Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

main.cpp@28:2a62d73e3dd0, 2019-10-01 (annotated)

Committer:
Lightvalve
Date:
Tue Oct 01 11:52:10 2019 +0000
Revision:
28:2a62d73e3dd0
Parent:
27:a2254a485f23
Child:
29:69f3f5445d6d
191001 2052

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 11
jobuuu 7:e9086c72bb22 12 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 13 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 14 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 15 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 16 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 17 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 18 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 19 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 20
Lightvalve 24:ef6e1092e9e6 21
jobuuu 7:e9086c72bb22 22 // PWM ///////////////////////////////////////////
jobuuu 2:a1c0a37df760 23 double dtc_v=0.0;
jobuuu 2:a1c0a37df760 24 double dtc_w=0.0;
GiJeongKim 0:51c43836c1d7 25
jobuuu 7:e9086c72bb22 26 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 27 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 28 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 29 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 30
jobuuu 7:e9086c72bb22 31 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 32 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 33 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 34 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 35 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 36 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 37 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 38
jobuuu 7:e9086c72bb22 39 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 40 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 41
jobuuu 7:e9086c72bb22 42 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 43 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 44 CANMessage msg;
Lightvalve 11:82d8768d7351 45 void onMsgReceived()
Lightvalve 11:82d8768d7351 46 {
Lightvalve 11:82d8768d7351 47 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 48 }
jobuuu 2:a1c0a37df760 49
jobuuu 7:e9086c72bb22 50 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 51 State pos;
jobuuu 7:e9086c72bb22 52 State vel;
jobuuu 7:e9086c72bb22 53 State Vout;
jobuuu 7:e9086c72bb22 54 State torq;
jobuuu 7:e9086c72bb22 55 State pres_A;
jobuuu 7:e9086c72bb22 56 State pres_B;
jobuuu 7:e9086c72bb22 57 State cur;
Lightvalve 14:8e7590227d22 58 State valve_pos;
Lightvalve 14:8e7590227d22 59
Lightvalve 14:8e7590227d22 60 State INIT_Vout;
Lightvalve 14:8e7590227d22 61 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 62 State INIT_Pos;
Lightvalve 14:8e7590227d22 63 State INIT_torq;
jobuuu 5:a4319f79457b 64
jobuuu 5:a4319f79457b 65 double V_out=0.0;
jobuuu 5:a4319f79457b 66 double V_rem=0.0; // for anti-windup
jobuuu 5:a4319f79457b 67 double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 68
jobuuu 5:a4319f79457b 69 double PWM_out=0.0;
Lightvalve 12:6f2531038ea4 70
Lightvalve 17:1865016ca2e7 71 int timer_while = 0;
Lightvalve 17:1865016ca2e7 72 int while_index = 0;
Lightvalve 17:1865016ca2e7 73
Lightvalve 19:23b7c1ad8683 74
Lightvalve 19:23b7c1ad8683 75 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 76 extern int CID_RX_REF_POSITION;
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_REF_TORQUE;
Lightvalve 19:23b7c1ad8683 78 extern int CID_RX_REF_PRES_DIFF;
Lightvalve 19:23b7c1ad8683 79 extern int CID_RX_REF_VOUT;
Lightvalve 19:23b7c1ad8683 80 extern int CID_RX_REF_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 81 extern int CID_RX_REF_CURRENT;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 87 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 88 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 89
jobuuu 7:e9086c72bb22 90 // =============================================================================
jobuuu 7:e9086c72bb22 91 // =============================================================================
jobuuu 7:e9086c72bb22 92 // =============================================================================
jobuuu 7:e9086c72bb22 93
Lightvalve 12:6f2531038ea4 94 /*******************************************************************************
Lightvalve 12:6f2531038ea4 95 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 96 ******************************************************************************/
Lightvalve 13:747daba9cf59 97 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 98 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 99 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 100 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 101 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 102 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 103 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 104 };
Lightvalve 12:6f2531038ea4 105
Lightvalve 12:6f2531038ea4 106 /*******************************************************************************
Lightvalve 12:6f2531038ea4 107 * CONTROL MODE
Lightvalve 12:6f2531038ea4 108 ******************************************************************************/
Lightvalve 13:747daba9cf59 109 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 110 //control mode
Lightvalve 12:6f2531038ea4 111 MODE_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 112 MODE_VALVE_OPEN_LOOP, //1
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_CONTROL, //2
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 120 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 121 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 122
Lightvalve 12:6f2531038ea4 123 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 124 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 125
Lightvalve 14:8e7590227d22 126 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 127 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 128 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 129
Lightvalve 12:6f2531038ea4 130 //utility
Lightvalve 12:6f2531038ea4 131 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 132 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 133 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 134 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 135 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 136 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 137 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 138
Lightvalve 12:6f2531038ea4 139 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 140 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 141 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 142 };
Lightvalve 12:6f2531038ea4 143
GiJeongKim 0:51c43836c1d7 144 int main()
GiJeongKim 0:51c43836c1d7 145 {
jobuuu 6:df07d3491e3a 146 /*********************************
jobuuu 1:e04e563be5ce 147 *** Initialization
jobuuu 6:df07d3491e3a 148 *********************************/
Lightvalve 19:23b7c1ad8683 149 //LED = 1;
Lightvalve 19:23b7c1ad8683 150 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 151
GiJeongKim 0:51c43836c1d7 152 // i2c init
Lightvalve 8:5d2eebdad025 153 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 154 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 155 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 156 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 157 make_delay();
jobuuu 2:a1c0a37df760 158
GiJeongKim 0:51c43836c1d7 159 // // spi init
Lightvalve 16:903b5a4433b4 160 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 161 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 162 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 163 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 164 make_delay();
Lightvalve 21:e5f1a43ea6f9 165
Lightvalve 16:903b5a4433b4 166 //rom
Lightvalve 19:23b7c1ad8683 167 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 168 make_delay();
Lightvalve 13:747daba9cf59 169
GiJeongKim 0:51c43836c1d7 170 // ADC init
jobuuu 5:a4319f79457b 171 Init_ADC();
Lightvalve 11:82d8768d7351 172 make_delay();
jobuuu 2:a1c0a37df760 173
GiJeongKim 0:51c43836c1d7 174 // Pwm init
GiJeongKim 0:51c43836c1d7 175 Init_PWM();
GiJeongKim 0:51c43836c1d7 176 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 177 make_delay();
Lightvalve 13:747daba9cf59 178
Lightvalve 11:82d8768d7351 179 // TMR3 init
Lightvalve 11:82d8768d7351 180 Init_TMR3();
Lightvalve 11:82d8768d7351 181 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 182 make_delay();
Lightvalve 21:e5f1a43ea6f9 183
Lightvalve 20:806196fda269 184 // TMR5 init
Lightvalve 23:59218d4a256d 185 Init_TMR2();
Lightvalve 23:59218d4a256d 186 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 20:806196fda269 187 make_delay();
Lightvalve 21:e5f1a43ea6f9 188
GiJeongKim 0:51c43836c1d7 189 // CAN
jobuuu 2:a1c0a37df760 190 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 191 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 192 make_delay();
Lightvalve 23:59218d4a256d 193
Lightvalve 23:59218d4a256d 194 //Timer priority
Lightvalve 23:59218d4a256d 195 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 23:59218d4a256d 196 NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 197 NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve 23:59218d4a256d 198
Lightvalve 23:59218d4a256d 199 //can.reset();
Lightvalve 19:23b7c1ad8683 200 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 23:59218d4a256d 201
GiJeongKim 0:51c43836c1d7 202 // spi _ enc
GiJeongKim 0:51c43836c1d7 203 spi_enc_set_init();
Lightvalve 11:82d8768d7351 204 make_delay();
Lightvalve 13:747daba9cf59 205
Lightvalve 11:82d8768d7351 206 //DAC init
Lightvalve 16:903b5a4433b4 207 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 208 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 11:82d8768d7351 209 make_delay();
Lightvalve 13:747daba9cf59 210
Lightvalve 19:23b7c1ad8683 211 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 212 if(i%2==0)
Lightvalve 11:82d8768d7351 213 ID_index_array[i] = - i * 0.5;
Lightvalve 11:82d8768d7351 214 else
Lightvalve 11:82d8768d7351 215 ID_index_array[i] = (i+1) * 0.5;
Lightvalve 11:82d8768d7351 216 }
Lightvalve 13:747daba9cf59 217
jobuuu 6:df07d3491e3a 218 /************************************
jobuuu 1:e04e563be5ce 219 *** Program is operating!
jobuuu 6:df07d3491e3a 220 *************************************/
GiJeongKim 0:51c43836c1d7 221 while(1) {
Lightvalve 21:e5f1a43ea6f9 222 if(timer_while==1000) {
Lightvalve 28:2a62d73e3dd0 223 //pc.printf("cmd %d\n ");
Lightvalve 17:1865016ca2e7 224 //i2c
Lightvalve 17:1865016ca2e7 225 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 226 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 21:e5f1a43ea6f9 227
Lightvalve 19:23b7c1ad8683 228 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 229 // LED=0;
Lightvalve 19:23b7c1ad8683 230 // } else
Lightvalve 19:23b7c1ad8683 231 // LED = 1;
Lightvalve 17:1865016ca2e7 232 timer_while = 0;
Lightvalve 21:e5f1a43ea6f9 233
Lightvalve 17:1865016ca2e7 234 }
Lightvalve 17:1865016ca2e7 235 timer_while ++;
GiJeongKim 0:51c43836c1d7 236 }
jobuuu 1:e04e563be5ce 237 }
jobuuu 1:e04e563be5ce 238
Lightvalve 14:8e7590227d22 239 int DDV_JOINT_POS_FF(double REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 240 {
Lightvalve 14:8e7590227d22 241
Lightvalve 13:747daba9cf59 242 int i = 0;
Lightvalve 13:747daba9cf59 243 int Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 244 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 245 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 246 if(i==0) {
Lightvalve 19:23b7c1ad8683 247 Ref_Valve_Pos_FF = ((int) 10.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 14:8e7590227d22 248 } else {
Lightvalve 19:23b7c1ad8683 249 Ref_Valve_Pos_FF = ((int) 10.0*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 10*ID_index_array[i-1];
Lightvalve 13:747daba9cf59 250 }
Lightvalve 13:747daba9cf59 251 break;
Lightvalve 13:747daba9cf59 252 }
Lightvalve 13:747daba9cf59 253 }
Lightvalve 14:8e7590227d22 254 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 255 Ref_Valve_Pos_FF = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 256 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 257 Ref_Valve_Pos_FF = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 258 }
Lightvalve 26:8317d883d4f2 259
Lightvalve 26:8317d883d4f2 260 //Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 26:8317d883d4f2 261
Lightvalve 13:747daba9cf59 262 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 263 }
jobuuu 6:df07d3491e3a 264
jobuuu 6:df07d3491e3a 265
Lightvalve 14:8e7590227d22 266 void VALVE_POS_CONTROL(double REF_VALVE_POS)
Lightvalve 14:8e7590227d22 267 {
Lightvalve 13:747daba9cf59 268 int i = 0;
Lightvalve 13:747daba9cf59 269
Lightvalve 13:747daba9cf59 270 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 271 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 272 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 273 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 274 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 275 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 276
Lightvalve 13:747daba9cf59 277 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 278
Lightvalve 14:8e7590227d22 279 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 280 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 281 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 282 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 283 }
Lightvalve 23:59218d4a256d 284
Lightvalve 23:59218d4a256d 285
Lightvalve 23:59218d4a256d 286 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve 23:59218d4a256d 287 // {
Lightvalve 23:59218d4a256d 288 // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve 23:59218d4a256d 289 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve 23:59218d4a256d 290 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve 23:59218d4a256d 291 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (double) ID_index_array[1];
Lightvalve 23:59218d4a256d 292 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve 23:59218d4a256d 293 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (double) ID_index_array[3];
Lightvalve 23:59218d4a256d 294 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve 23:59218d4a256d 295 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (double) ID_index_array[5];
Lightvalve 23:59218d4a256d 296 // }else
Lightvalve 23:59218d4a256d 297 // VALVE_PWM_RAW_FF = 12000.0;
Lightvalve 23:59218d4a256d 298 // }
Lightvalve 23:59218d4a256d 299 // else
Lightvalve 23:59218d4a256d 300 // {
Lightvalve 23:59218d4a256d 301 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve 23:59218d4a256d 302 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (double) ID_index_array[2];
Lightvalve 23:59218d4a256d 303 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve 23:59218d4a256d 304 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (double) ID_index_array[4];
Lightvalve 23:59218d4a256d 305 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve 23:59218d4a256d 306 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (double) ID_index_array[6];
Lightvalve 23:59218d4a256d 307 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve 23:59218d4a256d 308 // VALVE_PWM_RAW_FF = (double) 3000.0 / (double) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (double) ID_index_array[8];
Lightvalve 23:59218d4a256d 309 // }else
Lightvalve 23:59218d4a256d 310 // VALVE_PWM_RAW_FF = -12000.0;
Lightvalve 23:59218d4a256d 311 // }
Lightvalve 14:8e7590227d22 312
Lightvalve 18:b8adf1582ea3 313 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 314 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 315 if(i==0) {
Lightvalve 18:b8adf1582ea3 316 VALVE_PWM_RAW_FF = (double) 1000.0 / (double) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 317 } else {
Lightvalve 18:b8adf1582ea3 318 VALVE_PWM_RAW_FF = (double) 1000.0* (double) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((double) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (double) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 319 }
Lightvalve 13:747daba9cf59 320 break;
Lightvalve 13:747daba9cf59 321 }
Lightvalve 13:747daba9cf59 322 }
Lightvalve 19:23b7c1ad8683 323
Lightvalve 14:8e7590227d22 324 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 27:a2254a485f23 325 //V_out = VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 326 }
Lightvalve 13:747daba9cf59 327
Lightvalve 14:8e7590227d22 328 #define LT_MAX_IDX 57
Lightvalve 14:8e7590227d22 329 double LT_PWM_duty[LT_MAX_IDX] = {-100.0, -80.0, -60.0, -50.0, -40.0, -35.0, -30.0, -25.0, -20.0,
Lightvalve 14:8e7590227d22 330 -19.0, -18.0, -17.0, -16.0, -15.0, -14.0, -13.0, -12.0, -11.0, -10.0,
Lightvalve 14:8e7590227d22 331 -9.0, -8.0, -7.0, -6.0, -5.0, -4.0, -3.0, -2.0, -1.0, 0.0,
Lightvalve 14:8e7590227d22 332 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0,
Lightvalve 14:8e7590227d22 333 11.0, 12.0, 13.0, 14.0, 15.0, 16.0, 17.0, 18.0, 19.0, 20.0,
Lightvalve 14:8e7590227d22 334 25.0, 30.0, 35.0, 40.0, 50.0, 60.0, 80.0, 100.0
Lightvalve 14:8e7590227d22 335 }; // duty
Lightvalve 14:8e7590227d22 336 double LT_Voltage_Output[LT_MAX_IDX] = {-321.4, -291.3, -261.5, -246.8, -231.7, -223.9, -216.1, -207.9, -198.8,
Lightvalve 14:8e7590227d22 337 -196.9, -195.0, -192.5, -188.8, -184.5, -180.2, -175.9, -171.5, -166.3, -161.0,
Lightvalve 14:8e7590227d22 338 -156.0, -149.5, -139.0, -126.0, -107.0, -87.5, -64.0, -38.5, -9.4, 0.0,
Lightvalve 14:8e7590227d22 339 12.0, 43.5, 69.0, 94.0, 114.0, 132.0, 146.0, 155.5, 162.3, 168.2,
Lightvalve 14:8e7590227d22 340 173.1, 178.2, 182.8, 187.4, 191.8, 196.0, 199.7, 201.9, 203.8, 205.6,
Lightvalve 14:8e7590227d22 341 214.6, 222.5, 230.4, 238.2, 253.3, 268.0, 297.6, 327.7
Lightvalve 14:8e7590227d22 342 }; // mV
Lightvalve 13:747daba9cf59 343
Lightvalve 14:8e7590227d22 344 double PWM_duty_byLT(double Ref_V)
Lightvalve 14:8e7590227d22 345 {
Lightvalve 13:747daba9cf59 346 double PWM_duty = 0.0;
Lightvalve 13:747daba9cf59 347 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 13:747daba9cf59 348 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 349 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 13:747daba9cf59 350 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 351 } else {
Lightvalve 13:747daba9cf59 352 int idx = 0;
Lightvalve 13:747daba9cf59 353 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 13:747daba9cf59 354 double ini_x = LT_Voltage_Output[idx];
Lightvalve 13:747daba9cf59 355 double fin_x = LT_Voltage_Output[idx+1];
Lightvalve 13:747daba9cf59 356 double ini_y = LT_PWM_duty[idx];
Lightvalve 13:747daba9cf59 357 double fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 358 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 359 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 360 break;
Lightvalve 13:747daba9cf59 361 }
Lightvalve 13:747daba9cf59 362 }
Lightvalve 13:747daba9cf59 363 }
Lightvalve 14:8e7590227d22 364
Lightvalve 13:747daba9cf59 365 return PWM_duty;
Lightvalve 13:747daba9cf59 366 }
jobuuu 6:df07d3491e3a 367
jobuuu 2:a1c0a37df760 368 /*******************************************************************************
jobuuu 2:a1c0a37df760 369 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 370 *******************************************************************************/
jobuuu 2:a1c0a37df760 371
Lightvalve 19:23b7c1ad8683 372 //unsigned long CNT_TMR4 = 0;
Lightvalve 17:1865016ca2e7 373 double FREQ_TMR4 = (double)FREQ_10k;
Lightvalve 17:1865016ca2e7 374 double DT_TMR4 = (double)DT_10k;
jobuuu 1:e04e563be5ce 375 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 376 {
Lightvalve 23:59218d4a256d 377
Lightvalve 19:23b7c1ad8683 378 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 379
Lightvalve 21:e5f1a43ea6f9 380 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 381 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 382 ********************************************************/
Lightvalve 13:747daba9cf59 383
Lightvalve 19:23b7c1ad8683 384
Lightvalve 21:e5f1a43ea6f9 385 //Using LoadCell
Lightvalve 15:bd0d12728506 386 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 387 // //while((ADC1->SR & 0b10));
Lightvalve 15:bd0d12728506 388 // double alpha_update_torque = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 15:bd0d12728506 389 // double torque_new = ((double)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0;
Lightvalve 15:bd0d12728506 390 // torq.sen = torq.sen*(1.0-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 391
Lightvalve 19:23b7c1ad8683 392
Lightvalve 17:1865016ca2e7 393
Lightvalve 21:e5f1a43ea6f9 394 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 395 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 396 //while((ADC1->SR & 0b10));
Lightvalve 21:e5f1a43ea6f9 397 double alpha_update_pres_A = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 21:e5f1a43ea6f9 398 double pres_A_new = ((double)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 21:e5f1a43ea6f9 399 pres_A.sen = pres_A.sen*(1.0-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 19:23b7c1ad8683 400
Lightvalve 21:e5f1a43ea6f9 401 //Pressure sensor 1B
Lightvalve 21:e5f1a43ea6f9 402 //ADC2->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 403 //while((ADC2->SR & 0b10));
Lightvalve 21:e5f1a43ea6f9 404 double alpha_update_pres_B = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0));
Lightvalve 21:e5f1a43ea6f9 405 double pres_B_new = ((double)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 21:e5f1a43ea6f9 406 pres_B.sen = pres_B.sen*(1.0-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 21:e5f1a43ea6f9 407 torq.sen = pres_A.sen * (double) PISTON_AREA_A - pres_B.sen * (double) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 408
Lightvalve 17:1865016ca2e7 409
Lightvalve 17:1865016ca2e7 410
Lightvalve 21:e5f1a43ea6f9 411 //Current
Lightvalve 21:e5f1a43ea6f9 412 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 413 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 414 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 415 //while((ADC3->SR & 0b10));
Lightvalve 21:e5f1a43ea6f9 416 double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
Lightvalve 21:e5f1a43ea6f9 417 double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
Lightvalve 21:e5f1a43ea6f9 418 cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 419 //cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 420
Lightvalve 21:e5f1a43ea6f9 421 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 422 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 423 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 424 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 425 }
Lightvalve 11:82d8768d7351 426 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 427 }
Lightvalve 19:23b7c1ad8683 428
Lightvalve 19:23b7c1ad8683 429
Lightvalve 18:b8adf1582ea3 430 int j =0;
Lightvalve 19:23b7c1ad8683 431 //unsigned long CNT_TMR3 = 0;
Lightvalve 23:59218d4a256d 432 //double FREQ_TMR3 = (double)FREQ_5k;
Lightvalve 23:59218d4a256d 433 double FREQ_TMR3 = (double)FREQ_1k;
Lightvalve 23:59218d4a256d 434 //double DT_TMR3 = (double)DT_5k;
Lightvalve 23:59218d4a256d 435 double DT_TMR3 = (double)DT_1k;
Lightvalve 11:82d8768d7351 436 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 437 {
Lightvalve 19:23b7c1ad8683 438 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 439 ENC_UPDATE();
Lightvalve 13:747daba9cf59 440
Lightvalve 19:23b7c1ad8683 441 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 442
Lightvalve 14:8e7590227d22 443 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 444 case MODE_NO_ACT: {
Lightvalve 14:8e7590227d22 445 V_out = 0;
Lightvalve 13:747daba9cf59 446 break;
Lightvalve 13:747daba9cf59 447 }
Lightvalve 14:8e7590227d22 448
Lightvalve 14:8e7590227d22 449 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 18:b8adf1582ea3 450 V_out = (double) Vout.ref;
Lightvalve 14:8e7590227d22 451 break;
Lightvalve 14:8e7590227d22 452 }
Lightvalve 14:8e7590227d22 453
Lightvalve 14:8e7590227d22 454 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 455 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 456 break;
Lightvalve 14:8e7590227d22 457 }
Lightvalve 14:8e7590227d22 458
Lightvalve 14:8e7590227d22 459 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 13:747daba9cf59 460 double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
Lightvalve 13:747daba9cf59 461 double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
Lightvalve 13:747daba9cf59 462 double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 463
Lightvalve 13:747daba9cf59 464 // feedback input for position control
Lightvalve 14:8e7590227d22 465 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 466 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 467 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 468 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 469 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 470 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 471 // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 14:8e7590227d22 472 PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 13:747daba9cf59 473 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 474
Lightvalve 13:747daba9cf59 475 // feedforward input for position control
Lightvalve 14:8e7590227d22 476 double Ref_Vel_Act = vel.ref/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 13:747daba9cf59 477 double K_ff = 0.9;
Lightvalve 14:8e7590227d22 478 if(Ref_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 479 if(Ref_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 480 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 481
Lightvalve 13:747daba9cf59 482 // torque feedback
Lightvalve 15:bd0d12728506 483 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 484 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 485 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 486 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 487 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 488 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 489 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 490 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 19:23b7c1ad8683 491
Lightvalve 13:747daba9cf59 492 PWM_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 493
Lightvalve 14:8e7590227d22 494 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 495
Lightvalve 13:747daba9cf59 496 break;
Lightvalve 13:747daba9cf59 497 }
Lightvalve 14:8e7590227d22 498
Lightvalve 14:8e7590227d22 499 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 23:59218d4a256d 500
Lightvalve 23:59218d4a256d 501
Lightvalve 13:747daba9cf59 502 double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
Lightvalve 19:23b7c1ad8683 503 //double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
Lightvalve 13:747daba9cf59 504 double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 505 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 506 // feedback input for position control
Lightvalve 14:8e7590227d22 507 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 508 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 509 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 510 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 511 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 512 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 513 VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 13:747daba9cf59 514 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
Lightvalve 14:8e7590227d22 515
Lightvalve 14:8e7590227d22 516
Lightvalve 13:747daba9cf59 517 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 518 // feedforward input for position control
Lightvalve 14:8e7590227d22 519 // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 520 // double K_ff = 0.9;
Lightvalve 14:8e7590227d22 521 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
Lightvalve 14:8e7590227d22 522 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
Lightvalve 14:8e7590227d22 523 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
Lightvalve 14:8e7590227d22 524
Lightvalve 13:747daba9cf59 525 // torque feedback
Lightvalve 15:bd0d12728506 526 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 527 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 528 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 529 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 530 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 531 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 532 // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 13:747daba9cf59 533 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 13:747daba9cf59 534 VALVE_POS_RAW_FORCE_FB = 0.0;
Lightvalve 14:8e7590227d22 535
Lightvalve 23:59218d4a256d 536 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 23:59218d4a256d 537 //valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 14:8e7590227d22 538 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 23:59218d4a256d 539
Lightvalve 23:59218d4a256d 540
Lightvalve 13:747daba9cf59 541 break;
Lightvalve 13:747daba9cf59 542 }
Lightvalve 14:8e7590227d22 543
Lightvalve 14:8e7590227d22 544 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 545
Lightvalve 13:747daba9cf59 546 break;
Lightvalve 13:747daba9cf59 547 }
Lightvalve 14:8e7590227d22 548
Lightvalve 14:8e7590227d22 549 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 14:8e7590227d22 550 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 551 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 552 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 553 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 554 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 555 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 556 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 557
Lightvalve 14:8e7590227d22 558 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 559 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 560 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 561 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 562 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 563 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 564 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 565
Lightvalve 13:747daba9cf59 566 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
Lightvalve 14:8e7590227d22 567
Lightvalve 14:8e7590227d22 568 V_out = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 569
Lightvalve 13:747daba9cf59 570 CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
Lightvalve 13:747daba9cf59 571 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 572 if (DIR_VALVE > 0) {
Lightvalve 13:747daba9cf59 573 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 574 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 575 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 576 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 577 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 578 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 579 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
Lightvalve 13:747daba9cf59 580 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
Lightvalve 13:747daba9cf59 581 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
Lightvalve 13:747daba9cf59 582 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
Lightvalve 13:747daba9cf59 583 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
Lightvalve 13:747daba9cf59 584 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 585 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 586 } else {
Lightvalve 13:747daba9cf59 587 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
Lightvalve 13:747daba9cf59 588 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
Lightvalve 13:747daba9cf59 589 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
Lightvalve 13:747daba9cf59 590 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
Lightvalve 13:747daba9cf59 591 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
Lightvalve 13:747daba9cf59 592 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
Lightvalve 13:747daba9cf59 593 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
Lightvalve 13:747daba9cf59 594 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
Lightvalve 13:747daba9cf59 595 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
Lightvalve 13:747daba9cf59 596 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
Lightvalve 13:747daba9cf59 597 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
Lightvalve 13:747daba9cf59 598 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 599 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 600 }
Lightvalve 13:747daba9cf59 601 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
Lightvalve 14:8e7590227d22 602
Lightvalve 13:747daba9cf59 603 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
Lightvalve 13:747daba9cf59 604 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
Lightvalve 14:8e7590227d22 605
Lightvalve 18:b8adf1582ea3 606 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 607 break;
Lightvalve 14:8e7590227d22 608 }
Lightvalve 14:8e7590227d22 609
Lightvalve 14:8e7590227d22 610 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 14:8e7590227d22 611 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 612 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 613 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 614 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 615 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 616 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 14:8e7590227d22 617 VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * pos.err + (double) I_GAIN_JOINT_POSITION * pos.err_sum + (double) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01;
Lightvalve 14:8e7590227d22 618
Lightvalve 15:bd0d12728506 619 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 620 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 621 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 622 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 623 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 624 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 14:8e7590227d22 625 VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum + (double) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 626
Lightvalve 14:8e7590227d22 627 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 628 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 19:23b7c1ad8683 629
Lightvalve 14:8e7590227d22 630 break;
Lightvalve 14:8e7590227d22 631 }
Lightvalve 14:8e7590227d22 632
Lightvalve 14:8e7590227d22 633 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 634
Lightvalve 14:8e7590227d22 635 break;
Lightvalve 14:8e7590227d22 636 }
Lightvalve 14:8e7590227d22 637
Lightvalve 19:23b7c1ad8683 638
Lightvalve 19:23b7c1ad8683 639 case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 640 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 641 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 642 }
Lightvalve 19:23b7c1ad8683 643 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 644
Lightvalve 19:23b7c1ad8683 645 // Set Current Reference
Lightvalve 14:8e7590227d22 646 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 14:8e7590227d22 647 double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 648 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 649 I_REF = I_REF_MID + 1.0;
Lightvalve 14:8e7590227d22 650 } else {
Lightvalve 14:8e7590227d22 651 I_REF = I_REF_MID - 1.0;
Lightvalve 19:23b7c1ad8683 652 }
Lightvalve 14:8e7590227d22 653 // double T = 1.0; // wave period
Lightvalve 14:8e7590227d22 654 // I_REF = (5. * sin(2. * 3.1415 * (double) TMR3_COUNT_IREF / (double)TMR_FREQ_5k/ T));
Lightvalve 14:8e7590227d22 655 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (double) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (double)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 19:23b7c1ad8683 656
Lightvalve 14:8e7590227d22 657 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 658 //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 659 }
Lightvalve 14:8e7590227d22 660 break;
Lightvalve 14:8e7590227d22 661 }
Lightvalve 19:23b7c1ad8683 662
Lightvalve 19:23b7c1ad8683 663 case MODE_TEST_PWM_CONTROL: {
Lightvalve 14:8e7590227d22 664 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 665 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 666 }
Lightvalve 19:23b7c1ad8683 667 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 668
Lightvalve 14:8e7590227d22 669 // Set PWM reference
Lightvalve 14:8e7590227d22 670 double TMR3_CNT_MAX = (double)TMR_FREQ_5k/2.0;
Lightvalve 19:23b7c1ad8683 671 //double I_REF_MID = 0.0;
Lightvalve 14:8e7590227d22 672 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 673 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 674 } else {
Lightvalve 14:8e7590227d22 675 CUR_PWM = -1000;
Lightvalve 19:23b7c1ad8683 676 }
Lightvalve 19:23b7c1ad8683 677
Lightvalve 14:8e7590227d22 678 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 679 //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 680 }
Lightvalve 13:747daba9cf59 681 break;
Lightvalve 13:747daba9cf59 682 }
Lightvalve 19:23b7c1ad8683 683
Lightvalve 19:23b7c1ad8683 684
Lightvalve 14:8e7590227d22 685 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 686
Lightvalve 14:8e7590227d22 687 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 688 CurrentControl();
Lightvalve 14:8e7590227d22 689 break;
Lightvalve 14:8e7590227d22 690 }
Lightvalve 19:23b7c1ad8683 691
Lightvalve 14:8e7590227d22 692 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 14:8e7590227d22 693 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 694 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 695 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 696 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 697
Lightvalve 14:8e7590227d22 698 // feedback input for position control
Lightvalve 14:8e7590227d22 699 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 700 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 701 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 702 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 703 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 704 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 19:23b7c1ad8683 705
Lightvalve 14:8e7590227d22 706 // feedforward input for position control
Lightvalve 14:8e7590227d22 707 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 708 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 709 double K_v = 0.0;
Lightvalve 14:8e7590227d22 710 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 711 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 712 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 713
Lightvalve 14:8e7590227d22 714 // feedback input for position control
Lightvalve 14:8e7590227d22 715 I_REF_FORCE_FB = 0.0;
Lightvalve 19:23b7c1ad8683 716
Lightvalve 14:8e7590227d22 717 // feedforward input for position control
Lightvalve 14:8e7590227d22 718 I_REF_FORCE_FF = 0.0;
Lightvalve 19:23b7c1ad8683 719
Lightvalve 14:8e7590227d22 720 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 721
Lightvalve 14:8e7590227d22 722 CurrentControl();
Lightvalve 19:23b7c1ad8683 723
Lightvalve 13:747daba9cf59 724 break;
Lightvalve 13:747daba9cf59 725 }
Lightvalve 19:23b7c1ad8683 726
Lightvalve 14:8e7590227d22 727 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 19:23b7c1ad8683 728 //double T_REF = 0.0; // Torque Reference
Lightvalve 14:8e7590227d22 729 double I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 730 double I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 19:23b7c1ad8683 731
Lightvalve 14:8e7590227d22 732 // feedback input for position control
Lightvalve 19:23b7c1ad8683 733 //double Joint_Pos_Err = 34.0-(double) pos.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 19:23b7c1ad8683 734 //double Joint_Vel_Err = 0.0-(double) vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 19:23b7c1ad8683 735 //double K_spring = 0.7;
Lightvalve 19:23b7c1ad8683 736 //double D_damper = 0.02;
Lightvalve 14:8e7590227d22 737 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 19:23b7c1ad8683 738
Lightvalve 14:8e7590227d22 739 // torque feedback
Lightvalve 15:bd0d12728506 740 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 741 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 742 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 743 torq.err_sum = torq.err_sum + torq.err/(double)TMR_FREQ_5k;
Lightvalve 19:23b7c1ad8683 744 I_REF_FORCE_FB = 0.001*((double)P_GAIN_JOINT_TORQUE * torq.err + (double)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 19:23b7c1ad8683 745
Lightvalve 14:8e7590227d22 746 // velocity compensation for torque control
Lightvalve 19:23b7c1ad8683 747 double Joint_Vel_Act = vel.sen/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 748 double K_vc = 1.5; // Velocity comp. gain
Lightvalve 19:23b7c1ad8683 749 double K_v = 0.0; // Valve gain
Lightvalve 14:8e7590227d22 750 if(Joint_Vel_Act > 0) K_v = 1.0/100.0; // open, tuning
Lightvalve 14:8e7590227d22 751 if(Joint_Vel_Act < 0) K_v = 1.0/100.0; // close, tuning
Lightvalve 14:8e7590227d22 752 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 19:23b7c1ad8683 753
Lightvalve 14:8e7590227d22 754 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 755 // cur.ref = I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 756
Lightvalve 19:23b7c1ad8683 757 double I_MAX = 10.00; // Maximum Current : 10mV
Lightvalve 14:8e7590227d22 758 double Ka = 1.0/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 759 if(cur.ref > I_MAX) {
Lightvalve 14:8e7590227d22 760 double I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 761 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 762 cur.ref = I_MAX;
Lightvalve 14:8e7590227d22 763 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 764 } else if(cur.ref < -I_MAX) {
Lightvalve 14:8e7590227d22 765 double I_rem = cur.ref-(-I_MAX);
Lightvalve 19:23b7c1ad8683 766 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 767 cur.ref = -I_MAX;
Lightvalve 14:8e7590227d22 768 torq.err_sum = torq.err_sum - I_rem/(double)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 769 }
Lightvalve 19:23b7c1ad8683 770
Lightvalve 14:8e7590227d22 771 CurrentControl();
Lightvalve 19:23b7c1ad8683 772
Lightvalve 19:23b7c1ad8683 773
Lightvalve 14:8e7590227d22 774 /*
Lightvalve 14:8e7590227d22 775 double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
Lightvalve 14:8e7590227d22 776 double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
Lightvalve 14:8e7590227d22 777 double I_REF_FORCE_FB = 0.0; // I_REF by Force Feedback
Lightvalve 14:8e7590227d22 778 double I_REF_FORCE_FF = 0.0; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 779
Lightvalve 14:8e7590227d22 780 // feedback input for position control
Lightvalve 14:8e7590227d22 781 pos.err = pos.ref - pos.sen;
Lightvalve 14:8e7590227d22 782 double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
Lightvalve 14:8e7590227d22 783 double err_diff = (pos.err - pos.err_old)*(double)FREQ_5k;
Lightvalve 14:8e7590227d22 784 pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 785 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 786 I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
Lightvalve 19:23b7c1ad8683 787
Lightvalve 14:8e7590227d22 788 // feedforward input for position control
Lightvalve 14:8e7590227d22 789 double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 14:8e7590227d22 790 double K_ff = 1.3;
Lightvalve 14:8e7590227d22 791 double K_v = 0.0;
Lightvalve 14:8e7590227d22 792 if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 793 if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 794 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 795
Lightvalve 14:8e7590227d22 796 // feedback input for position control
Lightvalve 14:8e7590227d22 797 I_REF_FORCE_FB = 0.0;
Lightvalve 19:23b7c1ad8683 798
Lightvalve 14:8e7590227d22 799 // feedforward input for position control
Lightvalve 14:8e7590227d22 800 I_REF_FORCE_FF = 0.0;
Lightvalve 19:23b7c1ad8683 801
Lightvalve 14:8e7590227d22 802 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 803
Lightvalve 14:8e7590227d22 804 CurrentControl();
Lightvalve 14:8e7590227d22 805 */
Lightvalve 19:23b7c1ad8683 806
Lightvalve 13:747daba9cf59 807 break;
Lightvalve 13:747daba9cf59 808 }
Lightvalve 14:8e7590227d22 809
Lightvalve 14:8e7590227d22 810 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 811 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 812 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 813 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 814
Lightvalve 14:8e7590227d22 815 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 816 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
Lightvalve 13:747daba9cf59 817 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 818
Lightvalve 13:747daba9cf59 819 TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 820
Lightvalve 13:747daba9cf59 821 if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
Lightvalve 13:747daba9cf59 822 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 19:23b7c1ad8683 823
Lightvalve 16:903b5a4433b4 824 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 825
Lightvalve 16:903b5a4433b4 826 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 16:903b5a4433b4 827 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 13:747daba9cf59 828 }
Lightvalve 13:747daba9cf59 829 } else {
Lightvalve 13:747daba9cf59 830 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 831 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 832 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 833 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 834
Lightvalve 16:903b5a4433b4 835 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 836
Lightvalve 16:903b5a4433b4 837 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 838
Lightvalve 17:1865016ca2e7 839 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 16:903b5a4433b4 840 dac_1 = TORQUE_VREF / 3.3;
Lightvalve 14:8e7590227d22 841
Lightvalve 13:747daba9cf59 842 }
Lightvalve 14:8e7590227d22 843 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 844 break;
Lightvalve 19:23b7c1ad8683 845 }
Lightvalve 14:8e7590227d22 846
Lightvalve 14:8e7590227d22 847 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 848 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 849 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 850 else temp_time = 0;
Lightvalve 13:747daba9cf59 851 }
Lightvalve 13:747daba9cf59 852 if (need_enc_init) {
Lightvalve 14:8e7590227d22 853 if (TMR3_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 854 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 855 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 856 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 857 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 858 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 859 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 860 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 861 }
Lightvalve 14:8e7590227d22 862
Lightvalve 14:8e7590227d22 863 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 864 V_out = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 865 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 866
Lightvalve 14:8e7590227d22 867 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 868 V_out = 0;
Lightvalve 13:747daba9cf59 869 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 870 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 871 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 872 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 873 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 874 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 875 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 876 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 877 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 878
Lightvalve 13:747daba9cf59 879 // Position of Dead Zone
Lightvalve 13:747daba9cf59 880 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 881 // | / | / |/
Lightvalve 13:747daba9cf59 882 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 883 // |/ / | / |
Lightvalve 13:747daba9cf59 884 // /| / | / |
Lightvalve 13:747daba9cf59 885 // 0V 0V 0V
Lightvalve 14:8e7590227d22 886
Lightvalve 13:747daba9cf59 887 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 888 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 889 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 890 } else {
Lightvalve 18:b8adf1582ea3 891 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 892 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 893 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 894 }
Lightvalve 13:747daba9cf59 895 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 896 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 897 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 898 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 899 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 900 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 901 }
Lightvalve 13:747daba9cf59 902 } else {
Lightvalve 14:8e7590227d22 903 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 904 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 905 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 906 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 907 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 908 }
Lightvalve 18:b8adf1582ea3 909 V_out = 0;
Lightvalve 19:23b7c1ad8683 910
Lightvalve 16:903b5a4433b4 911 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 912
Lightvalve 16:903b5a4433b4 913 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 914 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 915
Lightvalve 13:747daba9cf59 916 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 917 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 918 }
Lightvalve 13:747daba9cf59 919 }
Lightvalve 14:8e7590227d22 920 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 921 break;
Lightvalve 13:747daba9cf59 922 }
Lightvalve 14:8e7590227d22 923
Lightvalve 14:8e7590227d22 924 case MODE_FIND_HOME: {
Lightvalve 19:23b7c1ad8683 925
Lightvalve 19:23b7c1ad8683 926
Lightvalve 14:8e7590227d22 927 ////////////////////////////////////////////FIND_HOME_PWM/////////////////////////////////////////////////////
Lightvalve 14:8e7590227d22 928 if (FLAG_FIND_HOME == true) {
Lightvalve 14:8e7590227d22 929 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 930 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 931 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 932 pos.ref = pos.sen;
Lightvalve 14:8e7590227d22 933 FLAG_FIND_HOME = false;
Lightvalve 14:8e7590227d22 934 }
Lightvalve 14:8e7590227d22 935
Lightvalve 14:8e7590227d22 936 int check_enc = (TMR_FREQ_5k/10);
Lightvalve 14:8e7590227d22 937 if(cnt_findhome%check_enc == 0) {
Lightvalve 14:8e7590227d22 938 FINDHOME_POSITION = pos.sen;
Lightvalve 14:8e7590227d22 939 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 14:8e7590227d22 940 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 14:8e7590227d22 941 }
Lightvalve 14:8e7590227d22 942 cnt_findhome++;
Lightvalve 14:8e7590227d22 943 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 944
Lightvalve 14:8e7590227d22 945 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 14:8e7590227d22 946 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 14:8e7590227d22 947 } else {
Lightvalve 14:8e7590227d22 948 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 949 }
Lightvalve 14:8e7590227d22 950
Lightvalve 14:8e7590227d22 951 if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 952 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 14:8e7590227d22 953 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 1.0;
Lightvalve 14:8e7590227d22 954 else pos.ref = pos.ref - 1.0;
Lightvalve 14:8e7590227d22 955 pos.err = pos.ref - (double) pos.sen;
Lightvalve 14:8e7590227d22 956 V_out = ((double) P_GAIN_JOINT_POSITION * pos.err) * 0.01;
Lightvalve 18:b8adf1582ea3 957 // if (HOMEPOS_OFFSET > 0) V_out = 100;
Lightvalve 18:b8adf1582ea3 958 // else V_out = -100;
Lightvalve 14:8e7590227d22 959 } else {
Lightvalve 14:8e7590227d22 960 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 14:8e7590227d22 961 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 14:8e7590227d22 962 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 14:8e7590227d22 963 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 964 TMR3_COUNT_REFERENCE = 0;
Lightvalve 14:8e7590227d22 965 vel.ref = 0.0;
Lightvalve 14:8e7590227d22 966 //REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 967 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
Lightvalve 14:8e7590227d22 968
Lightvalve 14:8e7590227d22 969 FINDHOME_POSITION = 0;
Lightvalve 14:8e7590227d22 970 FINDHOME_POSITION_OLD = 0;
Lightvalve 14:8e7590227d22 971 FINDHOME_VELOCITY = 0;
Lightvalve 14:8e7590227d22 972 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 973 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 974 }
Lightvalve 19:23b7c1ad8683 975
Lightvalve 14:8e7590227d22 976 /*
Lightvalve 14:8e7590227d22 977 ////////////////////////////////////////////FIND_HOME_CURRENT/////////////////////////////////////////////////////
Lightvalve 13:747daba9cf59 978 if (FLAG_FIND_HOME == true) {
Lightvalve 13:747daba9cf59 979 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 980 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 981 REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 14:8e7590227d22 982 Ref_Joint_Pos = pos.sen;
Lightvalve 13:747daba9cf59 983 FLAG_FIND_HOME = false;
Lightvalve 13:747daba9cf59 984 }
Lightvalve 19:23b7c1ad8683 985
Lightvalve 14:8e7590227d22 986 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 14:8e7590227d22 987 if(cnt_findhome%cnt_check_enc == 0){
Lightvalve 14:8e7590227d22 988 FINDHOME_POSITION = pos.sen;
Lightvalve 13:747daba9cf59 989 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 13:747daba9cf59 990 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 13:747daba9cf59 991 } cnt_findhome++;
Lightvalve 13:747daba9cf59 992 if(cnt_findhome == 10000) cnt_findhome = 0;
Lightvalve 19:23b7c1ad8683 993
Lightvalve 13:747daba9cf59 994 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 13:747daba9cf59 995 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 13:747daba9cf59 996 } else {
Lightvalve 13:747daba9cf59 997 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 998 }
Lightvalve 19:23b7c1ad8683 999
Lightvalve 14:8e7590227d22 1000 if (cnt_vel_findhome < 3*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 13:747daba9cf59 1001 REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 13:747daba9cf59 1002 if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
Lightvalve 13:747daba9cf59 1003 else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
Lightvalve 14:8e7590227d22 1004 pos.err = Ref_Joint_Pos - pos.sen;
Lightvalve 19:23b7c1ad8683 1005 I_REF = 0.001*((double)pos.err);
Lightvalve 14:8e7590227d22 1006 if(I_REF>5.0) I_REF = 5.0;
Lightvalve 14:8e7590227d22 1007 if(I_REF<-5.0) I_REF = -5.0;
Lightvalve 14:8e7590227d22 1008 cur.ref = I_REF;
Lightvalve 14:8e7590227d22 1009 CurrentControl();
Lightvalve 13:747daba9cf59 1010 } else {
Lightvalve 13:747daba9cf59 1011 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 13:747daba9cf59 1012 FLAG_REFERENCE_JOINT_POSITION = 1;
Lightvalve 13:747daba9cf59 1013 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 13:747daba9cf59 1014 REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 1015 TMR3_COUNT_REFERENCE = 0;
Lightvalve 13:747daba9cf59 1016 Ref_Joint_Vel = 0.0;
Lightvalve 13:747daba9cf59 1017 REFERENCE_MODE = MODE_REF_COS_INC;
Lightvalve 14:8e7590227d22 1018 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 1019
Lightvalve 13:747daba9cf59 1020 FINDHOME_POSITION = 0;
Lightvalve 13:747daba9cf59 1021 FINDHOME_POSITION_OLD = 0;
Lightvalve 13:747daba9cf59 1022 FINDHOME_VELOCITY = 0;
Lightvalve 13:747daba9cf59 1023 cnt_findhome = 0;
Lightvalve 13:747daba9cf59 1024 cnt_vel_findhome = 0;
Lightvalve 13:747daba9cf59 1025 }
Lightvalve 14:8e7590227d22 1026 */
Lightvalve 19:23b7c1ad8683 1027
Lightvalve 13:747daba9cf59 1028 break;
Lightvalve 13:747daba9cf59 1029 }
Lightvalve 14:8e7590227d22 1030
Lightvalve 14:8e7590227d22 1031 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1032 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1033 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1034 else {
Lightvalve 18:b8adf1582ea3 1035 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 13:747daba9cf59 1036 temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1037 }
Lightvalve 13:747daba9cf59 1038 }
Lightvalve 13:747daba9cf59 1039 if (need_enc_init) {
Lightvalve 14:8e7590227d22 1040 if (TMR3_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1041 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1042 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1043 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1044 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1045 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1046 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1047 need_enc_init = false;
Lightvalve 13:747daba9cf59 1048 check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1049 check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1050 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1051 }
Lightvalve 13:747daba9cf59 1052 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1053 }
Lightvalve 14:8e7590227d22 1054 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1055 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1056 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 18:b8adf1582ea3 1057 VALVE_VOLTAGE = 1000.0 * (double) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1058 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1059 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1060 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1061 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1062 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 13:747daba9cf59 1063 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 13:747daba9cf59 1064 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1065 }
Lightvalve 13:747daba9cf59 1066 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 13:747daba9cf59 1067 VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1068 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1069 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1070 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1071 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 13:747daba9cf59 1072 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 13:747daba9cf59 1073 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 13:747daba9cf59 1074 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1075 }
Lightvalve 13:747daba9cf59 1076 }
Lightvalve 13:747daba9cf59 1077 if (fl_temp_cnt2 == 100) {
Lightvalve 19:23b7c1ad8683 1078
Lightvalve 16:903b5a4433b4 1079 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1080
Lightvalve 16:903b5a4433b4 1081 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
Lightvalve 13:747daba9cf59 1082 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1083 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1084 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1085 flag_flowrate++;
Lightvalve 13:747daba9cf59 1086 }
Lightvalve 13:747daba9cf59 1087 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1088 V_out = 0;
Lightvalve 13:747daba9cf59 1089 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1090 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1091 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1092 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1093 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1094 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1095 }
Lightvalve 14:8e7590227d22 1096
Lightvalve 13:747daba9cf59 1097 }
Lightvalve 13:747daba9cf59 1098 break;
Lightvalve 13:747daba9cf59 1099 }
Lightvalve 14:8e7590227d22 1100
Lightvalve 13:747daba9cf59 1101 }
Lightvalve 14:8e7590227d22 1102
Lightvalve 14:8e7590227d22 1103 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1104 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1105 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1106 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1107 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1108
Lightvalve 14:8e7590227d22 1109 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 13:747daba9cf59 1110 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
Lightvalve 13:747daba9cf59 1111 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
Lightvalve 13:747daba9cf59 1112 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1113 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1114
Lightvalve 16:903b5a4433b4 1115 double VREF_NullingGain = 0.003;
Lightvalve 13:747daba9cf59 1116 PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 13:747daba9cf59 1117 PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1118
Lightvalve 13:747daba9cf59 1119 if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
Lightvalve 13:747daba9cf59 1120 if (PRES_A_VREF < 0) PRES_A_VREF = 0;
Lightvalve 13:747daba9cf59 1121 if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
Lightvalve 13:747daba9cf59 1122 if (PRES_B_VREF < 0) PRES_B_VREF = 0;
Lightvalve 19:23b7c1ad8683 1123
Lightvalve 16:903b5a4433b4 1124 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 1125 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 13:747daba9cf59 1126 }
Lightvalve 13:747daba9cf59 1127 } else {
Lightvalve 13:747daba9cf59 1128 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1129 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1130 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1131 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1132 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1133 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1134
Lightvalve 16:903b5a4433b4 1135 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1136
Lightvalve 15:bd0d12728506 1137 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 15:bd0d12728506 1138 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 17:1865016ca2e7 1139 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1140 }
Lightvalve 14:8e7590227d22 1141 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1142 break;
Lightvalve 13:747daba9cf59 1143 }
Lightvalve 14:8e7590227d22 1144
Lightvalve 14:8e7590227d22 1145 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1146 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1147 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1148 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1149 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1150 }
Lightvalve 14:8e7590227d22 1151 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1152 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1153 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1154 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1155 }
Lightvalve 13:747daba9cf59 1156 } else {
Lightvalve 13:747daba9cf59 1157 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1158 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1159 V_out = 0;
Lightvalve 18:b8adf1582ea3 1160 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_A_NULL;
Lightvalve 18:b8adf1582ea3 1161 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve 18:b8adf1582ea3 1162 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.0) - PRES_B_NULL;
Lightvalve 18:b8adf1582ea3 1163 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.0);
Lightvalve 13:747daba9cf59 1164 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1165 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1166 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1167 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 1168
Lightvalve 16:903b5a4433b4 1169 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1170
Lightvalve 16:903b5a4433b4 1171 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
Lightvalve 16:903b5a4433b4 1172 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
Lightvalve 13:747daba9cf59 1173 }
Lightvalve 14:8e7590227d22 1174 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1175 break;
Lightvalve 13:747daba9cf59 1176 }
Lightvalve 14:8e7590227d22 1177
Lightvalve 14:8e7590227d22 1178 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 14:8e7590227d22 1179 if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
Lightvalve 18:b8adf1582ea3 1180 V_out = PWM_out * sin(2 * 3.14159 * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001);
Lightvalve 18:b8adf1582ea3 1181 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 18:b8adf1582ea3 1182 else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1183 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1184 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1185 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 17:1865016ca2e7 1186 V_out = 0;
Lightvalve 13:747daba9cf59 1187 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1188 }
Lightvalve 13:747daba9cf59 1189 break;
Lightvalve 13:747daba9cf59 1190 }
Lightvalve 14:8e7590227d22 1191
Lightvalve 14:8e7590227d22 1192 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1193 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1194
Lightvalve 14:8e7590227d22 1195 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 18:b8adf1582ea3 1196 V_out = 3000.0 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100.0);
Lightvalve 14:8e7590227d22 1197 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 18:b8adf1582ea3 1198 V_out = 1000.0*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1199 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1200 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1201 data_num = 0;
Lightvalve 14:8e7590227d22 1202 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1203 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1204 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1205 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1206 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1207 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1208 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1209 }
Lightvalve 14:8e7590227d22 1210
Lightvalve 17:1865016ca2e7 1211 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1212 int i;
Lightvalve 13:747daba9cf59 1213 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1214 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1215 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1216 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1217 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1218 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1219 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1220 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1221 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1222 }
Lightvalve 13:747daba9cf59 1223 }
Lightvalve 27:a2254a485f23 1224 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1225 ID_index = 0;
Lightvalve 13:747daba9cf59 1226 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1227 }
Lightvalve 14:8e7590227d22 1228
Lightvalve 14:8e7590227d22 1229
Lightvalve 13:747daba9cf59 1230 break;
Lightvalve 13:747daba9cf59 1231 }
Lightvalve 14:8e7590227d22 1232
Lightvalve 14:8e7590227d22 1233 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1234
Lightvalve 13:747daba9cf59 1235 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1236 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1237 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1238 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1239 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1240 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1241 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1242 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1243 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1244 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1245 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1246 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1247 } else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1248 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1249 } else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1250 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1251 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1252 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1253 } else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1254 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 13:747daba9cf59 1255 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1256 START_POS = pos.sen;
Lightvalve 23:59218d4a256d 1257 //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1258 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1259 data_num = 0;
Lightvalve 14:8e7590227d22 1260
Lightvalve 14:8e7590227d22 1261 } else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1262 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1263 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1264 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1265
Lightvalve 14:8e7590227d22 1266 } else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1267 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1268 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1269 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1270 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1271 else
Lightvalve 13:747daba9cf59 1272 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1273 } else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1274 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1275 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1276 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1277 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1278 // {
Lightvalve 14:8e7590227d22 1279 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1280 // }
Lightvalve 14:8e7590227d22 1281 // else
Lightvalve 14:8e7590227d22 1282 // {
Lightvalve 14:8e7590227d22 1283 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1284 // }
Lightvalve 14:8e7590227d22 1285 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1286 // {
Lightvalve 14:8e7590227d22 1287 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1288 // }
Lightvalve 14:8e7590227d22 1289
Lightvalve 14:8e7590227d22 1290 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1291 DZ_case = 1;
Lightvalve 14:8e7590227d22 1292 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1293 DZ_case = -1;
Lightvalve 14:8e7590227d22 1294 } else {
Lightvalve 13:747daba9cf59 1295 DZ_case = 0;
Lightvalve 13:747daba9cf59 1296 }
Lightvalve 14:8e7590227d22 1297
Lightvalve 14:8e7590227d22 1298 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1299 first_check = 1;
Lightvalve 13:747daba9cf59 1300 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1301 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1302 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1303 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1304 DZ_index = 1;
Lightvalve 18:b8adf1582ea3 1305 //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1306
Lightvalve 13:747daba9cf59 1307 }
Lightvalve 19:23b7c1ad8683 1308 } else {
Lightvalve 14:8e7590227d22 1309 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 14:8e7590227d22 1310 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1311 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1312 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1313 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1314 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1315 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1316 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1317 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1318 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1319 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1320 }
Lightvalve 14:8e7590227d22 1321 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1322 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1323 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1324 else
Lightvalve 13:747daba9cf59 1325 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1326 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1327 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1328 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1329 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1330 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1331 // else
Lightvalve 14:8e7590227d22 1332 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1333 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1334 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1335
Lightvalve 14:8e7590227d22 1336 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1337 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1338 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1339 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1340 } else {
Lightvalve 13:747daba9cf59 1341 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1342 }
Lightvalve 14:8e7590227d22 1343
Lightvalve 14:8e7590227d22 1344 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1345
Lightvalve 13:747daba9cf59 1346 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1347 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1348 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1349 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1350 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1351 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1352 DZ_index = 1;
Lightvalve 13:747daba9cf59 1353 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1354 }
Lightvalve 14:8e7590227d22 1355
Lightvalve 13:747daba9cf59 1356 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1357 }
Lightvalve 14:8e7590227d22 1358 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 14:8e7590227d22 1359 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1360 V_out = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1361 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1362 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1363 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1364 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1365 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1366 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1367 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1368 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1369 }
Lightvalve 14:8e7590227d22 1370 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1371 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1372 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1373 else
Lightvalve 13:747daba9cf59 1374 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1375 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1376 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1377 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1378 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1379 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1380 // else
Lightvalve 14:8e7590227d22 1381 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1382 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1383 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1384
Lightvalve 14:8e7590227d22 1385 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1386 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1387 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1388 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1389 } else {
Lightvalve 13:747daba9cf59 1390 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1391 }
Lightvalve 14:8e7590227d22 1392
Lightvalve 14:8e7590227d22 1393 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1394
Lightvalve 14:8e7590227d22 1395
Lightvalve 13:747daba9cf59 1396 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1397 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1398 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1399 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1400 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1401 first_check = 0;
Lightvalve 19:23b7c1ad8683 1402 VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve 19:23b7c1ad8683 1403 VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1404
Lightvalve 16:903b5a4433b4 1405 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1406
Lightvalve 16:903b5a4433b4 1407 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 16:903b5a4433b4 1408 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 18:b8adf1582ea3 1409 //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve 13:747daba9cf59 1410 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1411 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1412 DZ_index = 1;
Lightvalve 13:747daba9cf59 1413 }
Lightvalve 14:8e7590227d22 1414
Lightvalve 23:59218d4a256d 1415 //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1416 }
Lightvalve 14:8e7590227d22 1417 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 14:8e7590227d22 1418 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1419 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1420 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1421 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1422 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1423 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1424 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1425 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1426 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1427 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1428 }
Lightvalve 14:8e7590227d22 1429 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1430 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1431 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1432 else
Lightvalve 13:747daba9cf59 1433 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1434 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1435 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1436 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1437 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1438 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1439 // else
Lightvalve 14:8e7590227d22 1440 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1441 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1442 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1443
Lightvalve 14:8e7590227d22 1444 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1445 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1446 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1447 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1448 } else {
Lightvalve 13:747daba9cf59 1449 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1450 }
Lightvalve 14:8e7590227d22 1451
Lightvalve 14:8e7590227d22 1452 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1453 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1454 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1455 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1456 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1457 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1458 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1459 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1460 DZ_index = 1;
Lightvalve 13:747daba9cf59 1461 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1462 }
Lightvalve 13:747daba9cf59 1463 }
Lightvalve 14:8e7590227d22 1464 } else {
Lightvalve 14:8e7590227d22 1465 if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1466 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1467 } else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1468 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1469 } else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1470 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1471 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1472 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1473 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1474 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1475 }
Lightvalve 14:8e7590227d22 1476 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1477 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1478 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1479 else
Lightvalve 13:747daba9cf59 1480 VEL_POINT = VEL_POINT - 1;
Lightvalve 14:8e7590227d22 1481 } else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1482 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1483 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1484 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1485 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1486 else
Lightvalve 13:747daba9cf59 1487 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1488 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1489 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1490
Lightvalve 14:8e7590227d22 1491 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1492
Lightvalve 14:8e7590227d22 1493
Lightvalve 13:747daba9cf59 1494 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1495 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1496 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1497 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1498 SECOND_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1499 DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1500 first_check = 0;
Lightvalve 13:747daba9cf59 1501 VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve 16:903b5a4433b4 1502 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 13:747daba9cf59 1503 VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve 27:a2254a485f23 1504
Lightvalve 27:a2254a485f23 1505 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1506
Lightvalve 16:903b5a4433b4 1507 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 18:b8adf1582ea3 1508 //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve 23:59218d4a256d 1509 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1510 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1511 DZ_index = 1;
Lightvalve 13:747daba9cf59 1512 }
Lightvalve 14:8e7590227d22 1513
Lightvalve 13:747daba9cf59 1514 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1515 }
Lightvalve 13:747daba9cf59 1516 }
Lightvalve 14:8e7590227d22 1517 }
Lightvalve 13:747daba9cf59 1518 break;
Lightvalve 13:747daba9cf59 1519 }
Lightvalve 14:8e7590227d22 1520
Lightvalve 14:8e7590227d22 1521 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1522 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1523 if(first_check == 0) {
Lightvalve 14:8e7590227d22 1524 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1525 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 23:59218d4a256d 1526 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 14:8e7590227d22 1527 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1528 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1529 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1530 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 14:8e7590227d22 1531 } else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1532 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1533 } else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1534 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 18:b8adf1582ea3 1535 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1536 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1537 first_check = 1;
Lightvalve 13:747daba9cf59 1538 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1539 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1540 ID_index = 0;
Lightvalve 13:747daba9cf59 1541 max_check = 0;
Lightvalve 13:747daba9cf59 1542 min_check = 0;
Lightvalve 13:747daba9cf59 1543 }
Lightvalve 14:8e7590227d22 1544 } else {
Lightvalve 14:8e7590227d22 1545 if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1546 V_out = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen);
Lightvalve 14:8e7590227d22 1547 } else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1548 data_num = 0;
Lightvalve 19:23b7c1ad8683 1549 valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1550
Lightvalve 14:8e7590227d22 1551 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1552 START_POS = pos.sen;
Lightvalve 14:8e7590227d22 1553 } else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 19:23b7c1ad8683 1554 valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1555 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1556 data_num = data_num + 1;
Lightvalve 19:23b7c1ad8683 1557 if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) pos.sen) > 20000.0) {
Lightvalve 14:8e7590227d22 1558 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1559 one_period_end = 1;
Lightvalve 13:747daba9cf59 1560 }
Lightvalve 14:8e7590227d22 1561 } else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1562 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1563 one_period_end = 1;
Lightvalve 13:747daba9cf59 1564 }
Lightvalve 14:8e7590227d22 1565
Lightvalve 14:8e7590227d22 1566 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1567 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1568 max_check = 1;
Lightvalve 14:8e7590227d22 1569 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1570 min_check = 1;
Lightvalve 13:747daba9cf59 1571 }
Lightvalve 13:747daba9cf59 1572 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1573
Lightvalve 19:23b7c1ad8683 1574 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1575
Lightvalve 16:903b5a4433b4 1576 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1577 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1578 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1579 one_period_end = 0;
Lightvalve 13:747daba9cf59 1580 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1581 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 19:23b7c1ad8683 1582 V_out = 0.0;
Lightvalve 13:747daba9cf59 1583 }
Lightvalve 14:8e7590227d22 1584
Lightvalve 14:8e7590227d22 1585 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1586
Lightvalve 16:903b5a4433b4 1587 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1588 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1589 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1590 ID_index = 0;
Lightvalve 13:747daba9cf59 1591 first_check = 0;
Lightvalve 13:747daba9cf59 1592 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1593 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1594 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1595 }
Lightvalve 13:747daba9cf59 1596 }
Lightvalve 13:747daba9cf59 1597 break;
Lightvalve 13:747daba9cf59 1598 }
Lightvalve 14:8e7590227d22 1599
Lightvalve 12:6f2531038ea4 1600 default:
Lightvalve 12:6f2531038ea4 1601 break;
Lightvalve 12:6f2531038ea4 1602 }
Lightvalve 14:8e7590227d22 1603
Lightvalve 13:747daba9cf59 1604 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1605 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1606 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1607 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1608 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1609 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1610 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1611 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1612 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1613
Lightvalve 14:8e7590227d22 1614 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1615 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1616
Lightvalve 14:8e7590227d22 1617 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1618
Lightvalve 13:747daba9cf59 1619 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 18:b8adf1582ea3 1620 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0*1000.0; // convert PWM duty to mV
Lightvalve 13:747daba9cf59 1621 double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1622
Lightvalve 14:8e7590227d22 1623 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1624 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1625 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1626 } else {
Lightvalve 17:1865016ca2e7 1627 V_out = V_out;
Lightvalve 13:747daba9cf59 1628 }
Lightvalve 14:8e7590227d22 1629
jobuuu 7:e9086c72bb22 1630 /*******************************************************
jobuuu 7:e9086c72bb22 1631 *** PWM
jobuuu 7:e9086c72bb22 1632 ********************************************************/
Lightvalve 27:a2254a485f23 1633 if (V_out >= 12000.0){
Lightvalve 27:a2254a485f23 1634 V_out = 12000.0;
Lightvalve 27:a2254a485f23 1635 }
Lightvalve 27:a2254a485f23 1636 else if(V_out<=-12000.0){
Lightvalve 27:a2254a485f23 1637 V_out = -12000.0;
Lightvalve 27:a2254a485f23 1638 }
Lightvalve 18:b8adf1582ea3 1639 PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1640
jobuuu 2:a1c0a37df760 1641 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1642 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1643 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1644
Lightvalve 19:23b7c1ad8683 1645 // Saturation of output voltage to 12.0V
Lightvalve 17:1865016ca2e7 1646 if(PWM_out > 1.0) PWM_out=1.0;
Lightvalve 17:1865016ca2e7 1647 else if (PWM_out < -1.0) PWM_out=-1.0;
Lightvalve 13:747daba9cf59 1648
jobuuu 2:a1c0a37df760 1649 if (PWM_out>0.0) {
jobuuu 2:a1c0a37df760 1650 dtc_v=0.0;
jobuuu 1:e04e563be5ce 1651 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1652 } else {
jobuuu 2:a1c0a37df760 1653 dtc_v=-PWM_out;
jobuuu 2:a1c0a37df760 1654 dtc_w=0.0;
jobuuu 1:e04e563be5ce 1655 }
Lightvalve 13:747daba9cf59 1656
jobuuu 1:e04e563be5ce 1657 //pwm
jobuuu 2:a1c0a37df760 1658 TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
jobuuu 2:a1c0a37df760 1659 TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
Lightvalve 13:747daba9cf59 1660
jobuuu 1:e04e563be5ce 1661 }
Lightvalve 11:82d8768d7351 1662 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1663
jobuuu 7:e9086c72bb22 1664 }
jobuuu 7:e9086c72bb22 1665
Lightvalve 20:806196fda269 1666
Lightvalve 20:806196fda269 1667
Lightvalve 20:806196fda269 1668 //unsigned long CNT_TMR5 = 0;
Lightvalve 20:806196fda269 1669 //double FREQ_TMR5 = (double)FREQ_500;
Lightvalve 20:806196fda269 1670 //double DT_TMR5 = (double)DT_500;
Lightvalve 23:59218d4a256d 1671 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1672 {
Lightvalve 23:59218d4a256d 1673 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1674
Lightvalve 20:806196fda269 1675 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1676 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1677 //position+velocity
Lightvalve 20:806196fda269 1678 CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 20:806196fda269 1679 //CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve 20:806196fda269 1680 //CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve 20:806196fda269 1681 //pc.printf("can good");
Lightvalve 20:806196fda269 1682 // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve 20:806196fda269 1683 }
Lightvalve 20:806196fda269 1684
Lightvalve 20:806196fda269 1685 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1686 //torque
Lightvalve 20:806196fda269 1687 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1688 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 20:806196fda269 1689 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 20:806196fda269 1690 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 20:806196fda269 1691 }
Lightvalve 20:806196fda269 1692
Lightvalve 20:806196fda269 1693 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1694 //pressure A and B
Lightvalve 20:806196fda269 1695 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1696 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1697 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1698 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1699 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1700
Lightvalve 20:806196fda269 1701 }
Lightvalve 20:806196fda269 1702
Lightvalve 20:806196fda269 1703 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1704 //PWM
Lightvalve 20:806196fda269 1705 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 20:806196fda269 1706 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1707 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1708 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1709
Lightvalve 20:806196fda269 1710 }
Lightvalve 20:806196fda269 1711
Lightvalve 20:806196fda269 1712 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1713 //valve position
Lightvalve 27:a2254a485f23 1714 CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 20:806196fda269 1715 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 20:806196fda269 1716 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve 20:806196fda269 1717
Lightvalve 20:806196fda269 1718
Lightvalve 20:806196fda269 1719 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 1720 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 1721 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 1722 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 1723 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 1724 }
Lightvalve 20:806196fda269 1725
Lightvalve 20:806196fda269 1726 }
Lightvalve 23:59218d4a256d 1727 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 1728 }
Lightvalve 20:806196fda269 1729
Lightvalve 20:806196fda269 1730
Lightvalve 20:806196fda269 1731
Lightvalve 13:747daba9cf59 1732 void CurrentControl()
Lightvalve 13:747daba9cf59 1733 {
jobuuu 7:e9086c72bb22 1734 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1735 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1736 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1737 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1738
jobuuu 7:e9086c72bb22 1739 double R_model = 150.0; // ohm
jobuuu 7:e9086c72bb22 1740 double L_model = 0.3;
jobuuu 7:e9086c72bb22 1741 double w0 = 2.0*3.14*90.0;
jobuuu 7:e9086c72bb22 1742 double KP_I = L_model*w0;
jobuuu 7:e9086c72bb22 1743 double KI_I = R_model*w0;
jobuuu 7:e9086c72bb22 1744 double KD_I = 0.0;
jobuuu 7:e9086c72bb22 1745
jobuuu 7:e9086c72bb22 1746 double FF_gain = 0.0;
jobuuu 7:e9086c72bb22 1747 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1748 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1749 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1750
Lightvalve 13:747daba9cf59 1751 double Ka = 5.0/KP_I;
jobuuu 7:e9086c72bb22 1752 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1753 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1754 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1755 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1756 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1757 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1758 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1759 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1760 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1761 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1762 }
Lightvalve 21:e5f1a43ea6f9 1763 }
Lightvalve 23:59218d4a256d 1764
Lightvalve 28:2a62d73e3dd0 1765