Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

main.cpp@243:30896263bd8b, 2022-06-13 (annotated)

Committer:
Lightvalve
Date:
Mon Jun 13 08:48:55 2022 +0000
Revision:
243:30896263bd8b
Parent:
242:b235d67d25ba
Child:
244:e9c5ec04e378
220613

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 243:30896263bd8b 1 //Hydraulic Control Board Rainbow
Lightvalve 224:985dba42f261 2 //distributed by Sungwoo Kim
Lightvalve 243:30896263bd8b 3 // 2022/05/31
Lightvalve 224:985dba42f261 4
GiJeongKim 0:51c43836c1d7 5 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 6 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 7 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 8 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 9 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 10 #include "setting.h"
Lightvalve 11:82d8768d7351 11 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 12 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 13 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 14 #include <string>
Lightvalve 170:42c938a40313 15 #include <iostream>
Lightvalve 179:d5377766d7ea 16 #include <cmath>
Lightvalve 61:bc8c8270f0ab 17
GiJeongKim 0:51c43836c1d7 18
Lightvalve 243:30896263bd8b 19 // DAC ///////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 20 AnalogOut dac_1(PA_4); // 0.0f ~ 1.0f
jobuuu 230:2c3e5ecbe7e1 21 AnalogOut dac_2(PA_5); // 0.0f ~ 1.0f
Lightvalve 243:30896263bd8b 22
Lightvalve 243:30896263bd8b 23 // ADC ///////////////////////////////////////////
Lightvalve 243:30896263bd8b 24 //AnalogIn adc1(PC_4); //pressure_1
Lightvalve 243:30896263bd8b 25 //AnalogIn adc2(PC_5); //pressure_2
Lightvalve 243:30896263bd8b 26 //AnalogIn adc3(PC_1); //current
Lightvalve 243:30896263bd8b 27 //AnalogIn adc4(PB_0); //LVDT
GiJeongKim 0:51c43836c1d7 28
jobuuu 7:e9086c72bb22 29 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 30 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 31 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 32
Lightvalve 243:30896263bd8b 33 // LVDT ///////////////////////////////////////////
Lightvalve 243:30896263bd8b 34 //DigitalOut LVDT_H(PB_6);
Lightvalve 243:30896263bd8b 35 //DigitalOut LVDT_L(PB_7);
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 38 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 39 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 40 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 41 DigitalOut enc_cs(PD_2);
Lightvalve 243:30896263bd8b 42
Lightvalve 243:30896263bd8b 43 // LED ///////////////////////////////////////////
Lightvalve 11:82d8768d7351 44 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 45
jobuuu 7:e9086c72bb22 46 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 47 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 48 CANMessage msg;
Lightvalve 242:b235d67d25ba 49 //void onMsgReceived()
Lightvalve 242:b235d67d25ba 50 //{
Lightvalve 242:b235d67d25ba 51 // CAN_RX_HANDLER();
Lightvalve 242:b235d67d25ba 52 //}
jobuuu 2:a1c0a37df760 53
jobuuu 7:e9086c72bb22 54 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 55 State pos;
jobuuu 7:e9086c72bb22 56 State vel;
jobuuu 7:e9086c72bb22 57 State Vout;
jobuuu 230:2c3e5ecbe7e1 58 State force;
jobuuu 230:2c3e5ecbe7e1 59 State torq; // unit : N
Lightvalve 207:c70c5a9f17dd 60 State torq_dot;
jobuuu 230:2c3e5ecbe7e1 61 State pres_A; // unit : bar
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 230:2c3e5ecbe7e1 63 State cur; // unit : mA
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 238:4e660aa77eb7 65 State valve_pos_raw;
Lightvalve 14:8e7590227d22 66
Lightvalve 19:23b7c1ad8683 67 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 68 extern int CID_RX_REF_POSITION;
hyhoon 227:699c3e572283 69 extern int CID_RX_REF_OPENLOOP;
Lightvalve 45:35fa6884d0c6 70 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 71
Lightvalve 19:23b7c1ad8683 72 extern int CID_TX_INFO;
hyhoon 227:699c3e572283 73 extern int CID_TX_POS_VEL_TORQ;
hyhoon 227:699c3e572283 74 extern int CID_TX_PWM;
hyhoon 227:699c3e572283 75 extern int CID_TX_CURRENT;
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_VALVE_POSITION;
jeongyeseong 225:9c0becc196ba 78 extern int CID_TX_SOMETHING;
Lightvalve 19:23b7c1ad8683 79
Lightvalve 235:c831718303c9 80 inline float tanh_inv(float y)
Lightvalve 235:c831718303c9 81 {
Lightvalve 235:c831718303c9 82 if(y >= 1.0f - 0.000001f) y = 1.0f - 0.000001f;
Lightvalve 235:c831718303c9 83 if(y <= -1.0f + 0.000001f) y = -1.0f + 0.000001f;
jobuuu 230:2c3e5ecbe7e1 84 return log(sqrt((1.0f+y)/(1.0f-y)));
jobuuu 230:2c3e5ecbe7e1 85 }
jobuuu 230:2c3e5ecbe7e1 86
hyhoon 227:699c3e572283 87
Lightvalve 12:6f2531038ea4 88 /*******************************************************************************
Lightvalve 12:6f2531038ea4 89 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 90 ******************************************************************************/
Lightvalve 13:747daba9cf59 91 enum _REFERENCE_MODE {
Lightvalve 235:c831718303c9 92 MODE_REF_NO_ACT = 0,
Lightvalve 235:c831718303c9 93 MODE_REF_DIRECT,
Lightvalve 235:c831718303c9 94 MODE_REF_FINDHOME
Lightvalve 12:6f2531038ea4 95 };
Lightvalve 12:6f2531038ea4 96
Lightvalve 12:6f2531038ea4 97 /*******************************************************************************
Lightvalve 12:6f2531038ea4 98 * CONTROL MODE
Lightvalve 12:6f2531038ea4 99 ******************************************************************************/
Lightvalve 13:747daba9cf59 100 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 101 //control mode
Lightvalve 12:6f2531038ea4 102 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 103 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 104 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 105
Lightvalve 47:fdcb8bd86fd6 106 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 107 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 108 MODE_RL, //5
Lightvalve 13:747daba9cf59 109
Lightvalve 12:6f2531038ea4 110 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 111 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 112 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 113
Lightvalve 12:6f2531038ea4 114 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 115 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 116
Lightvalve 14:8e7590227d22 117 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 118 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 119 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 224:985dba42f261 120 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 121
Lightvalve 12:6f2531038ea4 122 //utility
Lightvalve 12:6f2531038ea4 123 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 124 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 125 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 126 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 127 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 128 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 129 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 130
Lightvalve 224:985dba42f261 131 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 132 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 133 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 134 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 135 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 136 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 137 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 138 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 169:645207e160ca 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 169:645207e160ca 146 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 147 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 243:30896263bd8b 148
Lightvalve 240:fb5b57e3f157 149 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
Lightvalve 240:fb5b57e3f157 150 RCC_OscInitStruct.HSEState = RCC_HSE_ON;
Lightvalve 240:fb5b57e3f157 151 // RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 152 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 240:fb5b57e3f157 153 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
Lightvalve 240:fb5b57e3f157 154 RCC_OscInitStruct.PLL.PLLM = 4;//4
Lightvalve 240:fb5b57e3f157 155 RCC_OscInitStruct.PLL.PLLN = 96; //96
Lightvalve 169:645207e160ca 156 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 157 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 158 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 159 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 160 //Error_Handler();
Lightvalve 169:645207e160ca 161 }
Lightvalve 169:645207e160ca 162 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 163 */
Lightvalve 169:645207e160ca 164 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 165 //Error_Handler();
Lightvalve 169:645207e160ca 166 }
Lightvalve 169:645207e160ca 167 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 168 */
Lightvalve 169:645207e160ca 169 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 170 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 171 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 172 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 173 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 174 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 175 }
Lightvalve 65:a2d7c63419c2 176
Lightvalve 170:42c938a40313 177
Lightvalve 243:30896263bd8b 178
GiJeongKim 0:51c43836c1d7 179 int main()
GiJeongKim 0:51c43836c1d7 180 {
Lightvalve 243:30896263bd8b 181
Lightvalve 224:985dba42f261 182 HAL_Init();
Lightvalve 224:985dba42f261 183 SystemClock_Config();
hyhoon 226:82a3ca333004 184
Lightvalve 69:3995ffeaa786 185 LED = 0;
Lightvalve 21:e5f1a43ea6f9 186
Lightvalve 243:30896263bd8b 187 // SPI INIT
hyhoon 227:699c3e572283 188 eeprom_cs = 1;
Lightvalve 170:42c938a40313 189 eeprom.format(8,3);
Lightvalve 170:42c938a40313 190 eeprom.frequency(5000000); //5M
hyhoon 227:699c3e572283 191 eeprom_cs = 0;
hyhoon 227:699c3e572283 192 make_delay();
hyhoon 227:699c3e572283 193
Lightvalve 243:30896263bd8b 194 enc_cs = 1;
GiJeongKim 0:51c43836c1d7 195 enc.format(8,0);
hyhoon 227:699c3e572283 196 enc.frequency(5000000); //10M
Lightvalve 243:30896263bd8b 197 enc_cs = 0;
hyhoon 227:699c3e572283 198
Lightvalve 11:82d8768d7351 199 make_delay();
Lightvalve 21:e5f1a43ea6f9 200
hyhoon 226:82a3ca333004 201 // spi _ enc
hyhoon 226:82a3ca333004 202 spi_enc_set_init();
hyhoon 226:82a3ca333004 203 make_delay();
hyhoon 226:82a3ca333004 204
Lightvalve 243:30896263bd8b 205 // bno rom
Lightvalve 240:fb5b57e3f157 206 spi_eeprom_write(RID_BNO, (int16_t) 0);
Lightvalve 238:4e660aa77eb7 207 make_delay();
hyhoon 226:82a3ca333004 208 ////////
hyhoon 226:82a3ca333004 209
Lightvalve 224:985dba42f261 210 // rom
Lightvalve 19:23b7c1ad8683 211 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 212 make_delay();
Lightvalve 13:747daba9cf59 213
GiJeongKim 0:51c43836c1d7 214 // ADC init
jobuuu 5:a4319f79457b 215 Init_ADC();
Lightvalve 11:82d8768d7351 216 make_delay();
jobuuu 2:a1c0a37df760 217
GiJeongKim 0:51c43836c1d7 218 // Pwm init
GiJeongKim 0:51c43836c1d7 219 Init_PWM();
GiJeongKim 0:51c43836c1d7 220 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 221 make_delay();
Lightvalve 13:747daba9cf59 222
GiJeongKim 0:51c43836c1d7 223 // CAN
jobuuu 2:a1c0a37df760 224 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 225 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 226 make_delay();
Lightvalve 34:bb2ca2fc2a8e 227
hyhoon 226:82a3ca333004 228 //can.reset();
Lightvalve 243:30896263bd8b 229 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 243:30896263bd8b 230 // can.filter(0b100000000, 0b100000010, CANStandard); //CAN ID 100~400번대 통과하게
hyhoon 226:82a3ca333004 231
hyhoon 226:82a3ca333004 232 // TMR3 init
hyhoon 226:82a3ca333004 233 Init_TMR3();
hyhoon 226:82a3ca333004 234 TIM3->CR1 ^= TIM_CR1_UDIS;
hyhoon 226:82a3ca333004 235 make_delay();
hyhoon 226:82a3ca333004 236
Lightvalve 243:30896263bd8b 237 // TMR2 init
Lightvalve 240:fb5b57e3f157 238 Init_TMR2();
Lightvalve 240:fb5b57e3f157 239 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 240:fb5b57e3f157 240 make_delay();
Lightvalve 240:fb5b57e3f157 241
Lightvalve 243:30896263bd8b 242 // TMR1 init
Lightvalve 243:30896263bd8b 243 Init_TMR1();
Lightvalve 243:30896263bd8b 244 TIM1->CR1 ^= TIM_CR1_UDIS;
Lightvalve 243:30896263bd8b 245 make_delay();
Lightvalve 243:30896263bd8b 246
Lightvalve 23:59218d4a256d 247 //Timer priority
Lightvalve 23:59218d4a256d 248 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 54:647072f5307a 249 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 240:fb5b57e3f157 250 NVIC_SetPriority(TIM2_IRQn, 4);
Lightvalve 34:bb2ca2fc2a8e 251
Lightvalve 243:30896263bd8b 252 // HAL_NVIC_SetPriority(TIM2_IRQn, 4, 0);
Lightvalve 243:30896263bd8b 253 // HAL_NVIC_EnableIRQ(TIM2_IRQn);
Lightvalve 243:30896263bd8b 254 // /* TIM3_IRQn interrupt configuration */
Lightvalve 243:30896263bd8b 255 // HAL_NVIC_SetPriority(TIM3_IRQn, 2, 0);
Lightvalve 243:30896263bd8b 256 // HAL_NVIC_EnableIRQ(TIM3_IRQn);
Lightvalve 243:30896263bd8b 257 // /* TIM4_IRQn interrupt configuration */
Lightvalve 243:30896263bd8b 258 // HAL_NVIC_SetPriority(TIM4_IRQn, 3, 0);
Lightvalve 243:30896263bd8b 259 // HAL_NVIC_EnableIRQ(TIM4_IRQn);
Lightvalve 243:30896263bd8b 260 // /* CAN1_RX0_IRQn interrupt configuration */
Lightvalve 243:30896263bd8b 261 // HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 14, 0);
Lightvalve 243:30896263bd8b 262 // HAL_NVIC_EnableIRQ(CAN1_RX0_IRQn);
Lightvalve 243:30896263bd8b 263
hyhoon 226:82a3ca333004 264
Lightvalve 11:82d8768d7351 265 //DAC init
Lightvalve 58:2eade98630e2 266 if (SENSING_MODE == 0) {
jobuuu 230:2c3e5ecbe7e1 267 dac_1 = FORCE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 268 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 269 } else if (SENSING_MODE == 1) {
Lightvalve 238:4e660aa77eb7 270 // if (DIR_VALVE_ENC > 0) {
Lightvalve 240:fb5b57e3f157 271 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 240:fb5b57e3f157 272 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 238:4e660aa77eb7 273 // } else {
Lightvalve 238:4e660aa77eb7 274 // dac_1 = PRES_B_VREF / 3.3f;
Lightvalve 238:4e660aa77eb7 275 // dac_2 = PRES_A_VREF / 3.3f;
Lightvalve 238:4e660aa77eb7 276 // }
Lightvalve 58:2eade98630e2 277 }
Lightvalve 11:82d8768d7351 278 make_delay();
Lightvalve 13:747daba9cf59 279
Lightvalve 19:23b7c1ad8683 280 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 281 if(i%2==0)
Lightvalve 38:118df027d851 282 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 283 else
Lightvalve 38:118df027d851 284 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 285 }
Lightvalve 169:645207e160ca 286
jobuuu 6:df07d3491e3a 287 /************************************
jobuuu 1:e04e563be5ce 288 *** Program is operating!
jobuuu 6:df07d3491e3a 289 *************************************/
GiJeongKim 0:51c43836c1d7 290 while(1) {
Lightvalve 243:30896263bd8b 291
Lightvalve 243:30896263bd8b 292 // if (LED > 0) LED = 0;
Lightvalve 243:30896263bd8b 293 // else LED = 1;
Lightvalve 243:30896263bd8b 294 TIM1->CCR1 = (TMR1_COUNT)*(0.7f);
Lightvalve 169:645207e160ca 295
Lightvalve 169:645207e160ca 296
GiJeongKim 0:51c43836c1d7 297 }
jobuuu 1:e04e563be5ce 298 }
jobuuu 1:e04e563be5ce 299
Lightvalve 224:985dba42f261 300
Lightvalve 224:985dba42f261 301 // Velocity feedforward for SW valve
Lightvalve 33:91b17819ec30 302 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 303 {
Lightvalve 13:747daba9cf59 304 int i = 0;
Lightvalve 48:889798ff9329 305 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 306 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 307 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 308 if(i==0) {
Lightvalve 50:3c630b5eba9f 309 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 310 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 311 } else {
Lightvalve 57:f4819de54e7a 312 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 313 }
Lightvalve 14:8e7590227d22 314 } else {
Lightvalve 50:3c630b5eba9f 315 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 316 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 317 } else {
Lightvalve 57:f4819de54e7a 318 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 319 }
Lightvalve 13:747daba9cf59 320 }
Lightvalve 13:747daba9cf59 321 break;
Lightvalve 13:747daba9cf59 322 }
Lightvalve 13:747daba9cf59 323 }
Lightvalve 14:8e7590227d22 324 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 325 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 326 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 327 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 328 }
Lightvalve 36:a46e63505ed8 329
Lightvalve 224:985dba42f261 330 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve 13:747daba9cf59 331 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 332 }
jobuuu 6:df07d3491e3a 333
Lightvalve 224:985dba42f261 334 // Valve feedforward for SW valve
Lightvalve 30:8d561f16383b 335 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 336 {
Lightvalve 13:747daba9cf59 337 int i = 0;
Lightvalve 13:747daba9cf59 338
Lightvalve 38:118df027d851 339 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 340 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 341 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 342 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 343 }
Lightvalve 243:30896263bd8b 344 valve_pos_err = (float) (REF_VALVE_POS - valve_pos.sen);
Lightvalve 13:747daba9cf59 345 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 346 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 347 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 348 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 349 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 350
Lightvalve 13:747daba9cf59 351 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 352
Lightvalve 18:b8adf1582ea3 353 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 354 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 355 if(i==0) {
Lightvalve 48:889798ff9329 356 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 357 } else {
Lightvalve 48:889798ff9329 358 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 359 }
Lightvalve 13:747daba9cf59 360 break;
Lightvalve 13:747daba9cf59 361 }
Lightvalve 13:747daba9cf59 362 }
Lightvalve 59:f308b1656d9c 363 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 364 }
Lightvalve 13:747daba9cf59 365
Lightvalve 238:4e660aa77eb7 366 // Valve feedforward for SW valve
Lightvalve 238:4e660aa77eb7 367 void VALVE_POS_CONTROL_DZ(float REF_VALVE_POS_10000)
Lightvalve 238:4e660aa77eb7 368 {
Lightvalve 238:4e660aa77eb7 369 int i = 0;
Lightvalve 238:4e660aa77eb7 370 float valve_pos_ref_dz = 0.0f;
Lightvalve 238:4e660aa77eb7 371 if(REF_VALVE_POS_10000 > 10000.0f) {
Lightvalve 238:4e660aa77eb7 372 REF_VALVE_POS_10000 = 10000.0f;
Lightvalve 238:4e660aa77eb7 373 } else if(REF_VALVE_POS_10000 < -10000.0f) {
Lightvalve 238:4e660aa77eb7 374 REF_VALVE_POS_10000 = -10000.0f;
Lightvalve 238:4e660aa77eb7 375 }
Lightvalve 238:4e660aa77eb7 376 if (REF_VALVE_POS_10000 >= 0) {
Lightvalve 242:b235d67d25ba 377 // valve_pos_ref_dz = REF_VALVE_POS_10000/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 242:b235d67d25ba 378 valve_pos_ref_dz = REF_VALVE_POS_10000;
Lightvalve 238:4e660aa77eb7 379 } else {
Lightvalve 242:b235d67d25ba 380 // valve_pos_ref_dz = -REF_VALVE_POS_10000/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 242:b235d67d25ba 381 valve_pos_ref_dz = REF_VALVE_POS_10000;
Lightvalve 238:4e660aa77eb7 382 }
Lightvalve 242:b235d67d25ba 383 valve_pos_err = (float) (valve_pos_ref_dz - valve_pos.sen);
Lightvalve 238:4e660aa77eb7 384 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 238:4e660aa77eb7 385 valve_pos_err_old = valve_pos_err;
Lightvalve 238:4e660aa77eb7 386 valve_pos_err_sum += valve_pos_err;
Lightvalve 238:4e660aa77eb7 387 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 238:4e660aa77eb7 388 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 238:4e660aa77eb7 389
Lightvalve 238:4e660aa77eb7 390 VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve 238:4e660aa77eb7 391
Lightvalve 238:4e660aa77eb7 392 for(i=0; i<24; i++) {
Lightvalve 238:4e660aa77eb7 393 if(valve_pos_ref_dz >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) valve_pos_ref_dz <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 238:4e660aa77eb7 394 if(i==0) {
Lightvalve 238:4e660aa77eb7 395 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) valve_pos_ref_dz - VALVE_POS_VS_PWM[i]);
Lightvalve 238:4e660aa77eb7 396 } else {
Lightvalve 238:4e660aa77eb7 397 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) valve_pos_ref_dz - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 238:4e660aa77eb7 398 }
Lightvalve 238:4e660aa77eb7 399 break;
Lightvalve 238:4e660aa77eb7 400 }
Lightvalve 238:4e660aa77eb7 401 }
Lightvalve 238:4e660aa77eb7 402 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 238:4e660aa77eb7 403 }
Lightvalve 238:4e660aa77eb7 404
Lightvalve 224:985dba42f261 405 // PWM duty vs. voltage output of L6205 in STM board
Lightvalve 14:8e7590227d22 406 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 407 float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve 34:bb2ca2fc2a8e 408 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 409 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 410 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 411 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 412 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 413 }; // duty
Lightvalve 67:c2812cf26c38 414 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 415 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 416 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 417 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 418 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 419 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 420 }; // mV
Lightvalve 13:747daba9cf59 421
Lightvalve 30:8d561f16383b 422 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 423 {
Lightvalve 30:8d561f16383b 424 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 425 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 426 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 427 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 428 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 429 } else {
Lightvalve 13:747daba9cf59 430 int idx = 0;
Lightvalve 13:747daba9cf59 431 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 432 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 433 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 434 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 435 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 436 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 437 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 438 break;
Lightvalve 13:747daba9cf59 439 }
Lightvalve 13:747daba9cf59 440 }
Lightvalve 13:747daba9cf59 441 }
Lightvalve 13:747daba9cf59 442 return PWM_duty;
Lightvalve 13:747daba9cf59 443 }
jobuuu 6:df07d3491e3a 444
Lightvalve 57:f4819de54e7a 445
Lightvalve 57:f4819de54e7a 446
jobuuu 2:a1c0a37df760 447 /*******************************************************************************
jobuuu 2:a1c0a37df760 448 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 449 *******************************************************************************/
jobuuu 2:a1c0a37df760 450
Lightvalve 243:30896263bd8b 451
Lightvalve 243:30896263bd8b 452 //------------------------------------------------
Lightvalve 243:30896263bd8b 453 // TMR3 : LVDT 1kHz
Lightvalve 243:30896263bd8b 454 //-----------------------------------------------
Lightvalve 240:fb5b57e3f157 455 float LVDT_new = 0.0f;
Lightvalve 240:fb5b57e3f157 456 float LVDT_old = 0.0f;
Lightvalve 240:fb5b57e3f157 457 float LVDT_f_cut = 1000.0f;
Lightvalve 240:fb5b57e3f157 458 float LVDT_LPF = 0.0f;
Lightvalve 240:fb5b57e3f157 459 float LVDT_sum = 0.0f;
Lightvalve 240:fb5b57e3f157 460
Lightvalve 240:fb5b57e3f157 461 extern "C" void TIM3_IRQHandler(void)
Lightvalve 240:fb5b57e3f157 462 {
Lightvalve 240:fb5b57e3f157 463 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 240:fb5b57e3f157 464
Lightvalve 243:30896263bd8b 465 //// if (LED > 0) LED = 0;
Lightvalve 243:30896263bd8b 466 //// else LED = 1;
Lightvalve 243:30896263bd8b 467 //
Lightvalve 243:30896263bd8b 468 // LVDT_sum = 0.0f;
Lightvalve 243:30896263bd8b 469 //
Lightvalve 243:30896263bd8b 470 //
Lightvalve 243:30896263bd8b 471 // LVDT_L = 0;
Lightvalve 243:30896263bd8b 472 // LVDT_H = 1;
Lightvalve 243:30896263bd8b 473 //
Lightvalve 243:30896263bd8b 474 //// LED = 1;
Lightvalve 243:30896263bd8b 475 //
Lightvalve 243:30896263bd8b 476 // for (int ij = 0; ij<150; ij++) {
Lightvalve 243:30896263bd8b 477 // ADC1->CR2 |= 0x40000000;
Lightvalve 243:30896263bd8b 478 // LVDT_new = ((float)ADC1->DR) - 2047.5f;
Lightvalve 243:30896263bd8b 479 // LVDT_sum = LVDT_sum + LVDT_new;
Lightvalve 243:30896263bd8b 480 // }
Lightvalve 243:30896263bd8b 481 //
Lightvalve 243:30896263bd8b 482 //// LED = 0;
Lightvalve 243:30896263bd8b 483 //
Lightvalve 243:30896263bd8b 484 // LVDT_H = 0;
Lightvalve 243:30896263bd8b 485 // LVDT_L = 1;
Lightvalve 240:fb5b57e3f157 486
Lightvalve 240:fb5b57e3f157 487
Lightvalve 243:30896263bd8b 488
Lightvalve 243:30896263bd8b 489
Lightvalve 243:30896263bd8b 490 // LVDT_new = LVDT_sum * 0.01f*2.0f;
Lightvalve 243:30896263bd8b 491 //
Lightvalve 243:30896263bd8b 492 // float alpha_LVDT = 1.0f/(1.0f+TMR_FREQ_1k/(2.0f*PI*300.0f));
Lightvalve 243:30896263bd8b 493 // LVDT_LPF = (1.0f-alpha_LVDT) * LVDT_LPF + alpha_LVDT * LVDT_new;
Lightvalve 243:30896263bd8b 494 // valve_pos.sen = LVDT_LPF;
Lightvalve 243:30896263bd8b 495 // if(DIR_VALVE_ENC < 0) valve_pos.sen = 0.0f - valve_pos.sen;
Lightvalve 240:fb5b57e3f157 496
Lightvalve 243:30896263bd8b 497 // TIM4->CCR2 = (PWM_ARR)*(0.95f);
Lightvalve 243:30896263bd8b 498 // TIM4->CCR1 = (PWM_ARR)*(0.975f);
Lightvalve 243:30896263bd8b 499
Lightvalve 243:30896263bd8b 500 // TIM8->CCR1 = (TMR8_COUNT)*(0.95f);
Lightvalve 243:30896263bd8b 501 // TIM8->CCR2 = (TMR8_COUNT)*(0.975f);
Lightvalve 243:30896263bd8b 502
Lightvalve 240:fb5b57e3f157 503
Lightvalve 243:30896263bd8b 504 // PWM_H2 = 0;
Lightvalve 243:30896263bd8b 505 // PWM_L2 = 1;
Lightvalve 240:fb5b57e3f157 506
Lightvalve 243:30896263bd8b 507 // TIM3->CCR2 = (TMR3_COUNT)*(0.95f);
Lightvalve 243:30896263bd8b 508 // TIM3->CCR1 = (TMR3_COUNT)*(0.975f);
Lightvalve 243:30896263bd8b 509
Lightvalve 240:fb5b57e3f157 510
Lightvalve 240:fb5b57e3f157 511 }
Lightvalve 240:fb5b57e3f157 512 TIM3->SR = 0x0; // reset the status register
Lightvalve 240:fb5b57e3f157 513 }
Lightvalve 240:fb5b57e3f157 514
Lightvalve 240:fb5b57e3f157 515
Lightvalve 240:fb5b57e3f157 516
jobuuu 230:2c3e5ecbe7e1 517 //------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 518 // TMR4 : Sensor Read & Data Handling
jobuuu 230:2c3e5ecbe7e1 519 //-----------------------------------------------
Lightvalve 51:b46bed7fec80 520 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 521 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 522 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 523 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 524 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 525 {
Lightvalve 19:23b7c1ad8683 526 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 13:747daba9cf59 527
jobuuu 230:2c3e5ecbe7e1 528 // Current ===================================================
jobuuu 230:2c3e5ecbe7e1 529 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 235:c831718303c9 530
jobuuu 230:2c3e5ecbe7e1 531 cur.UpdateSen(((float)ADC3->DR-2047.5f)/2047.5f*10.0f, FREQ_TMR4, 500.0f); // unit : mA
jobuuu 230:2c3e5ecbe7e1 532
jobuuu 230:2c3e5ecbe7e1 533 // Encoder ===================================================
Lightvalve 57:f4819de54e7a 534 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 535 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 536 }
Lightvalve 61:bc8c8270f0ab 537
Lightvalve 240:fb5b57e3f157 538 /*
jobuuu 230:2c3e5ecbe7e1 539 // Force or Pressure Transducer =============================================
Lightvalve 61:bc8c8270f0ab 540 ADC1->CR2 |= 0x40000000;
jobuuu 230:2c3e5ecbe7e1 541 if (SENSING_MODE == 0) { // Force sensing
jobuuu 230:2c3e5ecbe7e1 542 force.UpdateSen((((float)ADC1->DR) - 2047.5f)/TORQUE_SENSOR_PULSE_PER_TORQUE, FREQ_TMR4, 100.0f); // unit : N
jobuuu 230:2c3e5ecbe7e1 543 } else if (SENSING_MODE == 1) { // Pressure sensing
jobuuu 230:2c3e5ecbe7e1 544 float pres_A_new, pres_B_new;
Lightvalve 240:fb5b57e3f157 545 // if (DIR_VALVE_ENC > 0) {
Lightvalve 240:fb5b57e3f157 546 pres_A_new = (((float)ADC1->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 240:fb5b57e3f157 547 pres_B_new = (((float)ADC2->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 240:fb5b57e3f157 548 // } else {
Lightvalve 240:fb5b57e3f157 549 // pres_A_new = (((float)ADC2->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 240:fb5b57e3f157 550 // pres_B_new = (((float)ADC1->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 240:fb5b57e3f157 551 // }
jobuuu 230:2c3e5ecbe7e1 552 pres_A.UpdateSen(pres_A_new,FREQ_TMR4,200.0f);
jobuuu 230:2c3e5ecbe7e1 553 pres_B.UpdateSen(pres_B_new,FREQ_TMR4,200.0f);
Lightvalve 50:3c630b5eba9f 554
Lightvalve 238:4e660aa77eb7 555 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 235:c831718303c9 556 float torq_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 232:2976cf1b4252 557 torq.UpdateSen(torq_new,FREQ_TMR4,1000.0f); // unit : Nm
Lightvalve 238:4e660aa77eb7 558 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
jobuuu 230:2c3e5ecbe7e1 559 float force_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.1f; // mm^2*bar >> N
Lightvalve 232:2976cf1b4252 560 force.UpdateSen(force_new,FREQ_TMR4,1000.0f); // unit : N
Lightvalve 58:2eade98630e2 561 }
Lightvalve 58:2eade98630e2 562 }
Lightvalve 240:fb5b57e3f157 563 */
Lightvalve 61:bc8c8270f0ab 564
Lightvalve 243:30896263bd8b 565 // //FORWARD
Lightvalve 243:30896263bd8b 566 // if(CNT_TMR4 < 2)
Lightvalve 243:30896263bd8b 567 // {
Lightvalve 243:30896263bd8b 568 // PWM_L2 = 0;
Lightvalve 243:30896263bd8b 569 // PWM_H1 = 0;
Lightvalve 243:30896263bd8b 570 //
Lightvalve 243:30896263bd8b 571 // PWM_H2 = 1;
Lightvalve 243:30896263bd8b 572 // PWM_L1 = 1;
Lightvalve 243:30896263bd8b 573 // } else if(CNT_TMR4 < 50)
Lightvalve 243:30896263bd8b 574 // {
Lightvalve 243:30896263bd8b 575 // PWM_H2 = 0;
Lightvalve 243:30896263bd8b 576 // PWM_H1 = 0;
Lightvalve 243:30896263bd8b 577 //
Lightvalve 243:30896263bd8b 578 // PWM_L2 = 1;
Lightvalve 243:30896263bd8b 579 // PWM_L1 = 1;
Lightvalve 243:30896263bd8b 580 // } else
Lightvalve 243:30896263bd8b 581 // {
Lightvalve 243:30896263bd8b 582 // CNT_TMR4 = 0;
Lightvalve 243:30896263bd8b 583 // }
Lightvalve 243:30896263bd8b 584
Lightvalve 243:30896263bd8b 585
Lightvalve 243:30896263bd8b 586 // //BACKWARD
Lightvalve 243:30896263bd8b 587 // if(CNT_TMR4 < 2)
Lightvalve 243:30896263bd8b 588 // {
Lightvalve 243:30896263bd8b 589 // PWM_H2 = 0;
Lightvalve 243:30896263bd8b 590 // PWM_L1 = 0;
Lightvalve 243:30896263bd8b 591 //
Lightvalve 243:30896263bd8b 592 // PWM_L2 = 1;
Lightvalve 243:30896263bd8b 593 // PWM_H1 = 1;
Lightvalve 243:30896263bd8b 594 // } else if(CNT_TMR4 < 50)
Lightvalve 243:30896263bd8b 595 // {
Lightvalve 243:30896263bd8b 596 // PWM_H2 = 0;
Lightvalve 243:30896263bd8b 597 // PWM_H1 = 0;
Lightvalve 243:30896263bd8b 598 //
Lightvalve 243:30896263bd8b 599 // PWM_L2 = 1;
Lightvalve 243:30896263bd8b 600 // PWM_L1 = 1;
Lightvalve 243:30896263bd8b 601 // } else
Lightvalve 243:30896263bd8b 602 // {
Lightvalve 243:30896263bd8b 603 // CNT_TMR4 = 0;
Lightvalve 243:30896263bd8b 604 // }
Lightvalve 243:30896263bd8b 605
Lightvalve 243:30896263bd8b 606
Lightvalve 243:30896263bd8b 607
Lightvalve 243:30896263bd8b 608
Lightvalve 243:30896263bd8b 609
Lightvalve 57:f4819de54e7a 610 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 611 }
Lightvalve 11:82d8768d7351 612 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 613 }
Lightvalve 19:23b7c1ad8683 614
Lightvalve 19:23b7c1ad8683 615
Lightvalve 18:b8adf1582ea3 616 int j =0;
Lightvalve 240:fb5b57e3f157 617 float FREQ_TMR5 = (float)FREQ_5k;
Lightvalve 240:fb5b57e3f157 618 float DT_TMR5 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 619 int cnt_trans = 0;
Lightvalve 57:f4819de54e7a 620 int can_rest =0;
Lightvalve 239:8ac5c6162bc1 621 float force_ref_act_can = 0.0f;
Lightvalve 48:889798ff9329 622
Lightvalve 240:fb5b57e3f157 623 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 624 {
Lightvalve 240:fb5b57e3f157 625 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 240:fb5b57e3f157 626
Lightvalve 241:27eca07c9591 627 // if (LED > 0) LED = 0;
Lightvalve 241:27eca07c9591 628 // else LED = 1;
Lightvalve 57:f4819de54e7a 629
Lightvalve 50:3c630b5eba9f 630 if(MODE_POS_FT_TRANS == 1) {
jobuuu 230:2c3e5ecbe7e1 631 if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
Lightvalve 240:fb5b57e3f157 632 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR5 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 633 cnt_trans++;
Lightvalve 233:2ec0de8590d3 634 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 635 force.err_int = 0.0f;
Lightvalve 240:fb5b57e3f157 636 if((float)cnt_trans * DT_TMR5 > 3.0f)
Lightvalve 45:35fa6884d0c6 637 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 638 } else if(MODE_POS_FT_TRANS == 3) {
jobuuu 230:2c3e5ecbe7e1 639 if (alpha_trans == 0.0f) MODE_POS_FT_TRANS = 0;
Lightvalve 240:fb5b57e3f157 640 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR5 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 641 cnt_trans++;
Lightvalve 233:2ec0de8590d3 642 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 643 force.err_int = 0.0f;
Lightvalve 240:fb5b57e3f157 644 if((float) cnt_trans * DT_TMR5 > 3.0f )
Lightvalve 45:35fa6884d0c6 645 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 646 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 647 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 648 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 649 } else {
Lightvalve 58:2eade98630e2 650 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 651 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 652 }
Lightvalve 45:35fa6884d0c6 653
Lightvalve 50:3c630b5eba9f 654
jobuuu 230:2c3e5ecbe7e1 655 // Reference Update ==========================================================
hyhoon 227:699c3e572283 656 switch (REFERENCE_MODE) {
hyhoon 227:699c3e572283 657 case MODE_REF_NO_ACT: {
hyhoon 227:699c3e572283 658 break;
hyhoon 227:699c3e572283 659 }
hyhoon 227:699c3e572283 660 case MODE_REF_DIRECT: {
hyhoon 227:699c3e572283 661 pos.ref = REF_POSITION;
hyhoon 227:699c3e572283 662 vel.ref = REF_VELOCITY;
hyhoon 227:699c3e572283 663 torq.ref = REF_TORQUE;
jobuuu 230:2c3e5ecbe7e1 664 force.ref = REF_FORCE;
jobuuu 230:2c3e5ecbe7e1 665 break;
jobuuu 230:2c3e5ecbe7e1 666 }
jobuuu 230:2c3e5ecbe7e1 667 case MODE_REF_FINDHOME: {
jobuuu 230:2c3e5ecbe7e1 668 pos.ref = REF_POSITION_FINDHOME;
jobuuu 230:2c3e5ecbe7e1 669 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 670 torq.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 671 force.ref = 0.0f;
hyhoon 227:699c3e572283 672 break;
hyhoon 227:699c3e572283 673 }
hyhoon 227:699c3e572283 674 default:
hyhoon 227:699c3e572283 675 break;
hyhoon 227:699c3e572283 676 }
hyhoon 227:699c3e572283 677
Lightvalve 237:c2cfe349f5c1 678 if (((OPERATING_MODE&0b110)>>1) == 0) {
jobuuu 230:2c3e5ecbe7e1 679 K_v = 1.03f; // Q = K_v*sqrt(deltaP)*tanh(C_d*Xv);
Lightvalve 235:c831718303c9 680 C_d = 0.16f;
jobuuu 230:2c3e5ecbe7e1 681 mV_PER_mA = 500.0f; // 5000mV/10mA
jobuuu 230:2c3e5ecbe7e1 682 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 683 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 237:c2cfe349f5c1 684 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
jobuuu 230:2c3e5ecbe7e1 685 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
jobuuu 230:2c3e5ecbe7e1 686 mV_PER_mA = 166.6666f; // 5000mV/30mA
jobuuu 230:2c3e5ecbe7e1 687 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 688 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 237:c2cfe349f5c1 689 } else if (((OPERATING_MODE&0b110)>>1) == 2) {
Lightvalve 237:c2cfe349f5c1 690 C_d = 0.0000845f; // Q = C_d * Valve_pos * sqrt(deltaP*alpha/(1+alpha)) : Valve_pos = 10000, deltaP = 70, alpha = 1 -> Q = 5
jobuuu 230:2c3e5ecbe7e1 691 }
Lightvalve 235:c831718303c9 692
jobuuu 230:2c3e5ecbe7e1 693 // =====================================================================
jobuuu 230:2c3e5ecbe7e1 694 // CONTROL LOOP --------------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 695 // =====================================================================
Lightvalve 57:f4819de54e7a 696 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 697 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 698
Lightvalve 57:f4819de54e7a 699 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 700 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 701 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 702 } else {
Lightvalve 57:f4819de54e7a 703 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 704 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 705 }
Lightvalve 57:f4819de54e7a 706 // UTILITY MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 707 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 708 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 709 break;
Lightvalve 13:747daba9cf59 710 }
Lightvalve 14:8e7590227d22 711
Lightvalve 235:c831718303c9 712 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 235:c831718303c9 713 static float FORCE_pulse_sum = 0.0;
Lightvalve 235:c831718303c9 714 static float PresA_pulse_sum = 0.0;
Lightvalve 235:c831718303c9 715 static float PresB_pulse_sum = 0.0;
Lightvalve 235:c831718303c9 716
Lightvalve 13:747daba9cf59 717 // DAC Voltage reference set
Lightvalve 232:2976cf1b4252 718 float VREF_TuningGain = -0.000003f;
jobuuu 230:2c3e5ecbe7e1 719 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
jobuuu 230:2c3e5ecbe7e1 720 LED = 1;
jobuuu 230:2c3e5ecbe7e1 721 if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 722 FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 230:2c3e5ecbe7e1 723 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 724 float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 725 FORCE_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 726
jobuuu 230:2c3e5ecbe7e1 727 FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 728 if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 729 if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 730 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 731 }
Lightvalve 235:c831718303c9 732 } else if (SENSING_MODE == 1) { // Pressure Sensor
jobuuu 230:2c3e5ecbe7e1 733 PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 734 PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 735 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 736 float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 737 float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 738 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 739 PresB_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 740
jobuuu 230:2c3e5ecbe7e1 741 PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 742 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 743 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 744 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 745 PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 746 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 235:c831718303c9 747 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 748 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 749 }
Lightvalve 13:747daba9cf59 750 }
jobuuu 230:2c3e5ecbe7e1 751 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 752 } else {
jobuuu 230:2c3e5ecbe7e1 753 if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 754 FORCE_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 755 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 756 spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 757 } else if (SENSING_MODE == 1) {
jobuuu 230:2c3e5ecbe7e1 758 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 759 PresB_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 760 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 761 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 762 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 763 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 764 }
Lightvalve 58:2eade98630e2 765 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 766 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 767 }
Lightvalve 13:747daba9cf59 768 break;
Lightvalve 19:23b7c1ad8683 769 }
Lightvalve 14:8e7590227d22 770
Lightvalve 235:c831718303c9 771 case MODE_FIND_HOME: {
jobuuu 230:2c3e5ecbe7e1 772 static int cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 773 static int cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 774 static float FINDHOME_POSITION_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 775 static float FINDHOME_POSITION_pulse_OLD = 0.0f;
jobuuu 230:2c3e5ecbe7e1 776 static float FINDHOME_VELOCITY_pulse = 0.0f;
Lightvalve 235:c831718303c9 777 static float REF_POSITION_FINDHOME_INIT = 0.0f;
jobuuu 230:2c3e5ecbe7e1 778
Lightvalve 29:69f3f5445d6d 779 if (FINDHOME_STAGE == FINDHOME_INIT) {
jobuuu 230:2c3e5ecbe7e1 780 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 14:8e7590227d22 781 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 782 cnt_terminate_findhome = 0;
Lightvalve 59:f308b1656d9c 783 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 784 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 785 REF_POSITION_FINDHOME = pos.ref;
Lightvalve 29:69f3f5445d6d 786 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 787 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
jobuuu 230:2c3e5ecbe7e1 788 int cnt_check_enc = (TMR_FREQ_5k/20); // 5000/20 = 250tic = 50msec
Lightvalve 29:69f3f5445d6d 789 if(cnt_findhome%cnt_check_enc == 0) {
jobuuu 230:2c3e5ecbe7e1 790 FINDHOME_POSITION_pulse = pos.sen*ENC_PULSE_PER_POSITION;
jobuuu 230:2c3e5ecbe7e1 791 FINDHOME_VELOCITY_pulse = FINDHOME_POSITION_pulse - FINDHOME_POSITION_pulse_OLD;
jobuuu 230:2c3e5ecbe7e1 792 FINDHOME_POSITION_pulse_OLD = FINDHOME_POSITION_pulse;
Lightvalve 29:69f3f5445d6d 793 }
Lightvalve 29:69f3f5445d6d 794 cnt_findhome++;
Lightvalve 14:8e7590227d22 795
jobuuu 230:2c3e5ecbe7e1 796 if (fabs(FINDHOME_VELOCITY_pulse) <= 1) {
jobuuu 230:2c3e5ecbe7e1 797 cnt_terminate_findhome = cnt_terminate_findhome + 1;
Lightvalve 29:69f3f5445d6d 798 } else {
jobuuu 230:2c3e5ecbe7e1 799 cnt_terminate_findhome = 0;
Lightvalve 29:69f3f5445d6d 800 }
Lightvalve 19:23b7c1ad8683 801
jobuuu 230:2c3e5ecbe7e1 802 if ((cnt_terminate_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
jobuuu 230:2c3e5ecbe7e1 803 double GOTOHOME_SPEED = 10.0f; // 20mm/s or 20deg/s
hyhoon 226:82a3ca333004 804 if (HOMEPOS_OFFSET > 0) {
Lightvalve 235:c831718303c9 805 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME + GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 806 } else {
jobuuu 230:2c3e5ecbe7e1 807 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME - GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 808 }
Lightvalve 59:f308b1656d9c 809 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 810 alpha_trans = 0.0f;
Lightvalve 29:69f3f5445d6d 811 } else {
jobuuu 230:2c3e5ecbe7e1 812 ENC_SET((long)((long)HOMEPOS_OFFSET*10));
jobuuu 230:2c3e5ecbe7e1 813 REF_POSITION_FINDHOME_INIT = (float)((long)HOMEPOS_OFFSET*10);
jobuuu 230:2c3e5ecbe7e1 814 FINDHOME_POSITION_pulse = 0;
jobuuu 230:2c3e5ecbe7e1 815 FINDHOME_POSITION_pulse_OLD = 0;
jobuuu 230:2c3e5ecbe7e1 816 FINDHOME_VELOCITY_pulse = 0;
Lightvalve 235:c831718303c9 817
Lightvalve 29:69f3f5445d6d 818 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 819 cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 820 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 821 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 822 }
Lightvalve 29:69f3f5445d6d 823 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 235:c831718303c9 824
Lightvalve 232:2976cf1b4252 825 // int T_move = 2*TMR_FREQ_5k;
Lightvalve 232:2976cf1b4252 826 int T_move = 10000;
Lightvalve 232:2976cf1b4252 827 REF_POSITION_FINDHOME = ((0.0f - REF_POSITION_FINDHOME_INIT)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)REF_POSITION_FINDHOME_INIT)/ENC_PULSE_PER_POSITION;
Lightvalve 235:c831718303c9 828
Lightvalve 29:69f3f5445d6d 829 cnt_findhome++;
Lightvalve 235:c831718303c9 830
Lightvalve 232:2976cf1b4252 831 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 232:2976cf1b4252 832 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 232:2976cf1b4252 833 alpha_trans = 0.0f;
Lightvalve 235:c831718303c9 834
Lightvalve 29:69f3f5445d6d 835 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 836 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 837 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 838 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 839 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
jobuuu 230:2c3e5ecbe7e1 840 REFERENCE_MODE = MODE_REF_DIRECT;
hyhoon 226:82a3ca333004 841 }
Lightvalve 13:747daba9cf59 842 }
Lightvalve 13:747daba9cf59 843 break;
Lightvalve 13:747daba9cf59 844 }
Lightvalve 237:c2cfe349f5c1 845
Lightvalve 237:c2cfe349f5c1 846 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 237:c2cfe349f5c1 847 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 848 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 237:c2cfe349f5c1 849
Lightvalve 237:c2cfe349f5c1 850 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 237:c2cfe349f5c1 851 Vout.ref = 3000.0f * sin(2.0f*3.14159f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 237:c2cfe349f5c1 852 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 853 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 237:c2cfe349f5c1 854 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 855 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 856 data_num = 0;
Lightvalve 237:c2cfe349f5c1 857 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 858 data_num = data_num + 1;
Lightvalve 242:b235d67d25ba 859 VALVE_POS_TMP = VALVE_POS_TMP + valve_pos.sen;
Lightvalve 237:c2cfe349f5c1 860 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 861 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 862 } else {
Lightvalve 237:c2cfe349f5c1 863 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 864 VALVE_ID_timer = 0;
Lightvalve 237:c2cfe349f5c1 865 ID_index= ID_index +1;
Lightvalve 237:c2cfe349f5c1 866 }
Lightvalve 237:c2cfe349f5c1 867
Lightvalve 237:c2cfe349f5c1 868 if(ID_index>=25) {
Lightvalve 237:c2cfe349f5c1 869 int i;
Lightvalve 237:c2cfe349f5c1 870 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 237:c2cfe349f5c1 871 for(i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 872 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 237:c2cfe349f5c1 873 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 874 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 875 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 876 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 877 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 878 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 879 }
Lightvalve 237:c2cfe349f5c1 880 }
Lightvalve 237:c2cfe349f5c1 881 VALVE_ELECTRIC_CENTER = VALVE_POS_VS_PWM[0];
Lightvalve 237:c2cfe349f5c1 882 spi_eeprom_write(RID_VALVE_ELECTRIC_CENTER, (int16_t) VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 883 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 237:c2cfe349f5c1 884 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 237:c2cfe349f5c1 885 for(int i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 886 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 237:c2cfe349f5c1 887 }
Lightvalve 237:c2cfe349f5c1 888 ID_index = 0;
Lightvalve 237:c2cfe349f5c1 889 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 890 }
Lightvalve 237:c2cfe349f5c1 891
Lightvalve 237:c2cfe349f5c1 892
Lightvalve 237:c2cfe349f5c1 893 break;
Lightvalve 237:c2cfe349f5c1 894 }
Lightvalve 237:c2cfe349f5c1 895 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 237:c2cfe349f5c1 896 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 897 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 237:c2cfe349f5c1 898 if(first_check == 0) {
Lightvalve 237:c2cfe349f5c1 899 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 900 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 901 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 902 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 903 pos_plus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 904 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 905 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 906 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 907 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 908 pos_minus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 909 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 910 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 911 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 912 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 913 data_num = data_num + 1;
Lightvalve 243:30896263bd8b 914 VALVE_POS_TMP = VALVE_POS_TMP + valve_pos.sen;
Lightvalve 237:c2cfe349f5c1 915 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 916 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 917 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 918 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 919 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 920 data_num = 0;
Lightvalve 237:c2cfe349f5c1 921
Lightvalve 237:c2cfe349f5c1 922 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 923 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 924 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 925
Lightvalve 237:c2cfe349f5c1 926 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 927 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 928 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 929
Lightvalve 237:c2cfe349f5c1 930 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 931 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 238:4e660aa77eb7 932 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 933 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 934
Lightvalve 238:4e660aa77eb7 935 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 936 DZ_case = 1;
Lightvalve 238:4e660aa77eb7 937 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 938 DZ_case = -1;
Lightvalve 237:c2cfe349f5c1 939 } else {
Lightvalve 237:c2cfe349f5c1 940 DZ_case = 0;
Lightvalve 237:c2cfe349f5c1 941 }
Lightvalve 237:c2cfe349f5c1 942
Lightvalve 237:c2cfe349f5c1 943 first_check = 1;
Lightvalve 237:c2cfe349f5c1 944 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 945 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 946 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 237:c2cfe349f5c1 947 DZ_NUM = 1;
Lightvalve 237:c2cfe349f5c1 948 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 949
Lightvalve 237:c2cfe349f5c1 950 }
Lightvalve 237:c2cfe349f5c1 951 } else {
Lightvalve 237:c2cfe349f5c1 952 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 243:30896263bd8b 953 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 954 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 955 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 956 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 957 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 958 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 959 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 960 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 961 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 962 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 963 }
Lightvalve 238:4e660aa77eb7 964 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 965
Lightvalve 237:c2cfe349f5c1 966 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 967 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 968 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 969
Lightvalve 238:4e660aa77eb7 970 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 971 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 238:4e660aa77eb7 972 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 973 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 974 } else {
Lightvalve 237:c2cfe349f5c1 975 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 976 }
Lightvalve 237:c2cfe349f5c1 977
Lightvalve 237:c2cfe349f5c1 978 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 979 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 980 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 981 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 982 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 983 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 984 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 985 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 986 }
Lightvalve 237:c2cfe349f5c1 987 }
Lightvalve 237:c2cfe349f5c1 988 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 237:c2cfe349f5c1 989 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 990 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 991 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 992 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 993 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 994 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 995 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 996 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 997 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 998 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 999 }
Lightvalve 238:4e660aa77eb7 1000 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 1001
Lightvalve 237:c2cfe349f5c1 1002 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1003 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1004 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1005 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1006 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1007
Lightvalve 238:4e660aa77eb7 1008 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 1009 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 238:4e660aa77eb7 1010 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 1011 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 1012 } else {
Lightvalve 237:c2cfe349f5c1 1013 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 1014 }
Lightvalve 237:c2cfe349f5c1 1015
Lightvalve 237:c2cfe349f5c1 1016 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 1017 DZ_index= DZ_index * 2;
Lightvalve 237:c2cfe349f5c1 1018 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 1019 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1020 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 1021 first_check = 0;
Lightvalve 237:c2cfe349f5c1 1022 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 1023 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 1024
Lightvalve 237:c2cfe349f5c1 1025 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 1026 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 1027 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 1028
Lightvalve 237:c2cfe349f5c1 1029 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1030 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 1031 }
Lightvalve 237:c2cfe349f5c1 1032 }
Lightvalve 237:c2cfe349f5c1 1033 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 237:c2cfe349f5c1 1034 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1035 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 1036 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1037 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1038 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1039 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 1040 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 1041 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 1042 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 1043 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 1044 }
Lightvalve 238:4e660aa77eb7 1045 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 1046
Lightvalve 237:c2cfe349f5c1 1047 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1048 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1049 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1050
Lightvalve 238:4e660aa77eb7 1051 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 1052 DZ_DIRECTION = 1;
Lightvalve 238:4e660aa77eb7 1053 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 1054 DZ_DIRECTION = -1;
Lightvalve 237:c2cfe349f5c1 1055 } else {
Lightvalve 237:c2cfe349f5c1 1056 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1057 }
Lightvalve 237:c2cfe349f5c1 1058 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 1059 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 1060 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 1061 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1062 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 1063 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 1064 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 1065 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1066 }
Lightvalve 237:c2cfe349f5c1 1067 }
Lightvalve 237:c2cfe349f5c1 1068 } else {
Lightvalve 237:c2cfe349f5c1 1069 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1070 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 1071 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1072 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1073 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1074 valve_pos_raw.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 238:4e660aa77eb7 1075 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 238:4e660aa77eb7 1076 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 238:4e660aa77eb7 1077 } else if(valve_pos_raw.ref > VALVE_MAX_POS) {
Lightvalve 238:4e660aa77eb7 1078 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 1079 }
Lightvalve 238:4e660aa77eb7 1080 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 237:c2cfe349f5c1 1081
Lightvalve 237:c2cfe349f5c1 1082 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1083 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1084 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 238:4e660aa77eb7 1085 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1086 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 1087
Lightvalve 238:4e660aa77eb7 1088 if((FINAL_POS - START_POS)>1) {
Lightvalve 237:c2cfe349f5c1 1089 DZ_DIRECTION = -1;
Lightvalve 238:4e660aa77eb7 1090 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 237:c2cfe349f5c1 1091 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1092 } else {
Lightvalve 237:c2cfe349f5c1 1093 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 1094 }
Lightvalve 237:c2cfe349f5c1 1095
Lightvalve 237:c2cfe349f5c1 1096 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 1097 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 1098 if(DZ_index >= 128) {
Lightvalve 238:4e660aa77eb7 1099 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 237:c2cfe349f5c1 1100 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 1101 first_check = 0;
Lightvalve 237:c2cfe349f5c1 1102 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 1103 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 1104
Lightvalve 237:c2cfe349f5c1 1105 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 1106 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 1107 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 1108
Lightvalve 237:c2cfe349f5c1 1109 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1110 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 1111 }
Lightvalve 237:c2cfe349f5c1 1112 }
Lightvalve 237:c2cfe349f5c1 1113 }
Lightvalve 237:c2cfe349f5c1 1114 }
Lightvalve 237:c2cfe349f5c1 1115 break;
Lightvalve 237:c2cfe349f5c1 1116 }
Lightvalve 238:4e660aa77eb7 1117
Lightvalve 237:c2cfe349f5c1 1118 case MODE_STEP_TEST: {
Lightvalve 237:c2cfe349f5c1 1119 float valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1120 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1121 valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 1122 } else {
Lightvalve 237:c2cfe349f5c1 1123 valve_pos_ref = 10000.0f;
Lightvalve 237:c2cfe349f5c1 1124 }
Lightvalve 237:c2cfe349f5c1 1125 if(valve_pos_ref >= 0) {
Lightvalve 243:30896263bd8b 1126 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER + (float)valve_pos_ref * ((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1127 } else {
Lightvalve 243:30896263bd8b 1128 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER - (float)valve_pos_ref * ((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1129 }
Lightvalve 240:fb5b57e3f157 1130
Lightvalve 238:4e660aa77eb7 1131 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 240:fb5b57e3f157 1132
Lightvalve 237:c2cfe349f5c1 1133 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 243:30896263bd8b 1134 if(valve_pos.sen >= (float) VALVE_ELECTRIC_CENTER) {
Lightvalve 243:30896263bd8b 1135 pos_array[cnt_step_test] = 10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1136 } else {
Lightvalve 243:30896263bd8b 1137 pos_array[cnt_step_test] = -10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1138 }
Lightvalve 237:c2cfe349f5c1 1139
Lightvalve 238:4e660aa77eb7 1140 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 1141 cnt_step_test++;
Lightvalve 237:c2cfe349f5c1 1142 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1143 buffer_data_size = cnt_step_test;
Lightvalve 237:c2cfe349f5c1 1144 cnt_step_test = 0;
Lightvalve 237:c2cfe349f5c1 1145 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1146 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1147 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1148 }
Lightvalve 237:c2cfe349f5c1 1149
Lightvalve 237:c2cfe349f5c1 1150 break;
Lightvalve 237:c2cfe349f5c1 1151 }
Lightvalve 237:c2cfe349f5c1 1152 case MODE_SEND_OVER: {
Lightvalve 237:c2cfe349f5c1 1153 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1154 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1155 break;
Lightvalve 237:c2cfe349f5c1 1156 }
Lightvalve 238:4e660aa77eb7 1157
Lightvalve 237:c2cfe349f5c1 1158 case MODE_FREQ_TEST: {
Lightvalve 240:fb5b57e3f157 1159 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR5);
Lightvalve 237:c2cfe349f5c1 1160 if(valve_pos_ref >= 0) {
Lightvalve 243:30896263bd8b 1161 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER + (float)valve_pos_ref * ((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1162 } else {
Lightvalve 243:30896263bd8b 1163 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (float)valve_pos_ref * ((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1164 }
Lightvalve 240:fb5b57e3f157 1165
Lightvalve 238:4e660aa77eb7 1166 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 240:fb5b57e3f157 1167
Lightvalve 237:c2cfe349f5c1 1168 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 243:30896263bd8b 1169 // if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 243:30896263bd8b 1170 if(valve_pos.sen>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 243:30896263bd8b 1171 // pos_array[cnt_freq_test] = 10000.0f*((float)value - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 243:30896263bd8b 1172 pos_array[cnt_freq_test] = 10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1173 } else {
Lightvalve 243:30896263bd8b 1174 // pos_array[cnt_freq_test] = -10000.0f*((float)value - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 243:30896263bd8b 1175 pos_array[cnt_freq_test] = -10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1176 }
Lightvalve 237:c2cfe349f5c1 1177
Lightvalve 238:4e660aa77eb7 1178 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 1179 cnt_freq_test++;
Lightvalve 240:fb5b57e3f157 1180 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR5 > 2) {
Lightvalve 237:c2cfe349f5c1 1181 buffer_data_size = cnt_freq_test;
Lightvalve 237:c2cfe349f5c1 1182 cnt_freq_test = 0;
Lightvalve 237:c2cfe349f5c1 1183 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1184 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 237:c2cfe349f5c1 1185 if (freq_test_valve_ref >= 400) {
Lightvalve 237:c2cfe349f5c1 1186 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1187 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1188 }
Lightvalve 237:c2cfe349f5c1 1189 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1190 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1191
Lightvalve 237:c2cfe349f5c1 1192 }
Lightvalve 237:c2cfe349f5c1 1193 break;
Lightvalve 237:c2cfe349f5c1 1194 }
Lightvalve 237:c2cfe349f5c1 1195
Lightvalve 57:f4819de54e7a 1196 default:
Lightvalve 57:f4819de54e7a 1197 break;
Lightvalve 57:f4819de54e7a 1198 }
Lightvalve 57:f4819de54e7a 1199
Lightvalve 57:f4819de54e7a 1200 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1201 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1202 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1203 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1204 break;
Lightvalve 57:f4819de54e7a 1205 }
Lightvalve 57:f4819de54e7a 1206
Lightvalve 57:f4819de54e7a 1207 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1208 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 238:4e660aa77eb7 1209 VALVE_POS_CONTROL_DZ(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1210 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1211 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 239:8ac5c6162bc1 1212 I_REF = valve_pos.ref;
Lightvalve 169:645207e160ca 1213 } else {
jobuuu 230:2c3e5ecbe7e1 1214 I_REF = valve_pos.ref * 0.001f; // Unit : pulse >> mA
jobuuu 230:2c3e5ecbe7e1 1215 float I_MAX = 10.0f; // Max : 10mA
jobuuu 230:2c3e5ecbe7e1 1216 if (I_REF > I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1217 I_REF = I_MAX;
jobuuu 230:2c3e5ecbe7e1 1218 } else if (I_REF < -I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1219 I_REF = -I_MAX;
jobuuu 230:2c3e5ecbe7e1 1220 }
Lightvalve 57:f4819de54e7a 1221 }
Lightvalve 57:f4819de54e7a 1222 break;
Lightvalve 57:f4819de54e7a 1223 }
Lightvalve 57:f4819de54e7a 1224
Lightvalve 235:c831718303c9 1225 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1226
jobuuu 230:2c3e5ecbe7e1 1227 float temp_vel_pos = 0.0f; // desired velocity for position control
Lightvalve 235:c831718303c9 1228 float temp_vel_FT = 0.0f; // desired velocity for force/torque control
Lightvalve 235:c831718303c9 1229 float temp_vel_ff = 0.0f; // desired velocity for feedforward control
jobuuu 230:2c3e5ecbe7e1 1230 float temp_vel = 0.0f;
Lightvalve 58:2eade98630e2 1231
jobuuu 230:2c3e5ecbe7e1 1232 float wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 235:c831718303c9 1233
jobuuu 230:2c3e5ecbe7e1 1234 pos.err = pos.ref - pos.sen; // Unit : mm or deg
jobuuu 230:2c3e5ecbe7e1 1235 vel.err = vel.ref - vel.sen; // Unit : mm/s or deg/s
Lightvalve 235:c831718303c9 1236
jobuuu 230:2c3e5ecbe7e1 1237 // position control command ===============================================================================================================================================
Lightvalve 238:4e660aa77eb7 1238 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 235:c831718303c9 1239 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err) * PI / 180.0f; // rad/s
Lightvalve 235:c831718303c9 1240 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1241 } else {
Lightvalve 235:c831718303c9 1242 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 235:c831718303c9 1243 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1244 }
Lightvalve 57:f4819de54e7a 1245
jobuuu 230:2c3e5ecbe7e1 1246 // torque control command ===============================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1247 float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
Lightvalve 238:4e660aa77eb7 1248 K_LPF = (1.0f-alpha_SpringDamper) * K_LPF + alpha_SpringDamper * K_SPRING;
Lightvalve 238:4e660aa77eb7 1249 D_LPF = (1.0f-alpha_SpringDamper) * D_LPF + alpha_SpringDamper * D_DAMPER;
Lightvalve 235:c831718303c9 1250
Lightvalve 238:4e660aa77eb7 1251 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 238:4e660aa77eb7 1252 float torq_ref_act = torq.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : Nm
jobuuu 230:2c3e5ecbe7e1 1253 torq.err = torq_ref_act - torq.sen;
jobuuu 230:2c3e5ecbe7e1 1254 torq.err_int += torq.err/((float)TMR_FREQ_5k);
Lightvalve 235:c831718303c9 1255 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * torq.err + I_GAIN_JOINT_TORQUE * torq.err_int); // Nm >> rad/s
Lightvalve 57:f4819de54e7a 1256 } else {
Lightvalve 238:4e660aa77eb7 1257 float force_ref_act = force.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : N
Lightvalve 239:8ac5c6162bc1 1258 //////////////////////////////////////////////////force_reference_filter////////////////////////////////////////////////////////////////////
Lightvalve 240:fb5b57e3f157 1259 // float alpha_torque_ref = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*1.0f));
Lightvalve 240:fb5b57e3f157 1260 // force_ref_filter = (1.0f-alpha_torque_ref) * force_ref_filter + alpha_torque_ref * force_ref_act;
Lightvalve 239:8ac5c6162bc1 1261 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 240:fb5b57e3f157 1262 force_ref_act_can = force_ref_act;
Lightvalve 240:fb5b57e3f157 1263 force.err = force_ref_act - force.sen;
jobuuu 230:2c3e5ecbe7e1 1264 force.err_int += force.err/((float)TMR_FREQ_5k);
Lightvalve 235:c831718303c9 1265 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * force.err + I_GAIN_JOINT_TORQUE * force.err_int); // N >> mm/s
jobuuu 230:2c3e5ecbe7e1 1266 }
Lightvalve 235:c831718303c9 1267
Lightvalve 235:c831718303c9 1268
Lightvalve 235:c831718303c9 1269 // velocity feedforward command ========================================================================================================================================
Lightvalve 238:4e660aa77eb7 1270 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
jobuuu 230:2c3e5ecbe7e1 1271 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref * PI / 180.0f; // rad/s
jobuuu 230:2c3e5ecbe7e1 1272 } else {
jobuuu 230:2c3e5ecbe7e1 1273 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref; // mm/s
jobuuu 230:2c3e5ecbe7e1 1274 }
Lightvalve 169:645207e160ca 1275
Lightvalve 235:c831718303c9 1276 // command integration =================================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1277 temp_vel = (1.0f - alpha_trans) * temp_vel_pos + alpha_trans * temp_vel_FT + temp_vel_ff; // Position Control + Torque Control + Velocity Feedforward
Lightvalve 237:c2cfe349f5c1 1278
Lightvalve 235:c831718303c9 1279 float Qact = 0.0f; // required flow rate
Lightvalve 237:c2cfe349f5c1 1280 float valve_pos_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 1281 if( temp_vel > 0.0f ) {
jobuuu 230:2c3e5ecbe7e1 1282 Qact = temp_vel * ((float)PISTON_AREA_A * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1283 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1284 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f))))/C_d;
Lightvalve 238:4e660aa77eb7 1285 // I_REF = Qact*2.0f;
Lightvalve 237:c2cfe349f5c1 1286 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1287 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1288 }
jobuuu 230:2c3e5ecbe7e1 1289 } else {
jobuuu 230:2c3e5ecbe7e1 1290 Qact = temp_vel * ((float)PISTON_AREA_B * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1291 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1292 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f))))/C_d;
Lightvalve 238:4e660aa77eb7 1293 // I_REF = Qact*2.0f;
Lightvalve 237:c2cfe349f5c1 1294 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1295 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1296 }
jobuuu 230:2c3e5ecbe7e1 1297 }
Lightvalve 237:c2cfe349f5c1 1298
Lightvalve 237:c2cfe349f5c1 1299
Lightvalve 237:c2cfe349f5c1 1300
Lightvalve 237:c2cfe349f5c1 1301
Lightvalve 237:c2cfe349f5c1 1302 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1303
Lightvalve 237:c2cfe349f5c1 1304 float I_MAX = 10.0f; // Maximum Current : 10mA
Lightvalve 237:c2cfe349f5c1 1305 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1306 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1307 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1308 if (I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1309 float I_rem = I_REF - I_MAX;
Lightvalve 237:c2cfe349f5c1 1310 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1311 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1312 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1313 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1314 double I_rem = I_REF - (-I_MAX);
Lightvalve 237:c2cfe349f5c1 1315 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1316 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1317 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1318 }
Lightvalve 237:c2cfe349f5c1 1319 } else {
Lightvalve 237:c2cfe349f5c1 1320 if(I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1321 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1322 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1323 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1324 }
Lightvalve 57:f4819de54e7a 1325 }
Lightvalve 237:c2cfe349f5c1 1326 } else { //SW valve
Lightvalve 237:c2cfe349f5c1 1327 float Valve_pos_MAX = 10000.0f; // Maximum Valve Pos : 10000
Lightvalve 237:c2cfe349f5c1 1328 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1329 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1330 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1331 if (valve_pos_pulse > Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1332 float valve_pos_rem = valve_pos_pulse - Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1333 valve_pos_pulse = Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1334 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1335 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1336 } else if (valve_pos_pulse < -Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1337 double valve_pos_rem = valve_pos_pulse - (-Valve_pos_MAX);
Lightvalve 237:c2cfe349f5c1 1338 valve_pos_pulse = -Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1339 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1340 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1341 }
Lightvalve 237:c2cfe349f5c1 1342 } else {
Lightvalve 237:c2cfe349f5c1 1343 if(valve_pos_pulse > 10000.0f) {
Lightvalve 237:c2cfe349f5c1 1344 valve_pos_pulse = 10000.0f;
Lightvalve 237:c2cfe349f5c1 1345 } else if(valve_pos_pulse < -10000.0f) {
Lightvalve 237:c2cfe349f5c1 1346 valve_pos_pulse = -10000.0f;
Lightvalve 237:c2cfe349f5c1 1347 }
Lightvalve 235:c831718303c9 1348 }
Lightvalve 238:4e660aa77eb7 1349 // if (valve_pos_pulse >= 0) {
Lightvalve 238:4e660aa77eb7 1350 // valve_pos.ref = valve_pos_pulse/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 238:4e660aa77eb7 1351 // } else {
Lightvalve 238:4e660aa77eb7 1352 // valve_pos.ref = -valve_pos_pulse/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 238:4e660aa77eb7 1353 // }
Lightvalve 238:4e660aa77eb7 1354 VALVE_POS_CONTROL_DZ(valve_pos_pulse);
Lightvalve 237:c2cfe349f5c1 1355 V_out = Vout.ref;
Lightvalve 57:f4819de54e7a 1356 }
Lightvalve 57:f4819de54e7a 1357 break;
Lightvalve 57:f4819de54e7a 1358 }
Lightvalve 58:2eade98630e2 1359
Lightvalve 57:f4819de54e7a 1360 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1361 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1362 break;
Lightvalve 57:f4819de54e7a 1363 }
Lightvalve 169:645207e160ca 1364
Lightvalve 12:6f2531038ea4 1365 default:
Lightvalve 12:6f2531038ea4 1366 break;
Lightvalve 12:6f2531038ea4 1367 }
Lightvalve 14:8e7590227d22 1368
Lightvalve 57:f4819de54e7a 1369
Lightvalve 57:f4819de54e7a 1370 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1371
Lightvalve 57:f4819de54e7a 1372 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1373 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1374 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1375 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1376 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1377 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1378
jobuuu 230:2c3e5ecbe7e1 1379 if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1380 else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1381 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
Lightvalve 235:c831718303c9 1382
hyhoon 226:82a3ca333004 1383 I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve 67:c2812cf26c38 1384 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1385
Lightvalve 57:f4819de54e7a 1386 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1387 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1388 double L_model = 1.2f;
Lightvalve 239:8ac5c6162bc1 1389 double w0 = 2.0f * 3.14f * 100.0f;
Lightvalve 57:f4819de54e7a 1390 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1391 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1392
Lightvalve 57:f4819de54e7a 1393 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1394 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1395 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1396 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1397 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1398 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1399 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1400 }
Lightvalve 57:f4819de54e7a 1401
Lightvalve 57:f4819de54e7a 1402 double FF_gain = 1.0f;
Lightvalve 67:c2812cf26c38 1403 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon 226:82a3ca333004 1404 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon 226:82a3ca333004 1405 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 67:c2812cf26c38 1406 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
hyhoon 226:82a3ca333004 1407 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 238:4e660aa77eb7 1408 double V_MAX = VALVE_VOLTAGE_LIMIT*1000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1409
Lightvalve 57:f4819de54e7a 1410 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1411 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1412 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1413 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1414 VALVE_PWM_RAW = V_MAX;
Lightvalve 234:bd00f763acb1 1415 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1416 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1417 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1418 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1419 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1420 VALVE_PWM_RAW = -V_MAX;
Lightvalve 234:bd00f763acb1 1421 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1422 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1423 }
Lightvalve 57:f4819de54e7a 1424 } else {
Lightvalve 57:f4819de54e7a 1425 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1426 }
Lightvalve 57:f4819de54e7a 1427
Lightvalve 57:f4819de54e7a 1428 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1429 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1430 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1431
Lightvalve 57:f4819de54e7a 1432 // Output Voltage Linearization
hyhoon 226:82a3ca333004 1433 double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve 67:c2812cf26c38 1434 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1435
Lightvalve 57:f4819de54e7a 1436 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1437 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1438 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1439 else V_out = (float) (CUR_PWM_lin);
Lightvalve 235:c831718303c9 1440
Lightvalve 169:645207e160ca 1441 } else { //////////////////////////sw valve
Lightvalve 224:985dba42f261 1442 // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve 135:79885a39c161 1443 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 1444 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 1445 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 1446 }
Lightvalve 169:645207e160ca 1447
jobuuu 230:2c3e5ecbe7e1 1448 ////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1449 /////////////////// PWM Command ///////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1450 ////////////////////////////////////////////////////////////////////
Lightvalve 169:645207e160ca 1451 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 1452 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1453 }
Lightvalve 169:645207e160ca 1454
Lightvalve 49:e7bcfc244d40 1455 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1456 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1457 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1458 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1459 }
Lightvalve 224:985dba42f261 1460 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve 13:747daba9cf59 1461
Lightvalve 224:985dba42f261 1462 // Saturation of output voltage
Lightvalve 30:8d561f16383b 1463 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1464 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1465
Lightvalve 30:8d561f16383b 1466 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1467 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1468 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1469 } else {
jobuuu 2:a1c0a37df760 1470 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1471 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1472 }
Lightvalve 13:747daba9cf59 1473
Lightvalve 67:c2812cf26c38 1474
jobuuu 230:2c3e5ecbe7e1 1475 ////////////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1476 ////////////////////// Data transmission through CAN //////////////////////
Lightvalve 235:c831718303c9 1477 ////////////////////////////////////////////////////////////////////////////
Lightvalve 235:c831718303c9 1478
Lightvalve 242:b235d67d25ba 1479
Lightvalve 243:30896263bd8b 1480 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 243:30896263bd8b 1481 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/500) == 0) {
Lightvalve 235:c831718303c9 1482
hyhoon 226:82a3ca333004 1483 // Position, Velocity, and Torque (ID:1200)
Lightvalve 243:30896263bd8b 1484 if (flag_data_request[0] == HIGH) {
Lightvalve 237:c2cfe349f5c1 1485
Lightvalve 243:30896263bd8b 1486 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 243:30896263bd8b 1487 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 235:c831718303c9 1488
Lightvalve 243:30896263bd8b 1489 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 243:30896263bd8b 1490 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 243:30896263bd8b 1491 }
Lightvalve 243:30896263bd8b 1492 }
hyhoon 226:82a3ca333004 1493
jobuuu 230:2c3e5ecbe7e1 1494 // Valve Position (ID:1300)
Lightvalve 56:6f50d9d3bfee 1495 if (flag_data_request[1] == HIGH) {
Lightvalve 243:30896263bd8b 1496 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 243:30896263bd8b 1497 CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
Lightvalve 243:30896263bd8b 1498 } else {
Lightvalve 243:30896263bd8b 1499 CAN_TX_PWM((int16_t)(valve_pos.sen));
Lightvalve 243:30896263bd8b 1500 }
Lightvalve 54:647072f5307a 1501 }
Lightvalve 58:2eade98630e2 1502
Lightvalve 243:30896263bd8b 1503 // Others : SW (ID:1400)
Lightvalve 171:bfc1fd2629d8 1504 if (flag_data_request[2] == HIGH) {
Lightvalve 243:30896263bd8b 1505 CAN_TX_CURRENT((int16_t) valve_pos.sen, (int16_t) valve_pos.ref);
Lightvalve 54:647072f5307a 1506 }
Lightvalve 20:806196fda269 1507
Lightvalve 54:647072f5307a 1508 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1509 }
Lightvalve 54:647072f5307a 1510 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1511
Lightvalve 20:806196fda269 1512 }
Lightvalve 240:fb5b57e3f157 1513 TIM2->SR = 0x0; // reset the status register
Lightvalve 243:30896263bd8b 1514 }