Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

main.cpp@105:9118e2878373, 2020-09-09 (annotated)

Committer:
Lightvalve
Date:
Wed Sep 09 06:09:48 2020 +0000
Revision:
105:9118e2878373
Parent:
104:be89a3a18c7e
Child:
106:a511a5a84439
200909-2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 105:9118e2878373 1 //200909-2
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 112 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 99:7bbcb3c0fb06 187 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 90:a6cfef34bdce 195 const float h1[num_input][16] = {
Lightvalve 105:9118e2878373 196 {-0.04754844680428505f,-0.530216634273529f,0.11304140090942383f,-0.08370041102170944f,-0.6523385047912598f,-0.027381086722016335f,-0.15306922793388367f,-0.07661134004592896f,-0.27261433005332947f,0.19044241309165955f,0.056362804025411606f,-0.4614968001842499f,-0.30060797929763794f,-0.3224359452724457f,-0.22528137266635895f,0.6348539590835571f},
Lightvalve 105:9118e2878373 197 {-0.08525237441062927f,-0.44170600175857544f,-0.3440950810909271f,-0.2526363432407379f,0.13600286841392517f,-0.04025866463780403f,-0.3551466166973114f,-0.20479238033294678f,-0.09210298210382462f,0.45660921931266785f,-0.8007382750511169f,-0.3188437223434448f,0.10237079113721848f,-0.5417499542236328f,-0.1836855560541153f,0.8492973446846008f},
Lightvalve 105:9118e2878373 198 {-0.12187230587005615f,-0.8927391767501831f,0.3188004493713379f,-0.7997753620147705f,-0.5879339575767517f,0.16414476931095123f,0.2516096830368042f,-0.017284952104091644f,-0.16378964483737946f,-0.06449131667613983f,-0.05198131874203682f,-0.44168129563331604f,-0.27568191289901733f,-0.004879156593233347f,0.04897245764732361f,-0.4043995440006256f},
Lightvalve 105:9118e2878373 199 {-0.19940543174743652f,-0.7108068466186523f,0.34815579652786255f,-0.3866218030452728f,-0.5316346883773804f,-0.1056811586022377f,-0.10148510336875916f,0.2431148886680603f,-0.003201532643288374f,0.3288455307483673f,0.8373333215713501f,0.26523029804229736f,-0.3624171316623688f,0.1131914034485817f,-0.2594349980354309f,-0.11279565840959549f},
Lightvalve 105:9118e2878373 200 {-0.22260814905166626f,2.995941400527954f,-0.004507303237915039f,0.4836748540401459f,1.0383654832839966f,-0.0665469616651535f,0.11336228251457214f,-0.1142578199505806f,0.0018505657790228724f,2.3285422325134277f,-4.838907718658447f,0.2447872906923294f,0.40370386838912964f,1.3186441659927368f,-0.33859342336654663f,-2.596590995788574f},
Lightvalve 105:9118e2878373 201 {0.21719342470169067f,0.06512513756752014f,0.19074231386184692f,0.6491201519966125f,0.9997032284736633f,-0.1537536233663559f,0.1446705460548401f,-0.29998549818992615f,0.00398442754521966f,-0.03770201653242111f,-1.7278112173080444f,0.8585587739944458f,-0.38560086488723755f,0.006212359759956598f,-0.36205175518989563f,-0.38310468196868896f},
Lightvalve 105:9118e2878373 202 {-0.07639120519161224f,0.07174117863178253f,-0.21918344497680664f,-0.11482009291648865f,0.15254071354866028f,0.21446041762828827f,0.05268651247024536f,-0.33566030859947205f,0.29489514231681824f,-0.13286027312278748f,-0.8627548813819885f,0.7991014719009399f,-0.28489285707473755f,0.019886821508407593f,-0.13682329654693604f,0.003697440028190613f},
Lightvalve 105:9118e2878373 203 {-0.12378792464733124f,-0.40798240900039673f,-0.23319895565509796f,0.22465209662914276f,-0.31218400597572327f,-0.1492762714624405f,-0.15703755617141724f,-0.3482123017311096f,-0.0002592300297692418f,-0.08527708053588867f,-0.04766494780778885f,0.053324487060308456f,0.22746938467025757f,-0.17692768573760986f,0.03769642114639282f,0.33347076177597046f},
Lightvalve 105:9118e2878373 204 {0.013091196306049824f,-0.05674178525805473f,0.08977723121643066f,-0.25362423062324524f,-0.3664046823978424f,0.03523936867713928f,-0.06348633766174316f,-0.4033523201942444f,-0.2599254250526428f,0.044075313955545425f,-0.009293384850025177f,0.3319243788719177f,0.1332373172044754f,-0.05664161965250969f,-0.2676756680011749f,0.45130348205566406f},
Lightvalve 105:9118e2878373 205 {-0.19049197435379028f,-0.5320309400558472f,0.16173982620239258f,-0.12147263437509537f,-0.08784742653369904f,0.1467514932155609f,-0.26198261976242065f,-0.1130669042468071f,-0.02968011051416397f,-0.6143247485160828f,0.4633010923862457f,-0.515257716178894f,0.29062506556510925f,-0.3647685945034027f,0.3052974343299866f,0.23399080336093903f},
Lightvalve 105:9118e2878373 206 {0.25436368584632874f,0.5146796107292175f,0.32573211193084717f,-0.10260577499866486f,-0.1565724015235901f,-0.09953721612691879f,-0.17817988991737366f,-0.02161337248980999f,-0.39656782150268555f,0.7200503349304199f,2.2578909397125244f,-1.5699495077133179f,-0.02465977519750595f,-0.038833267986774445f,0.23379981517791748f,-0.9229269623756409f},
Lightvalve 105:9118e2878373 207 {-0.4841022491455078f,-1.063336968421936f,-0.3532183766365051f,-1.0758341550827026f,-1.7367539405822754f,-0.12255798280239105f,0.13436567783355713f,0.27674612402915955f,-0.15377266705036163f,-0.2762676477432251f,3.559654474258423f,-0.498639315366745f,-0.038896698504686356f,-0.0166151262819767f,0.09193113446235657f,0.1312442123889923f},
Lightvalve 105:9118e2878373 208 {-0.22781755030155182f,-0.23967871069908142f,0.173875629901886f,-0.4890464246273041f,-0.0458119697868824f,0.06596936285495758f,-0.21062730252742767f,0.07226380705833435f,-0.17287254333496094f,-0.30909931659698486f,2.316343307495117f,-0.25767719745635986f,-0.02527442015707493f,-0.11135999113321304f,-0.19507692754268646f,-0.25568655133247375f},
Lightvalve 105:9118e2878373 209 {-0.3556059002876282f,-0.07427522540092468f,0.36161231994628906f,-0.3828604817390442f,-0.5163854360580444f,-0.39600393176078796f,-0.2803434431552887f,-0.3590245246887207f,-0.12620092928409576f,-0.09647113084793091f,0.5913520455360413f,-0.10468284785747528f,-0.18907563388347626f,-0.25505077838897705f,0.04202204942703247f,0.26759618520736694f},
Lightvalve 105:9118e2878373 210 {-0.083421491086483f,0.7541764974594116f,0.1776806116104126f,-0.0566239096224308f,1.4747079610824585f,-0.6094958782196045f,0.036818891763687134f,0.10590196400880814f,0.2585754692554474f,0.4095909595489502f,-1.7406926155090332f,0.12349403649568558f,0.4589124917984009f,0.10347452759742737f,0.058527231216430664f,-0.18394438922405243f},
Lightvalve 105:9118e2878373 211 {-0.08033468574285507f,3.6094319820404053f,-0.3542669713497162f,-0.9382401704788208f,4.40432071685791f,-0.6789908409118652f,-0.13638360798358917f,-0.1387057602405548f,0.1693507730960846f,3.290762186050415f,0.0159761905670166f,-2.5206587314605713f,0.20578302443027496f,0.718266487121582f,-0.07223698496818542f,-3.175769567489624f},
Lightvalve 105:9118e2878373 212 {0.5376663208007812f,-3.1047873497009277f,0.14635330438613892f,2.006746768951416f,-3.179218292236328f,0.8806692361831665f,-0.03628063201904297f,-0.0736081525683403f,-0.06275229901075363f,-3.155949831008911f,-2.9432685375213623f,3.767887830734253f,-0.9273963570594788f,-0.8037996292114258f,0.25779521465301514f,2.716948986053467f},
Lightvalve 105:9118e2878373 213 {0.011155981570482254f,-0.739599883556366f,0.18322283029556274f,-0.9413151144981384f,-3.23013973236084f,0.044112659990787506f,-0.3163079023361206f,-0.04608027637004852f,-0.3635421395301819f,-0.3238906264305115f,3.8069698810577393f,-1.3923182487487793f,0.017072753980755806f,-0.19094349443912506f,-0.2407861351966858f,0.09836848080158234f},
Lightvalve 105:9118e2878373 214 {-0.4185675084590912f,-0.42745763063430786f,-0.2609631419181824f,-1.4110053777694702f,-3.0199358463287354f,-0.3853732645511627f,0.2401489019393921f,-0.47074052691459656f,-0.3592066764831543f,0.0931406021118164f,4.473484039306641f,-2.0279228687286377f,0.16768452525138855f,0.5762042999267578f,-0.28592410683631897f,-0.6751209497451782f},
Lightvalve 105:9118e2878373 215 {0.09488676488399506f,0.13548988103866577f,0.1335710883140564f,-1.0007416009902954f,-1.452916145324707f,-0.23490624129772186f,-0.1246849000453949f,-0.533019483089447f,-0.15883906185626984f,0.020903607830405235f,2.6365842819213867f,-0.8403635025024414f,0.2839359939098358f,0.589792788028717f,0.1255095899105072f,0.1356075257062912f},
Lightvalve 105:9118e2878373 216 {-0.37042614817619324f,0.08344288170337677f,-0.07108169794082642f,0.17757529020309448f,-0.22492939233779907f,-0.3946172893047333f,0.13563674688339233f,-0.1727876365184784f,-0.3436216413974762f,-0.142774298787117f,-0.6026859283447266f,-0.36614087224006653f,-0.13681428134441376f,0.556492030620575f,0.01829466223716736f,-0.07202178239822388f},
Lightvalve 105:9118e2878373 217 {-0.3357718884944916f,-0.2833663523197174f,0.24740570783615112f,-0.21576672792434692f,0.05170443654060364f,-0.40916311740875244f,0.25593245029449463f,-0.1437111347913742f,-0.06947224587202072f,0.19163371622562408f,-0.29480987787246704f,-0.4021371901035309f,0.14401984214782715f,0.07988113909959793f,0.056514471769332886f,0.1972517967224121f},
Lightvalve 105:9118e2878373 218 {0.17162151634693146f,0.13157309591770172f,-0.3288555443286896f,0.02019149251282215f,-0.4041925370693207f,-0.41843894124031067f,-0.11800059676170349f,-0.1558438539505005f,-0.27031198143959045f,0.37474364042282104f,0.15695686638355255f,-0.046958811581134796f,-0.11344640702009201f,-0.189126655459404f,-0.3194865584373474f,0.5693081021308899f},
Lightvalve 105:9118e2878373 219 {-0.023064570501446724f,-0.3052598536014557f,-0.29844698309898376f,-0.3763624131679535f,0.31388363242149353f,0.1362769603729248f,-0.249517560005188f,0.21263225376605988f,-0.41347092390060425f,0.2033153474330902f,-0.6397644281387329f,0.02053062617778778f,0.21230348944664001f,0.15966153144836426f,0.23831695318222046f,0.09426836669445038f},
Lightvalve 105:9118e2878373 220 {0.11385727673768997f,-0.466043621301651f,0.20589900016784668f,0.16036953032016754f,0.1651490330696106f,-0.13242949545383453f,-0.2483310103416443f,0.07130590081214905f,-0.14293693006038666f,0.27093780040740967f,-0.7953394055366516f,0.12759838998317719f,-0.26265954971313477f,-0.19955605268478394f,0.06927120685577393f,0.07971415668725967f},
Lightvalve 105:9118e2878373 221 {-0.3343367278575897f,0.22834834456443787f,0.008588135242462158f,-0.24758897721767426f,-0.20855441689491272f,-0.025101521983742714f,0.013287186622619629f,-0.10844322293996811f,0.18275825679302216f,0.04077226296067238f,0.375319242477417f,-0.02896328642964363f,-0.03308872878551483f,-0.2338634729385376f,-0.1702093929052353f,0.2048746943473816f},
Lightvalve 105:9118e2878373 222 {-0.19001160562038422f,-0.13944029808044434f,0.06708025932312012f,0.3464275002479553f,0.10913650691509247f,0.022747507318854332f,0.27470332384109497f,-0.14586248993873596f,-0.09178425371646881f,0.324962317943573f,0.2919461131095886f,0.0514339953660965f,-0.01721585914492607f,0.07078077644109726f,0.11447501182556152f,0.15832282602787018f},
Lightvalve 65:a2d7c63419c2 223 };
Lightvalve 65:a2d7c63419c2 224
Lightvalve 90:a6cfef34bdce 225 const float h2[16][16] = {
Lightvalve 104:be89a3a18c7e 226 {-0.23879092931747437f,-0.2247074842453003f,-0.06966331601142883f,0.07895159721374512f,-0.21907491981983185f,0.3905109465122223f,0.12049764394760132f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,0.2126878947019577f,-0.1415361613035202f,0.10642024874687195f,0.1622174233198166f,-0.009342985227704048f,-0.24883486330509186f},
Lightvalve 105:9118e2878373 227 {0.04574314132332802f,-4.606758117675781f,0.057057321071624756f,2.2958874702453613f,-0.35503754019737244f,2.987067699432373f,-0.6205443143844604f,-0.4497179388999939f,-0.33757925033569336f,0.2895788848400116f,0.3997703790664673f,-1.0605665445327759f,0.9789016246795654f,-0.7224385142326355f,-0.8387327790260315f,-0.21319285035133362f},
Lightvalve 90:a6cfef34bdce 228 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 105:9118e2878373 229 {0.02742648310959339f,-0.3625330626964569f,-0.2894435524940491f,-0.07894079387187958f,0.08946844935417175f,-0.1604781448841095f,-0.41668185591697693f,0.2566985785961151f,0.26211628317832947f,0.2953031361103058f,0.5621348023414612f,0.2075783610343933f,0.044909264892339706f,0.16965551674365997f,-0.07103067636489868f,-0.0564725399017334f},
Lightvalve 105:9118e2878373 230 {-0.28105083107948303f,-0.5965664386749268f,-0.25313520431518555f,2.4203219413757324f,0.036378175020217896f,2.2264177799224854f,-0.5140271782875061f,-0.22565282881259918f,-0.024399548768997192f,-0.39465832710266113f,2.0184779167175293f,-0.7885417938232422f,1.1242095232009888f,-2.920522689819336f,-0.4898601174354553f,-0.12347309291362762f},
Lightvalve 104:be89a3a18c7e 231 {0.30809175968170166f,0.2815673351287842f,-0.3519742488861084f,0.6510557532310486f,-0.3015052080154419f,-0.01307283341884613f,-0.4332692325115204f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.06305015087127686f,-0.26302075386047363f,-0.1484527736902237f,0.5012978315353394f,0.21090148389339447f,-0.523945689201355f},
Lightvalve 90:a6cfef34bdce 232 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 104:be89a3a18c7e 233 {0.09149304032325745f,0.39382967352867126f,0.33083590865135193f,-0.3982222080230713f,-0.14358049631118774f,-0.4295612573623657f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.3922218382358551f,-0.3200107216835022f,-0.06807977706193924f,0.16958321630954742f,-0.028019586578011513f,0.1325443536043167f},
Lightvalve 104:be89a3a18c7e 234 {-0.25820738077163696f,0.3221603035926819f,-0.11379697918891907f,0.1347288340330124f,0.041274964809417725f,-0.2986799478530884f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.027452558279037476f,-0.3197441101074219f,-0.4190613329410553f,-0.2655027210712433f,-0.3592628836631775f,-0.21385815739631653f},
Lightvalve 105:9118e2878373 235 {-0.18270914256572723f,-3.3988454341888428f,-0.13502129912376404f,0.4474813640117645f,0.12987366318702698f,-1.694394588470459f,-0.19735857844352722f,-0.5084154009819031f,-0.13619378209114075f,0.16938945651054382f,-0.42759886384010315f,-0.23108264803886414f,1.8501368761062622f,0.7278321981430054f,-3.3775484561920166f,0.13835789263248444f},
Lightvalve 105:9118e2878373 236 {-0.3177672028541565f,-0.1910296529531479f,0.0457797646522522f,-3.2129592895507812f,-0.03321319818496704f,-0.9024812579154968f,-0.14804573357105255f,-0.30097073316574097f,-0.050184011459350586f,0.12480869889259338f,-0.490828275680542f,-0.1105574369430542f,-0.09525325894355774f,-0.5781571269035339f,-0.3580318093299866f,0.12321771681308746f},
Lightvalve 105:9118e2878373 237 {0.2798016369342804f,1.7974588871002197f,0.3954955041408539f,3.0996081829071045f,0.0033026933670043945f,1.3121733665466309f,-0.5159802436828613f,-0.2739883065223694f,0.3487861454486847f,-0.32520344853401184f,2.1173388957977295f,-0.3887023627758026f,-0.17047901451587677f,0.8024866580963135f,1.0452569723129272f,-1.2933293581008911f},
Lightvalve 104:be89a3a18c7e 238 {-0.36529868841171265f,-0.2148248255252838f,-0.15798500180244446f,-0.01582324132323265f,-0.37393757700920105f,0.4237067997455597f,-0.2887723743915558f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.15431059896945953f,-0.6320168375968933f,0.20954912900924683f,-0.3726774752140045f,-0.16320562362670898f,0.4442850351333618f},
Lightvalve 104:be89a3a18c7e 239 {-0.2728922665119171f,0.31573981046676636f,-0.2018718123435974f,0.633874237537384f,0.07545611262321472f,0.033286914229393005f,-0.3082107603549957f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,-0.7568179965019226f,-0.5766573548316956f,0.09766939282417297f,0.9515406489372253f,-0.21473047137260437f,0.3493078649044037f},
Lightvalve 90:a6cfef34bdce 240 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 105:9118e2878373 241 {-0.44096609950065613f,3.432812452316284f,0.12081471085548401f,-2.4027888774871826f,0.29976895451545715f,0.3685931861400604f,-0.45547792315483093f,0.15438655018806458f,-0.3893685042858124f,-0.02222958207130432f,0.6889567375183105f,-0.5884279608726501f,-0.8097412586212158f,-2.008504867553711f,1.5001810789108276f,0.7552077770233154f},
Lightvalve 65:a2d7c63419c2 242 };
Lightvalve 65:a2d7c63419c2 243
Lightvalve 90:a6cfef34bdce 244 const float h3[16][16] = {
Lightvalve 104:be89a3a18c7e 245 {-0.36079341173171997f,-0.09034993499517441f,-0.07572291046380997f,-0.37736067175865173f,-0.18604205548763275f,0.038391318172216415f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.026616152375936508f,0.30597126483917236f,-0.31185421347618103f,0.15487313270568848f},
Lightvalve 105:9118e2878373 246 {0.047732532024383545f,0.2335854172706604f,0.6154120564460754f,-0.363690048456192f,-0.19451680779457092f,-0.5180659294128418f,-0.3198729455471039f,0.06168501824140549f,0.2882016599178314f,2.025585174560547f,0.25681862235069275f,-0.3128277659416199f,3.7107362747192383f,-4.186375141143799f,-9.185410499572754f,-0.04473866894841194f},
Lightvalve 97:d71c57e3515e 247 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 105:9118e2878373 248 {-0.30922991037368774f,0.4399411976337433f,0.19089920818805695f,-0.21634826064109802f,0.6928690671920776f,-0.45441821217536926f,0.20021501183509827f,-0.04819854348897934f,-0.43857869505882263f,-0.36678487062454224f,-0.02409454807639122f,0.41021624207496643f,1.9820834398269653f,-0.4715946614742279f,-0.13249875605106354f,-0.10361111909151077f},
Lightvalve 104:be89a3a18c7e 249 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve 105:9118e2878373 250 {-0.37449589371681213f,-1.993119239807129f,-0.24474097788333893f,-0.19117528200149536f,-0.24062587320804596f,-0.061214469373226166f,-0.18732719123363495f,0.02858704887330532f,-0.5947392582893372f,-7.169979572296143f,-0.3781808912754059f,0.0333346351981163f,0.6293804049491882f,-2.8978209495544434f,1.0871620178222656f,-0.9900457859039307f},
Lightvalve 105:9118e2878373 251 {0.4110594093799591f,0.2323508858680725f,-0.14298677444458008f,0.37246426939964294f,0.23099927604198456f,-0.11933191865682602f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.30075234174728394f,-0.019709786400198936f,0.2527919411659241f,-0.3391006588935852f},
Lightvalve 104:be89a3a18c7e 252 {-0.40892091393470764f,-0.0428597629070282f,-0.29680168628692627f,0.25968697667121887f,0.42528533935546875f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.19779664278030396f,-0.36560842394828796f,-0.009836526587605476f,0.005298197269439697f},
Lightvalve 90:a6cfef34bdce 253 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 90:a6cfef34bdce 254 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 105:9118e2878373 255 {0.15459725260734558f,-1.483699917793274f,0.3342244625091553f,-0.29217076301574707f,-0.7100313305854797f,-0.42425405979156494f,-0.08742031455039978f,-0.29005128145217896f,-0.10932233184576035f,-1.1359978914260864f,-0.18788401782512665f,-0.4558790922164917f,-1.7333769798278809f,-3.314079999923706f,-0.28138259053230286f,0.1997302621603012f},
Lightvalve 105:9118e2878373 256 {-0.408692330121994f,-0.0963486060500145f,-0.0798807442188263f,0.05693887919187546f,-0.16263824701309204f,-0.0489184744656086f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.10372414439916611f,0.12809070944786072f,0.03996849060058594f,-0.6786553263664246f,-0.3557840585708618f,-0.14653949439525604f,0.3149169385433197f},
Lightvalve 105:9118e2878373 257 {-0.2991822361946106f,0.8242707252502441f,-0.5490741729736328f,-2.211770534515381f,-0.8496814370155334f,1.3128535747528076f,-0.11253207921981812f,0.06128481402993202f,-0.22888995707035065f,-0.6089873313903809f,-0.20140421390533447f,-0.5045773386955261f,-0.5882917642593384f,-0.24254660308361053f,0.08921010047197342f,-1.6710102558135986f},
Lightvalve 105:9118e2878373 258 {-0.2675279378890991f,-0.27166828513145447f,0.196381613612175f,0.036262739449739456f,0.8081451058387756f,0.23969271779060364f,-0.32875844836235046f,-0.31893211603164673f,-1.0048253536224365f,-2.336460590362549f,-0.5136703252792358f,-0.5677506327629089f,2.2608680725097656f,-2.0822367668151855f,-4.124178886413574f,-0.4129162132740021f},
Lightvalve 105:9118e2878373 259 {-0.015470266342163086f,0.2076922506093979f,2.0901122093200684f,0.4231385290622711f,-0.24825504422187805f,0.6368523240089417f,0.05196094512939453f,-0.11772739887237549f,-0.8139349222183228f,0.17219232022762299f,-0.02355935424566269f,-0.26322120428085327f,-0.14041846990585327f,-0.9002529382705688f,0.004994128830730915f,-0.09836287796497345f},
Lightvalve 105:9118e2878373 260 {0.1863725483417511f,-2.964024066925049f,-0.16529524326324463f,-0.5731563568115234f,-0.14589117467403412f,-0.22239737212657928f,0.04860696196556091f,0.05421847850084305f,-0.3410601019859314f,0.3701612055301666f,-0.5499403476715088f,0.03876710683107376f,-1.2966328859329224f,0.35098761320114136f,1.4443241357803345f,-0.1990971565246582f},
Lightvalve 66:a8e6799dbce3 261 };
Lightvalve 65:a2d7c63419c2 262
Lightvalve 105:9118e2878373 263 const float hout[16] = { 0.45773375034332275f,0.05784709006547928f,-0.1404813975095749f,-0.12895242869853973f,-0.01166574563831091f,0.28172412514686584f,0.0030125975608825684f,-0.1872355341911316f,0.02613774500787258f,0.25827687978744507f,-0.05314243212342262f,-0.11721450090408325f,-0.17019878327846527f,0.26956355571746826f,0.07062312960624695f,-0.06712948530912399f };
Lightvalve 66:a8e6799dbce3 264
Lightvalve 105:9118e2878373 265 const float b1[16] = { 0.6664221286773682f,1.3991615772247314f,-1.7145336866378784f,1.1238877773284912f,4.139063358306885f,0.8804880380630493f,-0.058932315558195114f,0.8360020518302917f,0.5085859894752502f,-1.0549907684326172f,-2.1933367252349854f,2.968667507171631f,-0.5985863208770752f,-1.2552247047424316f,-1.087764859199524f,1.338204264640808f };
Lightvalve 87:471334725012 266
Lightvalve 105:9118e2878373 267 const float b2[16] = { -0.15995901823043823f,-1.8434703350067139f,-1.4564176797866821f,-1.616771936416626f,-0.6939148902893066f,-0.1738164871931076f,0.012100458145141602f,-0.46641260385513306f,-1.20063054561615f,-1.912178635597229f,1.1003904342651367f,0.06154978647828102f,-0.06523963063955307f,1.6217546463012695f,0.37085679173469543f,0.1973559856414795f };
Lightvalve 65:a2d7c63419c2 268
Lightvalve 105:9118e2878373 269 const float b3[16] = { -1.963319182395935f,-0.3822685182094574f,0.3768531382083893f,-0.3494439721107483f,-0.4437258839607239f,0.7685852646827698f,-0.45353031158447266f,-0.9905993938446045f,0.10549575835466385f,2.6102547645568848f,-0.4560318887233734f,-0.10725808143615723f,-2.040526866912842f,0.868899941444397f,-1.317742943763733f,-0.45540651679039f };
Lightvalve 87:471334725012 270
Lightvalve 105:9118e2878373 271 const float bout[1] = { -0.6484206914901733f };
Lightvalve 65:a2d7c63419c2 272
Lightvalve 66:a8e6799dbce3 273
Lightvalve 87:471334725012 274 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 275 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 276
GiJeongKim 0:51c43836c1d7 277 int main()
GiJeongKim 0:51c43836c1d7 278 {
Lightvalve 66:a8e6799dbce3 279
Lightvalve 65:a2d7c63419c2 280 HAL_Init();
Lightvalve 65:a2d7c63419c2 281 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 282
jobuuu 6:df07d3491e3a 283 /*********************************
jobuuu 1:e04e563be5ce 284 *** Initialization
jobuuu 6:df07d3491e3a 285 *********************************/
Lightvalve 69:3995ffeaa786 286 LED = 0;
Lightvalve 61:bc8c8270f0ab 287 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 288
GiJeongKim 0:51c43836c1d7 289 // i2c init
Lightvalve 8:5d2eebdad025 290 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 291 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 292 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 293 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 294 make_delay();
jobuuu 2:a1c0a37df760 295
GiJeongKim 0:51c43836c1d7 296 // // spi init
Lightvalve 16:903b5a4433b4 297 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 298 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 299 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 300 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 301 make_delay();
Lightvalve 21:e5f1a43ea6f9 302
Lightvalve 16:903b5a4433b4 303 //rom
Lightvalve 19:23b7c1ad8683 304 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 305 make_delay();
Lightvalve 13:747daba9cf59 306
GiJeongKim 0:51c43836c1d7 307 // ADC init
jobuuu 5:a4319f79457b 308 Init_ADC();
Lightvalve 11:82d8768d7351 309 make_delay();
jobuuu 2:a1c0a37df760 310
GiJeongKim 0:51c43836c1d7 311 // Pwm init
GiJeongKim 0:51c43836c1d7 312 Init_PWM();
GiJeongKim 0:51c43836c1d7 313 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 314 make_delay();
Lightvalve 13:747daba9cf59 315
Lightvalve 11:82d8768d7351 316 // TMR3 init
Lightvalve 11:82d8768d7351 317 Init_TMR3();
Lightvalve 11:82d8768d7351 318 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 21:e5f1a43ea6f9 320
Lightvalve 50:3c630b5eba9f 321 // TMR2 init
Lightvalve 56:6f50d9d3bfee 322 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 323 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 324 // make_delay();
Lightvalve 21:e5f1a43ea6f9 325
GiJeongKim 0:51c43836c1d7 326 // CAN
jobuuu 2:a1c0a37df760 327 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 328 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 329 make_delay();
Lightvalve 34:bb2ca2fc2a8e 330
Lightvalve 23:59218d4a256d 331 //Timer priority
Lightvalve 23:59218d4a256d 332 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 333 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 334 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 335
Lightvalve 23:59218d4a256d 336 //can.reset();
Lightvalve 19:23b7c1ad8683 337 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 338
GiJeongKim 0:51c43836c1d7 339 // spi _ enc
GiJeongKim 0:51c43836c1d7 340 spi_enc_set_init();
Lightvalve 11:82d8768d7351 341 make_delay();
Lightvalve 13:747daba9cf59 342
Lightvalve 11:82d8768d7351 343 //DAC init
Lightvalve 58:2eade98630e2 344 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 345 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 346 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 347 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 348 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 349 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 350 }
Lightvalve 11:82d8768d7351 351 make_delay();
Lightvalve 13:747daba9cf59 352
Lightvalve 19:23b7c1ad8683 353 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 354 if(i%2==0)
Lightvalve 38:118df027d851 355 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 356 else
Lightvalve 38:118df027d851 357 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 358 }
Lightvalve 61:bc8c8270f0ab 359
Lightvalve 61:bc8c8270f0ab 360
jobuuu 6:df07d3491e3a 361 /************************************
jobuuu 1:e04e563be5ce 362 *** Program is operating!
jobuuu 6:df07d3491e3a 363 *************************************/
GiJeongKim 0:51c43836c1d7 364 while(1) {
Lightvalve 66:a8e6799dbce3 365 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 366 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 367 //i2c
Lightvalve 66:a8e6799dbce3 368
Lightvalve 65:a2d7c63419c2 369 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 370 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 371 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 372 // LED=0;
Lightvalve 65:a2d7c63419c2 373 // } else
Lightvalve 65:a2d7c63419c2 374 // LED = 1;
Lightvalve 65:a2d7c63419c2 375 timer_while = 0;
Lightvalve 66:a8e6799dbce3 376 //}
Lightvalve 66:a8e6799dbce3 377
Lightvalve 66:a8e6799dbce3 378 timer_while ++;
Lightvalve 66:a8e6799dbce3 379
Lightvalve 87:471334725012 380 //LED = 0;
Lightvalve 87:471334725012 381
Lightvalve 73:f80dc3970c99 382 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 383 LED = 0;
Lightvalve 73:f80dc3970c99 384 }
Lightvalve 66:a8e6799dbce3 385
Lightvalve 73:f80dc3970c99 386 else if(NN_Control_Flag == 1) {
Lightvalve 88:d6e591bece22 387 float output1[16] = { 0.0f };
Lightvalve 88:d6e591bece22 388 float output2[16] = { 0.0f };
Lightvalve 88:d6e591bece22 389 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 390 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 391
Lightvalve 88:d6e591bece22 392 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 393 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 394 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 395 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 396 }
Lightvalve 66:a8e6799dbce3 397 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 398 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 399 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 400 }
Lightvalve 66:a8e6799dbce3 401 }
Lightvalve 65:a2d7c63419c2 402
Lightvalve 88:d6e591bece22 403 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 404 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 405 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 406 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 407 }
Lightvalve 66:a8e6799dbce3 408 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 409 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 410 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 411 }
Lightvalve 66:a8e6799dbce3 412 }
Lightvalve 65:a2d7c63419c2 413
Lightvalve 88:d6e591bece22 414 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 88:d6e591bece22 415 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 416 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 417 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 418 }
Lightvalve 66:a8e6799dbce3 419 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 420 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 421 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 422 }
Lightvalve 65:a2d7c63419c2 423 }
Lightvalve 66:a8e6799dbce3 424
Lightvalve 66:a8e6799dbce3 425 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 88:d6e591bece22 426 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 427 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 428 }
Lightvalve 66:a8e6799dbce3 429 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 430
Lightvalve 66:a8e6799dbce3 431 }
Lightvalve 73:f80dc3970c99 432 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 433 output_normalized = output;
Lightvalve 68:328e1be06f5d 434 output = output * 20000.0f - 10000.0f;
Lightvalve 101:50159049a518 435
Lightvalve 66:a8e6799dbce3 436 if(output>=0) {
Lightvalve 66:a8e6799dbce3 437 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 438 } else {
Lightvalve 66:a8e6799dbce3 439 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 440 }
Lightvalve 87:471334725012 441
Lightvalve 88:d6e591bece22 442 // // torque feedback
Lightvalve 88:d6e591bece22 443 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 444 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 445 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 446 //
Lightvalve 88:d6e591bece22 447 //
Lightvalve 88:d6e591bece22 448 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 449 //
Lightvalve 88:d6e591bece22 450 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 451 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 452 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 453 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 454 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 455 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 456 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 457 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 458 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 459 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 460 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 461 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 462 // }
Lightvalve 88:d6e591bece22 463 // }
Lightvalve 87:471334725012 464
Lightvalve 69:3995ffeaa786 465
Lightvalve 69:3995ffeaa786 466 if(LED==1) {
Lightvalve 69:3995ffeaa786 467 LED=0;
Lightvalve 69:3995ffeaa786 468 } else
Lightvalve 69:3995ffeaa786 469 LED = 1;
Lightvalve 69:3995ffeaa786 470
Lightvalve 65:a2d7c63419c2 471 }
Lightvalve 62:b5452adfb2cd 472
Lightvalve 87:471334725012 473 //LED = 1;
Lightvalve 69:3995ffeaa786 474
Lightvalve 66:a8e6799dbce3 475
GiJeongKim 0:51c43836c1d7 476 }
jobuuu 1:e04e563be5ce 477 }
jobuuu 1:e04e563be5ce 478
Lightvalve 33:91b17819ec30 479 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 480 {
Lightvalve 14:8e7590227d22 481
Lightvalve 13:747daba9cf59 482 int i = 0;
Lightvalve 48:889798ff9329 483 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 484 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 485 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 486 if(i==0) {
Lightvalve 50:3c630b5eba9f 487 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 488 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 489 } else {
Lightvalve 57:f4819de54e7a 490 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 491 }
Lightvalve 14:8e7590227d22 492 } else {
Lightvalve 50:3c630b5eba9f 493 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 494 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 495 } else {
Lightvalve 57:f4819de54e7a 496 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 497 }
Lightvalve 13:747daba9cf59 498 }
Lightvalve 13:747daba9cf59 499 break;
Lightvalve 13:747daba9cf59 500 }
Lightvalve 13:747daba9cf59 501 }
Lightvalve 14:8e7590227d22 502 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 503 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 504 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 505 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 506 }
Lightvalve 36:a46e63505ed8 507
Lightvalve 57:f4819de54e7a 508 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 509 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 510
Lightvalve 13:747daba9cf59 511 }
jobuuu 6:df07d3491e3a 512
jobuuu 6:df07d3491e3a 513
Lightvalve 30:8d561f16383b 514 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 515 {
Lightvalve 13:747daba9cf59 516 int i = 0;
Lightvalve 13:747daba9cf59 517
Lightvalve 38:118df027d851 518 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 519 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 520 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 521 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 522 }
Lightvalve 38:118df027d851 523
Lightvalve 89:a7b45368ea0f 524 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 525 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 526 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 527 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 528 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 529 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 530
Lightvalve 13:747daba9cf59 531 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 532
Lightvalve 18:b8adf1582ea3 533 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 534 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 535 if(i==0) {
Lightvalve 48:889798ff9329 536 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 537 } else {
Lightvalve 48:889798ff9329 538 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 539 }
Lightvalve 13:747daba9cf59 540 break;
Lightvalve 13:747daba9cf59 541 }
Lightvalve 13:747daba9cf59 542 }
Lightvalve 59:f308b1656d9c 543 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 544 }
Lightvalve 13:747daba9cf59 545
Lightvalve 14:8e7590227d22 546 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 547 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 548 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 549 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 550 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 551 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 552 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 553 }; // duty
Lightvalve 67:c2812cf26c38 554 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 555 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 556 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 557 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 558 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 559 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 560 }; // mV
Lightvalve 13:747daba9cf59 561
Lightvalve 30:8d561f16383b 562 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 563 {
Lightvalve 30:8d561f16383b 564 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 565 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 566 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 567 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 568 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 569 } else {
Lightvalve 13:747daba9cf59 570 int idx = 0;
Lightvalve 13:747daba9cf59 571 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 572 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 573 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 574 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 575 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 576 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 577 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 578 break;
Lightvalve 13:747daba9cf59 579 }
Lightvalve 13:747daba9cf59 580 }
Lightvalve 13:747daba9cf59 581 }
Lightvalve 14:8e7590227d22 582
Lightvalve 13:747daba9cf59 583 return PWM_duty;
Lightvalve 13:747daba9cf59 584 }
jobuuu 6:df07d3491e3a 585
Lightvalve 57:f4819de54e7a 586
Lightvalve 57:f4819de54e7a 587
Lightvalve 57:f4819de54e7a 588
Lightvalve 57:f4819de54e7a 589
jobuuu 2:a1c0a37df760 590 /*******************************************************************************
jobuuu 2:a1c0a37df760 591 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 592 *******************************************************************************/
jobuuu 2:a1c0a37df760 593
Lightvalve 51:b46bed7fec80 594 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 595 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 596 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 597 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 598 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 599 {
Lightvalve 19:23b7c1ad8683 600 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 601
Lightvalve 21:e5f1a43ea6f9 602 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 603 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 604 ********************************************************/
Lightvalve 13:747daba9cf59 605
Lightvalve 57:f4819de54e7a 606 //Encoder
Lightvalve 57:f4819de54e7a 607 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 608 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 609 }
Lightvalve 61:bc8c8270f0ab 610
Lightvalve 61:bc8c8270f0ab 611 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 612 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 613 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 614 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 615 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 616 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 617 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 618
Lightvalve 67:c2812cf26c38 619
Lightvalve 67:c2812cf26c38 620 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 621 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 622 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 623 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 624 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 625
Lightvalve 17:1865016ca2e7 626
Lightvalve 58:2eade98630e2 627 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 628 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 629 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 630 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 631 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 632 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 633 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 634 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 635 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 636
Lightvalve 58:2eade98630e2 637 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 638 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 639 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 640 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 641 }
Lightvalve 58:2eade98630e2 642 }
Lightvalve 61:bc8c8270f0ab 643
Lightvalve 58:2eade98630e2 644 // //Pressure sensor A
Lightvalve 58:2eade98630e2 645 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 646 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 647 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 648 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 649 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 650 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 651 //
Lightvalve 58:2eade98630e2 652 //
Lightvalve 58:2eade98630e2 653 // //Pressure sensor B
Lightvalve 58:2eade98630e2 654 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 655 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 656 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 657 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 658
Lightvalve 17:1865016ca2e7 659
Lightvalve 21:e5f1a43ea6f9 660 //Current
Lightvalve 21:e5f1a43ea6f9 661 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 662 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 663 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 664 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 665 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 666 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 667 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 668
Lightvalve 57:f4819de54e7a 669 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 670 }
Lightvalve 11:82d8768d7351 671 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 672 }
Lightvalve 19:23b7c1ad8683 673
Lightvalve 19:23b7c1ad8683 674
Lightvalve 18:b8adf1582ea3 675 int j =0;
Lightvalve 54:647072f5307a 676 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 677 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 678 int cnt_trans = 0;
Lightvalve 48:889798ff9329 679 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 680 int can_rest =0;
Lightvalve 48:889798ff9329 681
Lightvalve 11:82d8768d7351 682 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 683 {
Lightvalve 19:23b7c1ad8683 684 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 685
Lightvalve 57:f4819de54e7a 686 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 687 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 688 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 689 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 690 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 691 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 692 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 693 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 694 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 695 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 696 }
Lightvalve 50:3c630b5eba9f 697
Lightvalve 50:3c630b5eba9f 698 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 699 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 700 cnt_trans++;
Lightvalve 46:2694daea349b 701 torq.err_sum = 0;
Lightvalve 48:889798ff9329 702 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 703 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 704 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 705 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 706 cnt_trans++;
Lightvalve 46:2694daea349b 707 torq.err_sum = 0;
Lightvalve 48:889798ff9329 708 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 709 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 710 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 711 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 712 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 713 } else {
Lightvalve 58:2eade98630e2 714 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 715 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 716 }
Lightvalve 45:35fa6884d0c6 717
Lightvalve 50:3c630b5eba9f 718
Lightvalve 57:f4819de54e7a 719 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 720 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 721
Lightvalve 57:f4819de54e7a 722 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 723 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 724 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 725 } else {
Lightvalve 57:f4819de54e7a 726 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 727 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 728 }
Lightvalve 56:6f50d9d3bfee 729
Lightvalve 56:6f50d9d3bfee 730
Lightvalve 56:6f50d9d3bfee 731
Lightvalve 57:f4819de54e7a 732 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 733
Lightvalve 57:f4819de54e7a 734 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 735 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 736 break;
Lightvalve 13:747daba9cf59 737 }
Lightvalve 14:8e7590227d22 738
Lightvalve 14:8e7590227d22 739 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 740 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 741 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 742 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 743
Lightvalve 14:8e7590227d22 744 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 745 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 746 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 747
Lightvalve 84:c355d3e52bf1 748 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 749
Lightvalve 30:8d561f16383b 750 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 751 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 752
Lightvalve 16:903b5a4433b4 753 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 754 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 755 }
Lightvalve 13:747daba9cf59 756 } else {
Lightvalve 58:2eade98630e2 757 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 758 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 759 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 760 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 761
Lightvalve 16:903b5a4433b4 762 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 763
Lightvalve 30:8d561f16383b 764 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 765
Lightvalve 13:747daba9cf59 766 }
Lightvalve 14:8e7590227d22 767 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 768 break;
Lightvalve 19:23b7c1ad8683 769 }
Lightvalve 14:8e7590227d22 770
Lightvalve 50:3c630b5eba9f 771 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 772 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 773 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 774 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 775 // }
Lightvalve 50:3c630b5eba9f 776 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 777 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 778 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 779 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 780 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 781 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 782 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 783 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 784 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 785 // }
Lightvalve 50:3c630b5eba9f 786 //
Lightvalve 50:3c630b5eba9f 787 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 788 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 789 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 790 //
Lightvalve 50:3c630b5eba9f 791 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 792 // V_out = 0;
Lightvalve 50:3c630b5eba9f 793 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 794 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 795 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 796 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 797 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 798 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 799 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 800 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 801 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 802 //
Lightvalve 50:3c630b5eba9f 803 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 804 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 805 // // | / | / |/
Lightvalve 50:3c630b5eba9f 806 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 807 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 808 // // /| / | / |
Lightvalve 50:3c630b5eba9f 809 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 810 //
Lightvalve 50:3c630b5eba9f 811 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 812 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 813 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 814 // } else {
Lightvalve 50:3c630b5eba9f 815 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 816 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 817 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 818 // }
Lightvalve 50:3c630b5eba9f 819 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 820 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 821 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 822 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 823 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 824 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 825 // }
Lightvalve 50:3c630b5eba9f 826 // } else {
Lightvalve 50:3c630b5eba9f 827 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 828 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 829 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 830 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 831 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 832 // }
Lightvalve 50:3c630b5eba9f 833 // V_out = 0;
Lightvalve 50:3c630b5eba9f 834 //
Lightvalve 50:3c630b5eba9f 835 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 836 //
Lightvalve 50:3c630b5eba9f 837 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 838 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 839 //
Lightvalve 50:3c630b5eba9f 840 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 841 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 842 // }
Lightvalve 50:3c630b5eba9f 843 // }
Lightvalve 50:3c630b5eba9f 844 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 845 // break;
Lightvalve 50:3c630b5eba9f 846 // }
Lightvalve 14:8e7590227d22 847
Lightvalve 14:8e7590227d22 848 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 849 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 850 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 851 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 852 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 853 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 854 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 855 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 856 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 857 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 858 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 859 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 860 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 861 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 862 }
Lightvalve 29:69f3f5445d6d 863 cnt_findhome++;
Lightvalve 14:8e7590227d22 864
Lightvalve 29:69f3f5445d6d 865 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 866 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 867 } else {
Lightvalve 29:69f3f5445d6d 868 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 869 }
Lightvalve 19:23b7c1ad8683 870
Lightvalve 57:f4819de54e7a 871 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 872 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 873 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 874 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 875
Lightvalve 59:f308b1656d9c 876 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 877 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 878 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 879 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 880 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 881
Lightvalve 59:f308b1656d9c 882 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 883 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 884
Lightvalve 34:bb2ca2fc2a8e 885
Lightvalve 29:69f3f5445d6d 886 } else {
Lightvalve 29:69f3f5445d6d 887 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 888 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 889 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 890 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 891 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 892 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 893 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 894 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 895 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 896 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 897 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 898
Lightvalve 67:c2812cf26c38 899
Lightvalve 67:c2812cf26c38 900 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 901 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 902 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 903 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 904 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 905 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 906 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 907
Lightvalve 67:c2812cf26c38 908
Lightvalve 29:69f3f5445d6d 909 }
Lightvalve 29:69f3f5445d6d 910 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 911 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 912 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 913 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 914 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 915
Lightvalve 29:69f3f5445d6d 916 // input for position control
Lightvalve 67:c2812cf26c38 917
Lightvalve 67:c2812cf26c38 918 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 919 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 920
Lightvalve 67:c2812cf26c38 921 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 922 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 923 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 924 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 925
Lightvalve 67:c2812cf26c38 926 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 927
Lightvalve 67:c2812cf26c38 928 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 929 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 930 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 931
Lightvalve 67:c2812cf26c38 932 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 933 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 934 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 935
Lightvalve 69:3995ffeaa786 936 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 937 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 938 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 939 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 940 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 941 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 942 }
Lightvalve 67:c2812cf26c38 943 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 944 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 945
Lightvalve 67:c2812cf26c38 946 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 947
Lightvalve 67:c2812cf26c38 948
Lightvalve 67:c2812cf26c38 949
Lightvalve 67:c2812cf26c38 950 } else {
Lightvalve 67:c2812cf26c38 951 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 952 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 953
Lightvalve 67:c2812cf26c38 954 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 955 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 956 } else {
Lightvalve 67:c2812cf26c38 957 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 958 }
Lightvalve 67:c2812cf26c38 959
Lightvalve 67:c2812cf26c38 960 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 961
Lightvalve 67:c2812cf26c38 962 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 963
Lightvalve 67:c2812cf26c38 964 }
Lightvalve 67:c2812cf26c38 965
Lightvalve 67:c2812cf26c38 966
Lightvalve 67:c2812cf26c38 967
Lightvalve 67:c2812cf26c38 968
Lightvalve 59:f308b1656d9c 969 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 970 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 971 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 972 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 973 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 974
Lightvalve 29:69f3f5445d6d 975 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 976 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 977 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 978 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 979 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 980 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 981 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 982 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 983 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 984 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 985 }
Lightvalve 13:747daba9cf59 986 }
Lightvalve 19:23b7c1ad8683 987
Lightvalve 13:747daba9cf59 988 break;
Lightvalve 13:747daba9cf59 989 }
Lightvalve 14:8e7590227d22 990
Lightvalve 50:3c630b5eba9f 991 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 992 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 993 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 994 // else {
Lightvalve 50:3c630b5eba9f 995 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 996 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 997 // }
Lightvalve 50:3c630b5eba9f 998 // }
Lightvalve 50:3c630b5eba9f 999 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1000 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1001 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1002 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1003 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1004 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1005 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1006 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1007 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1008 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1009 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1010 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1011 // }
Lightvalve 50:3c630b5eba9f 1012 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1013 // }
Lightvalve 50:3c630b5eba9f 1014 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1015 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1016 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1017 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1018 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1019 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1020 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1021 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1022 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1023 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1024 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1025 // }
Lightvalve 50:3c630b5eba9f 1026 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1027 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1028 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1029 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1030 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1031 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1032 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 1033 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1034 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1035 // }
Lightvalve 50:3c630b5eba9f 1036 // }
Lightvalve 50:3c630b5eba9f 1037 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1038 //
Lightvalve 50:3c630b5eba9f 1039 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1040 //
Lightvalve 50:3c630b5eba9f 1041 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1042 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1043 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1044 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1045 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1046 // }
Lightvalve 50:3c630b5eba9f 1047 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1048 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1049 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1050 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1051 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1052 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1053 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1054 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1055 // }
Lightvalve 50:3c630b5eba9f 1056 //
Lightvalve 50:3c630b5eba9f 1057 // }
Lightvalve 50:3c630b5eba9f 1058 // break;
Lightvalve 50:3c630b5eba9f 1059 // }
Lightvalve 50:3c630b5eba9f 1060 //
Lightvalve 50:3c630b5eba9f 1061 // }
Lightvalve 14:8e7590227d22 1062 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1063 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1064 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1065 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1066 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1067
Lightvalve 14:8e7590227d22 1068 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1069 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1070 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1071 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1072 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1073
Lightvalve 38:118df027d851 1074 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1075 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1076 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1077
Lightvalve 30:8d561f16383b 1078 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1079 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1080 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1081 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1082
Lightvalve 30:8d561f16383b 1083 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1084 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1085 }
Lightvalve 13:747daba9cf59 1086 } else {
Lightvalve 57:f4819de54e7a 1087 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1088 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1089 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1090 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1091 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1092 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1093
Lightvalve 16:903b5a4433b4 1094 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1095
Lightvalve 30:8d561f16383b 1096 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1097 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1098 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1099 }
Lightvalve 14:8e7590227d22 1100 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1101 break;
Lightvalve 13:747daba9cf59 1102 }
Lightvalve 14:8e7590227d22 1103
Lightvalve 50:3c630b5eba9f 1104 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1105 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1106 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1107 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1108 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1109 // }
Lightvalve 50:3c630b5eba9f 1110 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1111 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1112 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1113 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1114 // }
Lightvalve 50:3c630b5eba9f 1115 // } else {
Lightvalve 50:3c630b5eba9f 1116 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1117 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1118 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1119 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1120 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1121 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1122 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1123 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1124 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1125 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1126 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1127 //
Lightvalve 50:3c630b5eba9f 1128 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1129 //
Lightvalve 50:3c630b5eba9f 1130 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1131 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1132 // }
Lightvalve 50:3c630b5eba9f 1133 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1134 // break;
Lightvalve 50:3c630b5eba9f 1135 // }
Lightvalve 19:23b7c1ad8683 1136
Lightvalve 50:3c630b5eba9f 1137 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1138 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 1139 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1140 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1141 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1142 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1143 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1144 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1145 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1146 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1147 // }
Lightvalve 50:3c630b5eba9f 1148 // break;
Lightvalve 50:3c630b5eba9f 1149 // }
Lightvalve 14:8e7590227d22 1150
Lightvalve 14:8e7590227d22 1151 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1152 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1153 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1154
Lightvalve 14:8e7590227d22 1155 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1156 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1157 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1158 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1159 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1160 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1161 data_num = 0;
Lightvalve 14:8e7590227d22 1162 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1163 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1164 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1165 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1166 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1167 } else {
Lightvalve 13:747daba9cf59 1168 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1169 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1170 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1171 }
Lightvalve 14:8e7590227d22 1172
Lightvalve 17:1865016ca2e7 1173 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1174 int i;
Lightvalve 13:747daba9cf59 1175 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1176 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1177 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1178 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1179 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1180 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1181 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1182 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1183 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1184 }
Lightvalve 13:747daba9cf59 1185 }
Lightvalve 59:f308b1656d9c 1186 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1187 ID_index = 0;
Lightvalve 57:f4819de54e7a 1188 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1189 }
Lightvalve 14:8e7590227d22 1190
Lightvalve 14:8e7590227d22 1191
Lightvalve 13:747daba9cf59 1192 break;
Lightvalve 13:747daba9cf59 1193 }
Lightvalve 14:8e7590227d22 1194
Lightvalve 14:8e7590227d22 1195 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1196 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1197 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1198 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1199 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1200 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1201 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1202 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1203 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1204 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1205 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1206 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1207 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1208 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1209 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1210 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1211 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1212 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1213 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1214 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1215 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1216 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1217 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1218 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1219 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1220 data_num = 0;
Lightvalve 14:8e7590227d22 1221
Lightvalve 30:8d561f16383b 1222 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1223 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1224 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1225
Lightvalve 30:8d561f16383b 1226 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1227 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1228 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1229
Lightvalve 30:8d561f16383b 1230 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1231 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1232 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1233 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1234
Lightvalve 60:64181f1d3e60 1235 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1236 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1237 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1238 DZ_case = -1;
Lightvalve 14:8e7590227d22 1239 } else {
Lightvalve 13:747daba9cf59 1240 DZ_case = 0;
Lightvalve 13:747daba9cf59 1241 }
Lightvalve 61:bc8c8270f0ab 1242
Lightvalve 60:64181f1d3e60 1243 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1244
Lightvalve 13:747daba9cf59 1245 first_check = 1;
Lightvalve 13:747daba9cf59 1246 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1247 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1248 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1249 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1250 DZ_index = 1;
Lightvalve 14:8e7590227d22 1251
Lightvalve 13:747daba9cf59 1252 }
Lightvalve 19:23b7c1ad8683 1253 } else {
Lightvalve 14:8e7590227d22 1254 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1255 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1256 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1257 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1258 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1259 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1260 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1261 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1262 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1263 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1264 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1265 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1266 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1267 }
Lightvalve 14:8e7590227d22 1268 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1269
Lightvalve 30:8d561f16383b 1270 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1271 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1272 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1273
Lightvalve 14:8e7590227d22 1274 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1275 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1276 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1277 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1278 } else {
Lightvalve 13:747daba9cf59 1279 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1280 }
Lightvalve 14:8e7590227d22 1281
Lightvalve 13:747daba9cf59 1282 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1283 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1284 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1285 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1286 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1287 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1288 DZ_index = 1;
Lightvalve 13:747daba9cf59 1289 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1290 }
Lightvalve 13:747daba9cf59 1291 }
Lightvalve 14:8e7590227d22 1292 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1293 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1294 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1295 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1296 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1297 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1298 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1299 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1300 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1301 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1302 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1303 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1304 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1305 }
Lightvalve 14:8e7590227d22 1306 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1307
Lightvalve 30:8d561f16383b 1308 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1309 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1310 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1311 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1312 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1313
Lightvalve 14:8e7590227d22 1314 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1315 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1316 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1317 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1318 } else {
Lightvalve 60:64181f1d3e60 1319 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1320 }
Lightvalve 14:8e7590227d22 1321
Lightvalve 13:747daba9cf59 1322 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1323 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1324 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1325 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1326 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1327 first_check = 0;
Lightvalve 33:91b17819ec30 1328 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1329 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1330
Lightvalve 16:903b5a4433b4 1331 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1332
Lightvalve 60:64181f1d3e60 1333 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1334 DZ_index = 1;
Lightvalve 13:747daba9cf59 1335 }
Lightvalve 13:747daba9cf59 1336 }
Lightvalve 14:8e7590227d22 1337 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1338 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1339 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1340 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1341 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1342 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1343 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1344 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1345 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1346 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1347 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1348 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1349 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1350 }
Lightvalve 14:8e7590227d22 1351 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1352
Lightvalve 30:8d561f16383b 1353 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1354 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1355 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1356
Lightvalve 14:8e7590227d22 1357 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1358 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1359 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1360 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1361 } else {
Lightvalve 13:747daba9cf59 1362 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1363 }
Lightvalve 13:747daba9cf59 1364 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1365 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1366 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1367 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1368 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1369 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1370 DZ_index = 1;
Lightvalve 13:747daba9cf59 1371 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1372 }
Lightvalve 13:747daba9cf59 1373 }
Lightvalve 14:8e7590227d22 1374 } else {
Lightvalve 30:8d561f16383b 1375 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1376 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1377 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1378 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1379 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1380 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1381 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1382 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1383 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1384 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1385 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1386 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1387 }
Lightvalve 14:8e7590227d22 1388 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1389
Lightvalve 30:8d561f16383b 1390 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1391 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1392 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1393 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1394 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1395
Lightvalve 60:64181f1d3e60 1396 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1397 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1398 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1399 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1400 } else {
Lightvalve 13:747daba9cf59 1401 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1402 }
Lightvalve 14:8e7590227d22 1403
Lightvalve 13:747daba9cf59 1404 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1405 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1406 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1407 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1408 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1409 first_check = 0;
Lightvalve 33:91b17819ec30 1410 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1411 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1412
Lightvalve 59:f308b1656d9c 1413 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1414
Lightvalve 57:f4819de54e7a 1415 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1416 DZ_index = 1;
Lightvalve 13:747daba9cf59 1417 }
Lightvalve 13:747daba9cf59 1418 }
Lightvalve 13:747daba9cf59 1419 }
Lightvalve 14:8e7590227d22 1420 }
Lightvalve 13:747daba9cf59 1421 break;
Lightvalve 13:747daba9cf59 1422 }
Lightvalve 14:8e7590227d22 1423
Lightvalve 14:8e7590227d22 1424 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1425 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1426 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1427 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1428 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1429 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1430 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1431 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1432 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1433 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1434 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1435 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1436 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1437 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1438 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1439 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1440 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1441 first_check = 1;
Lightvalve 13:747daba9cf59 1442 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1443 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1444 ID_index = 0;
Lightvalve 13:747daba9cf59 1445 max_check = 0;
Lightvalve 13:747daba9cf59 1446 min_check = 0;
Lightvalve 13:747daba9cf59 1447 }
Lightvalve 14:8e7590227d22 1448 } else {
Lightvalve 30:8d561f16383b 1449 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1450 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1451 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1452 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1453 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1454 data_num = 0;
Lightvalve 57:f4819de54e7a 1455 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1456
Lightvalve 14:8e7590227d22 1457 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1458 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1459 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1460 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1461 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1462 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1463 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1464 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1465 one_period_end = 1;
Lightvalve 13:747daba9cf59 1466 }
Lightvalve 30:8d561f16383b 1467 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1468 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1469 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1470 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1471 }
Lightvalve 14:8e7590227d22 1472
Lightvalve 14:8e7590227d22 1473 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1474 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1475 max_check = 1;
Lightvalve 14:8e7590227d22 1476 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1477 min_check = 1;
Lightvalve 13:747daba9cf59 1478 }
Lightvalve 13:747daba9cf59 1479 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1480
Lightvalve 13:747daba9cf59 1481 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1482 one_period_end = 0;
Lightvalve 13:747daba9cf59 1483 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1484 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1485 }
Lightvalve 14:8e7590227d22 1486
Lightvalve 14:8e7590227d22 1487 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1488
Lightvalve 13:747daba9cf59 1489 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1490 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1491 ID_index = 0;
Lightvalve 13:747daba9cf59 1492 first_check = 0;
Lightvalve 13:747daba9cf59 1493 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1494 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1495 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1496 }
Lightvalve 13:747daba9cf59 1497 }
Lightvalve 13:747daba9cf59 1498 break;
Lightvalve 13:747daba9cf59 1499 }
Lightvalve 58:2eade98630e2 1500
Lightvalve 57:f4819de54e7a 1501 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1502 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1503 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1504 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1505 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1506 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1507 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1508 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1509 }
Lightvalve 57:f4819de54e7a 1510 break;
Lightvalve 57:f4819de54e7a 1511 }
Lightvalve 58:2eade98630e2 1512
Lightvalve 58:2eade98630e2 1513
Lightvalve 57:f4819de54e7a 1514
Lightvalve 57:f4819de54e7a 1515 default:
Lightvalve 57:f4819de54e7a 1516 break;
Lightvalve 57:f4819de54e7a 1517 }
Lightvalve 57:f4819de54e7a 1518
Lightvalve 57:f4819de54e7a 1519 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1520
Lightvalve 57:f4819de54e7a 1521 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1522 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1523 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1524 break;
Lightvalve 57:f4819de54e7a 1525 }
Lightvalve 57:f4819de54e7a 1526
Lightvalve 57:f4819de54e7a 1527 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1528 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1529 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1530 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1531 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1532 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1533 } else {
Lightvalve 67:c2812cf26c38 1534 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1535 }
Lightvalve 58:2eade98630e2 1536
Lightvalve 57:f4819de54e7a 1537 break;
Lightvalve 57:f4819de54e7a 1538 }
Lightvalve 57:f4819de54e7a 1539
Lightvalve 57:f4819de54e7a 1540 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1541 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1542 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1543 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1544 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1545
Lightvalve 67:c2812cf26c38 1546 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1547 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1548 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1549 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1550
Lightvalve 67:c2812cf26c38 1551 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1552
Lightvalve 57:f4819de54e7a 1553 // torque feedback
Lightvalve 67:c2812cf26c38 1554 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1555 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1556
Lightvalve 57:f4819de54e7a 1557 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1558
Lightvalve 57:f4819de54e7a 1559 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1560 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1561 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1562
Lightvalve 57:f4819de54e7a 1563 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1564 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1565 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1566
Lightvalve 69:3995ffeaa786 1567 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1568 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1569 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1570 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1571 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1572 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1573 }
Lightvalve 57:f4819de54e7a 1574 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1575 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1576
Lightvalve 57:f4819de54e7a 1577 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1578 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1579 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1580 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1581 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1582 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1583 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1584 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 1585 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1586 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1587 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1588 }
Lightvalve 57:f4819de54e7a 1589 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1590 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1591 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1592 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1593 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1594
Lightvalve 57:f4819de54e7a 1595 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1596
Lightvalve 67:c2812cf26c38 1597 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1598 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1599 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1600 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1601 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1602 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1603 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1604 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1605 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1606 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1607 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1608 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1609 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1610 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1611 }
Lightvalve 67:c2812cf26c38 1612 }
Lightvalve 57:f4819de54e7a 1613
Lightvalve 57:f4819de54e7a 1614 } else {
Lightvalve 57:f4819de54e7a 1615 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1616 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1617 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1618
Lightvalve 57:f4819de54e7a 1619 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1620 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1621
Lightvalve 72:3436ce769b1e 1622 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1623
Lightvalve 72:3436ce769b1e 1624 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1625
Lightvalve 72:3436ce769b1e 1626
Lightvalve 72:3436ce769b1e 1627 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1628 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1629 } else {
Lightvalve 72:3436ce769b1e 1630 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1631 }
Lightvalve 57:f4819de54e7a 1632
Lightvalve 57:f4819de54e7a 1633 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1634 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1635 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1636 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1637 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1638 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1639 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1640 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1641 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1642 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1643 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1644 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1645 }
Lightvalve 57:f4819de54e7a 1646 }
Lightvalve 61:bc8c8270f0ab 1647
Lightvalve 57:f4819de54e7a 1648 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1649
Lightvalve 67:c2812cf26c38 1650 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1651 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1652
Lightvalve 57:f4819de54e7a 1653 }
Lightvalve 72:3436ce769b1e 1654
Lightvalve 72:3436ce769b1e 1655 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1656
Lightvalve 57:f4819de54e7a 1657 break;
Lightvalve 57:f4819de54e7a 1658 }
Lightvalve 58:2eade98630e2 1659
Lightvalve 57:f4819de54e7a 1660 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1661 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1662 break;
Lightvalve 57:f4819de54e7a 1663 }
Lightvalve 14:8e7590227d22 1664
Lightvalve 12:6f2531038ea4 1665 default:
Lightvalve 12:6f2531038ea4 1666 break;
Lightvalve 12:6f2531038ea4 1667 }
Lightvalve 14:8e7590227d22 1668
Lightvalve 57:f4819de54e7a 1669
Lightvalve 57:f4819de54e7a 1670 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1671
Lightvalve 57:f4819de54e7a 1672 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1673 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1674 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1675 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1676 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1677 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1678
Lightvalve 57:f4819de54e7a 1679 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1680 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1681
Lightvalve 57:f4819de54e7a 1682
Lightvalve 57:f4819de54e7a 1683 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1684 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1685 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1686 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1687 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1688 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1689
Lightvalve 57:f4819de54e7a 1690 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1691 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1692 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1693 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1694 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1695 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1696 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1697 }
Lightvalve 57:f4819de54e7a 1698
Lightvalve 57:f4819de54e7a 1699 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1700
Lightvalve 67:c2812cf26c38 1701 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1702 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1703 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1704 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1705 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 67:c2812cf26c38 1706 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1707 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1708
Lightvalve 57:f4819de54e7a 1709 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1710 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1711 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1712 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1713 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1714 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1715 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1716 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1717 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1718 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1719 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1720 }
Lightvalve 57:f4819de54e7a 1721 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1722 } else {
Lightvalve 57:f4819de54e7a 1723 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1724 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1725 }
Lightvalve 57:f4819de54e7a 1726
Lightvalve 57:f4819de54e7a 1727 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1728 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1729 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1730 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1731 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1732 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1733 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1734
Lightvalve 57:f4819de54e7a 1735 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1736
Lightvalve 57:f4819de54e7a 1737 } else {
Lightvalve 57:f4819de54e7a 1738 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1739 }
Lightvalve 57:f4819de54e7a 1740
Lightvalve 57:f4819de54e7a 1741 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1742 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1743 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1744
Lightvalve 57:f4819de54e7a 1745 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1746 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1747 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1748 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1749 }
Lightvalve 89:a7b45368ea0f 1750 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1751 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1752 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1753 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1754
Lightvalve 89:a7b45368ea0f 1755 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1756 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1757 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1758 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1759 }
Lightvalve 67:c2812cf26c38 1760
Lightvalve 67:c2812cf26c38 1761 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1762 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1763 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1764
jobuuu 7:e9086c72bb22 1765 /*******************************************************
jobuuu 7:e9086c72bb22 1766 *** PWM
jobuuu 7:e9086c72bb22 1767 ********************************************************/
Lightvalve 67:c2812cf26c38 1768 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1769 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1770 }
Lightvalve 67:c2812cf26c38 1771
Lightvalve 49:e7bcfc244d40 1772 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1773 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1774 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1775 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1776 }
Lightvalve 49:e7bcfc244d40 1777 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1778
Lightvalve 19:23b7c1ad8683 1779 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1780 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1781 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1782
Lightvalve 30:8d561f16383b 1783 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1784 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1785 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1786 } else {
jobuuu 2:a1c0a37df760 1787 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1788 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1789 }
Lightvalve 13:747daba9cf59 1790
jobuuu 1:e04e563be5ce 1791 //pwm
Lightvalve 30:8d561f16383b 1792 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1793 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1794
Lightvalve 61:bc8c8270f0ab 1795
Lightvalve 57:f4819de54e7a 1796 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1797
Lightvalve 54:647072f5307a 1798 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1799 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1800 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1801 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1802 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1803 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1804 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1805 }
Lightvalve 57:f4819de54e7a 1806 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1807 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1808 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 1809 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1810 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1811 }
Lightvalve 52:8ea76864368a 1812 }
Lightvalve 52:8ea76864368a 1813 }
Lightvalve 56:6f50d9d3bfee 1814 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1815 //valve position
Lightvalve 54:647072f5307a 1816 double t_value = 0;
Lightvalve 97:d71c57e3515e 1817 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1818 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1819 } else {
Lightvalve 97:d71c57e3515e 1820 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1821 }
Lightvalve 97:d71c57e3515e 1822 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1823 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1824 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1825 // } else {
Lightvalve 97:d71c57e3515e 1826 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1827 // }
Lightvalve 97:d71c57e3515e 1828 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1829 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1830 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1831 // } else {
Lightvalve 97:d71c57e3515e 1832 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1833 // }
Lightvalve 67:c2812cf26c38 1834 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1835 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1836 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1837 }
Lightvalve 58:2eade98630e2 1838
Lightvalve 58:2eade98630e2 1839
Lightvalve 98:cd1b2da4704f 1840 if (flag_data_request[2] == HIGH) {
Lightvalve 89:a7b45368ea0f 1841 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1842 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1843 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1844 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1845 } else {
Lightvalve 89:a7b45368ea0f 1846 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1847 }
Lightvalve 89:a7b45368ea0f 1848 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1849 }
Lightvalve 58:2eade98630e2 1850
Lightvalve 57:f4819de54e7a 1851 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1852 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1853 ;
Lightvalve 57:f4819de54e7a 1854 }
Lightvalve 58:2eade98630e2 1855
Lightvalve 56:6f50d9d3bfee 1856 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1857 //PWM
Lightvalve 73:f80dc3970c99 1858 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1859 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1860 }
Lightvalve 57:f4819de54e7a 1861 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1862 // ;
Lightvalve 57:f4819de54e7a 1863 // }
Lightvalve 56:6f50d9d3bfee 1864 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1865 //valve position
Lightvalve 73:f80dc3970c99 1866 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1867 }
Lightvalve 20:806196fda269 1868
Lightvalve 54:647072f5307a 1869 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1870 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1871 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1872 // }
Lightvalve 54:647072f5307a 1873 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1874 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1875 //}
Lightvalve 52:8ea76864368a 1876
Lightvalve 54:647072f5307a 1877 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1878 }
Lightvalve 54:647072f5307a 1879 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1880
Lightvalve 20:806196fda269 1881 }
Lightvalve 52:8ea76864368a 1882 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1883
Lightvalve 58:2eade98630e2 1884 }