; // Maximum Current : 10mA
Lightvalve 237:c2cfe349f5c1 1269 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1270 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1271 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1272 if (I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1273 float I_rem = I_REF - I_MAX;
Lightvalve 237:c2cfe349f5c1 1274 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1275 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1276 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1277 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1278 double I_rem = I_REF - (-I_MAX);
Lightvalve 237:c2cfe349f5c1 1279 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1280 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1281 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1282 }
Lightvalve 237:c2cfe349f5c1 1283 } else {
Lightvalve 237:c2cfe349f5c1 1284 if(I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1285 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1286 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1287 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1288 }
Lightvalve 57:f4819de54e7a 1289 }
Lightvalve 237:c2cfe349f5c1 1290 } else { //SW valve
Lightvalve 237:c2cfe349f5c1 1291 float Valve_pos_MAX = 10000.0f; // Maximum Valve Pos : 10000
Lightvalve 237:c2cfe349f5c1 1292 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1293 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1294 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1295 if (valve_pos_pulse > Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1296 float valve_pos_rem = valve_pos_pulse - Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1297 valve_pos_pulse = Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1298 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1299 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1300 } else if (valve_pos_pulse < -Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1301 double valve_pos_rem = valve_pos_pulse - (-Valve_pos_MAX);
Lightvalve 237:c2cfe349f5c1 1302 valve_pos_pulse = -Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1303 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1304 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1305 }
Lightvalve 237:c2cfe349f5c1 1306 } else {
Lightvalve 237:c2cfe349f5c1 1307 if(valve_pos_pulse > 10000.0f) {
Lightvalve 237:c2cfe349f5c1 1308 valve_pos_pulse = 10000.0f;
Lightvalve 237:c2cfe349f5c1 1309 } else if(valve_pos_pulse < -10000.0f) {
Lightvalve 237:c2cfe349f5c1 1310 valve_pos_pulse = -10000.0f;
Lightvalve 237:c2cfe349f5c1 1311 }
Lightvalve 235:c831718303c9 1312 }
Lightvalve 251:a08f301231f1 1313 float valve_control_deadzone = 5.0f;
Lightvalve 251:a08f301231f1 1314 if(valve_pos_pulse < valve_control_deadzone && valve_pos_pulse > -valve_control_deadzone) {
Lightvalve 251:a08f301231f1 1315 valve_pos.ref = ((float) VALVE_DEADZONE_PLUS + (float) VALVE_DEADZONE_MINUS) * 0.5f;
Lightvalve 251:a08f301231f1 1316 } else if (valve_pos_pulse >= valve_control_deadzone) {
Lightvalve 251:a08f301231f1 1317 valve_pos.ref = valve_pos_pulse/10000.0f * ((float) VALVE_MAX_POS - (float) VALVE_DEADZONE_PLUS) + (float) VALVE_DEADZONE_PLUS;
Lightvalve 250:91d3ec3a087e 1318 } else {
Lightvalve 251:a08f301231f1 1319 valve_pos.ref = -valve_pos_pulse/10000.0f * ((float) VALVE_MIN_POS - (float) VALVE_DEADZONE_MINUS) + (float) VALVE_DEADZONE_MINUS;
Lightvalve 250:91d3ec3a087e 1320 }
Lightvalve 250:91d3ec3a087e 1321 VALVE_POS_CONTROL_DZ(valve_pos.ref);
Lightvalve 237:c2cfe349f5c1 1322 V_out = Vout.ref;
Lightvalve 57:f4819de54e7a 1323 }
Lightvalve 57:f4819de54e7a 1324 break;
Lightvalve 57:f4819de54e7a 1325 }
Lightvalve 58:2eade98630e2 1326
Lightvalve 57:f4819de54e7a 1327 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1328 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1329 break;
Lightvalve 57:f4819de54e7a 1330 }
Lightvalve 169:645207e160ca 1331
Lightvalve 12:6f2531038ea4 1332 default:
Lightvalve 12:6f2531038ea4 1333 break;
Lightvalve 12:6f2531038ea4 1334 }
Lightvalve 14:8e7590227d22 1335
Lightvalve 57:f4819de54e7a 1336
Lightvalve 57:f4819de54e7a 1337 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1338
Lightvalve 57:f4819de54e7a 1339 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1340 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1341 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1342 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1343 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1344 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1345
jobuuu 230:2c3e5ecbe7e1 1346 if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1347 else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1348 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
Lightvalve 235:c831718303c9 1349
hyhoon 226:82a3ca333004 1350 I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve 67:c2812cf26c38 1351 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1352
Lightvalve 57:f4819de54e7a 1353 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1354 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1355 double L_model = 1.2f;
Lightvalve 239:8ac5c6162bc1 1356 double w0 = 2.0f * 3.14f * 100.0f;
Lightvalve 57:f4819de54e7a 1357 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1358 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1359
Lightvalve 57:f4819de54e7a 1360 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1361 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1362 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1363 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1364 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1365 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1366 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1367 }
Lightvalve 57:f4819de54e7a 1368
Lightvalve 57:f4819de54e7a 1369 double FF_gain = 1.0f;
Lightvalve 67:c2812cf26c38 1370 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon 226:82a3ca333004 1371 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon 226:82a3ca333004 1372 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 67:c2812cf26c38 1373 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
hyhoon 226:82a3ca333004 1374 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 238:4e660aa77eb7 1375 double V_MAX = VALVE_VOLTAGE_LIMIT*1000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1376
Lightvalve 57:f4819de54e7a 1377 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1378 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1379 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1380 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1381 VALVE_PWM_RAW = V_MAX;
Lightvalve 234:bd00f763acb1 1382 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1383 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1384 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1385 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1386 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1387 VALVE_PWM_RAW = -V_MAX;
Lightvalve 234:bd00f763acb1 1388 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1389 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1390 }
Lightvalve 57:f4819de54e7a 1391 } else {
Lightvalve 57:f4819de54e7a 1392 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1393 }
Lightvalve 57:f4819de54e7a 1394
Lightvalve 57:f4819de54e7a 1395 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1396 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1397 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1398
Lightvalve 57:f4819de54e7a 1399 // Output Voltage Linearization
hyhoon 226:82a3ca333004 1400 double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve 67:c2812cf26c38 1401 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1402
Lightvalve 57:f4819de54e7a 1403 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1404 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1405 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1406 else V_out = (float) (CUR_PWM_lin);
Lightvalve 235:c831718303c9 1407
Lightvalve 169:645207e160ca 1408 } else { //////////////////////////sw valve
Lightvalve 224:985dba42f261 1409 // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve 253:c53d4c26b04a 1410
Lightvalve 253:c53d4c26b04a 1411 /////////////Jitter/////////////////////
Lightvalve 254:9f487eaa87b5 1412 V_out = V_out + 3000.0f*sin(2.0f*3.14159f*500.0f*((float) cnt_jitter)*0.0002f); //4000, 500Hz
Lightvalve 253:c53d4c26b04a 1413 cnt_jitter++;
Lightvalve 253:c53d4c26b04a 1414 if(cnt_jitter > 50000000) cnt_jitter = 0;
Lightvalve 253:c53d4c26b04a 1415
Lightvalve 253:c53d4c26b04a 1416 //L6205D
Lightvalve 253:c53d4c26b04a 1417 if (V_out > 0 ) V_out = 800.0f + V_out*1.1275f;
Lightvalve 253:c53d4c26b04a 1418 else if (V_out < 0) V_out = -800.0f + V_out*1.1275f;
Lightvalve 135:79885a39c161 1419 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 1420 }
Lightvalve 169:645207e160ca 1421
jobuuu 230:2c3e5ecbe7e1 1422 ////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1423 /////////////////// PWM Command ///////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1424 ////////////////////////////////////////////////////////////////////
Lightvalve 250:91d3ec3a087e 1425
Lightvalve 169:645207e160ca 1426 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 1427 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1428 }
Lightvalve 169:645207e160ca 1429
Lightvalve 49:e7bcfc244d40 1430 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1431 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1432 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1433 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1434 }
Lightvalve 253:c53d4c26b04a 1435
Lightvalve 224:985dba42f261 1436 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve 13:747daba9cf59 1437
Lightvalve 224:985dba42f261 1438 // Saturation of output voltage
Lightvalve 30:8d561f16383b 1439 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1440 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1441
Lightvalve 30:8d561f16383b 1442 if (PWM_out>0.0f) {
Lightvalve 244:e9c5ec04e378 1443 TIM1->CCR1 = (TMR1_COUNT)*(PWM_out);
Lightvalve 244:e9c5ec04e378 1444 TIM1->CCR2 = (TMR1_COUNT)*(0.0f);
jobuuu 1:e04e563be5ce 1445 } else {
Lightvalve 244:e9c5ec04e378 1446 TIM1->CCR1 = (TMR1_COUNT)*(0.0f);
Lightvalve 244:e9c5ec04e378 1447 TIM1->CCR2 = 0.0f -(TMR1_COUNT)*(PWM_out);
jobuuu 1:e04e563be5ce 1448 }
Lightvalve 13:747daba9cf59 1449
jobuuu 230:2c3e5ecbe7e1 1450 ////////////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1451 ////////////////////// Data transmission through CAN //////////////////////
Lightvalve 235:c831718303c9 1452 ////////////////////////////////////////////////////////////////////////////
Lightvalve 245:071785d74ad0 1453
Lightvalve 243:30896263bd8b 1454 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 243:30896263bd8b 1455 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/500) == 0) {
hyhoon 226:82a3ca333004 1456 // Position, Velocity, and Torque (ID:1200)
Lightvalve 237:c2cfe349f5c1 1457
Lightvalve 245:071785d74ad0 1458 if (flag_data_request[0] == HIGH) {
Lightvalve 245:071785d74ad0 1459 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 245:071785d74ad0 1460 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 245:071785d74ad0 1461 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 245:071785d74ad0 1462 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 245:071785d74ad0 1463 }
Lightvalve 243:30896263bd8b 1464 }
hyhoon 226:82a3ca333004 1465
jobuuu 230:2c3e5ecbe7e1 1466 // Valve Position (ID:1300)
Lightvalve 56:6f50d9d3bfee 1467 if (flag_data_request[1] == HIGH) {
Lightvalve 243:30896263bd8b 1468 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 243:30896263bd8b 1469 CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
Lightvalve 243:30896263bd8b 1470 } else {
Lightvalve 248:544011ad9c85 1471 float valve_pos_can = 0.0f;
Lightvalve 248:544011ad9c85 1472 if(valve_pos.sen >= VALVE_ELECTRIC_CENTER) {
Lightvalve 248:544011ad9c85 1473 valve_pos_can = 10000.0f*((float)valve_pos.sen-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 248:544011ad9c85 1474 } else {
Lightvalve 248:544011ad9c85 1475 valve_pos_can = -10000.0f*((float)valve_pos.sen -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 248:544011ad9c85 1476 }
Lightvalve 248:544011ad9c85 1477 CAN_TX_PWM((int16_t)(valve_pos_can));
Lightvalve 243:30896263bd8b 1478 }
Lightvalve 54:647072f5307a 1479 }
Lightvalve 58:2eade98630e2 1480
Lightvalve 243:30896263bd8b 1481 // Others : SW (ID:1400)
Lightvalve 171:bfc1fd2629d8 1482 if (flag_data_request[2] == HIGH) {
Lightvalve 243:30896263bd8b 1483 CAN_TX_CURRENT((int16_t) valve_pos.sen, (int16_t) valve_pos.ref);
Lightvalve 54:647072f5307a 1484 }
Lightvalve 20:806196fda269 1485
Lightvalve 54:647072f5307a 1486 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1487 }
Lightvalve 54:647072f5307a 1488 TMR2_COUNT_CAN_TX++;
Lightvalve 253:c53d4c26b04a 1489 LED = 0;
Lightvalve 20:806196fda269 1490 }
Lightvalve 240:fb5b57e3f157 1491 TIM2->SR = 0x0; // reset the status register
Lightvalve 243:30896263bd8b 1492 }