Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

main.cpp@36:a46e63505ed8, 2019-11-22 (annotated)

Committer:
Lightvalve
Date:
Fri Nov 22 08:03:52 2019 +0000
Revision:
36:a46e63505ed8
Parent:
35:34ce7b0347b8
Child:
38:118df027d851
191122

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 11
Lightvalve 31:66738bfecec5 12 ///191008////
Lightvalve 31:66738bfecec5 13
jobuuu 7:e9086c72bb22 14 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 15 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 16 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 17 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 18 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 19 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 20 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 21 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 22
Lightvalve 24:ef6e1092e9e6 23
jobuuu 7:e9086c72bb22 24 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 25 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 26 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 27
jobuuu 7:e9086c72bb22 28 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 29 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 30 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 31 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 32
jobuuu 7:e9086c72bb22 33 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 34 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 35 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 36 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 37 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 38 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 39 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 43
jobuuu 7:e9086c72bb22 44 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 45 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 46 CANMessage msg;
Lightvalve 11:82d8768d7351 47 void onMsgReceived()
Lightvalve 11:82d8768d7351 48 {
Lightvalve 11:82d8768d7351 49 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 50 }
jobuuu 2:a1c0a37df760 51
jobuuu 7:e9086c72bb22 52 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 53 State pos;
jobuuu 7:e9086c72bb22 54 State vel;
jobuuu 7:e9086c72bb22 55 State Vout;
jobuuu 7:e9086c72bb22 56 State torq;
jobuuu 7:e9086c72bb22 57 State pres_A;
jobuuu 7:e9086c72bb22 58 State pres_B;
jobuuu 7:e9086c72bb22 59 State cur;
Lightvalve 14:8e7590227d22 60 State valve_pos;
Lightvalve 14:8e7590227d22 61
Lightvalve 14:8e7590227d22 62 State INIT_Vout;
Lightvalve 14:8e7590227d22 63 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 64 State INIT_Pos;
Lightvalve 14:8e7590227d22 65 State INIT_torq;
jobuuu 5:a4319f79457b 66
Lightvalve 30:8d561f16383b 67 float V_out=0.0f;
Lightvalve 30:8d561f16383b 68 float V_rem=0.0f; // for anti-windup
Lightvalve 30:8d561f16383b 69 float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 70
Lightvalve 30:8d561f16383b 71 float PWM_out=0.0f;
Lightvalve 12:6f2531038ea4 72
Lightvalve 17:1865016ca2e7 73 int timer_while = 0;
Lightvalve 17:1865016ca2e7 74 int while_index = 0;
Lightvalve 17:1865016ca2e7 75
Lightvalve 19:23b7c1ad8683 76
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 78 extern int CID_RX_REF_POSITION;
Lightvalve 19:23b7c1ad8683 79 extern int CID_RX_REF_TORQUE;
Lightvalve 19:23b7c1ad8683 80 extern int CID_RX_REF_PRES_DIFF;
Lightvalve 19:23b7c1ad8683 81 extern int CID_RX_REF_VOUT;
Lightvalve 19:23b7c1ad8683 82 extern int CID_RX_REF_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 83 extern int CID_RX_REF_CURRENT;
Lightvalve 19:23b7c1ad8683 84
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 87 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 88 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 89 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 90 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 91
jobuuu 7:e9086c72bb22 92 // =============================================================================
jobuuu 7:e9086c72bb22 93 // =============================================================================
jobuuu 7:e9086c72bb22 94 // =============================================================================
jobuuu 7:e9086c72bb22 95
Lightvalve 12:6f2531038ea4 96 /*******************************************************************************
Lightvalve 12:6f2531038ea4 97 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 98 ******************************************************************************/
Lightvalve 13:747daba9cf59 99 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 100 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 101 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 102 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 103 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 104 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 105 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 106 };
Lightvalve 12:6f2531038ea4 107
Lightvalve 12:6f2531038ea4 108 /*******************************************************************************
Lightvalve 12:6f2531038ea4 109 * CONTROL MODE
Lightvalve 12:6f2531038ea4 110 ******************************************************************************/
Lightvalve 13:747daba9cf59 111 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 112 //control mode
Lightvalve 12:6f2531038ea4 113 MODE_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 114 MODE_VALVE_OPEN_LOOP, //1
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_CONTROL, //2
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 122 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 123 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 124
Lightvalve 12:6f2531038ea4 125 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 126 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 127
Lightvalve 14:8e7590227d22 128 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 129 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 130 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 131
Lightvalve 12:6f2531038ea4 132 //utility
Lightvalve 12:6f2531038ea4 133 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 134 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 135 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 136 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 137 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 138 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 139 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 140
Lightvalve 12:6f2531038ea4 141 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 142 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 143 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 144 };
Lightvalve 12:6f2531038ea4 145
GiJeongKim 0:51c43836c1d7 146 int main()
GiJeongKim 0:51c43836c1d7 147 {
jobuuu 6:df07d3491e3a 148 /*********************************
jobuuu 1:e04e563be5ce 149 *** Initialization
jobuuu 6:df07d3491e3a 150 *********************************/
Lightvalve 19:23b7c1ad8683 151 //LED = 1;
Lightvalve 19:23b7c1ad8683 152 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 153
GiJeongKim 0:51c43836c1d7 154 // i2c init
Lightvalve 8:5d2eebdad025 155 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 156 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 157 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 158 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 159 make_delay();
jobuuu 2:a1c0a37df760 160
GiJeongKim 0:51c43836c1d7 161 // // spi init
Lightvalve 16:903b5a4433b4 162 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 163 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 164 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 165 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 166 make_delay();
Lightvalve 21:e5f1a43ea6f9 167
Lightvalve 16:903b5a4433b4 168 //rom
Lightvalve 19:23b7c1ad8683 169 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 170 make_delay();
Lightvalve 13:747daba9cf59 171
GiJeongKim 0:51c43836c1d7 172 // ADC init
jobuuu 5:a4319f79457b 173 Init_ADC();
Lightvalve 11:82d8768d7351 174 make_delay();
jobuuu 2:a1c0a37df760 175
GiJeongKim 0:51c43836c1d7 176 // Pwm init
GiJeongKim 0:51c43836c1d7 177 Init_PWM();
GiJeongKim 0:51c43836c1d7 178 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 179 make_delay();
Lightvalve 13:747daba9cf59 180
Lightvalve 11:82d8768d7351 181 // TMR3 init
Lightvalve 11:82d8768d7351 182 Init_TMR3();
Lightvalve 11:82d8768d7351 183 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 184 make_delay();
Lightvalve 21:e5f1a43ea6f9 185
Lightvalve 20:806196fda269 186 // TMR5 init
Lightvalve 23:59218d4a256d 187 Init_TMR2();
Lightvalve 23:59218d4a256d 188 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 20:806196fda269 189 make_delay();
Lightvalve 21:e5f1a43ea6f9 190
GiJeongKim 0:51c43836c1d7 191 // CAN
jobuuu 2:a1c0a37df760 192 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 193 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 194 make_delay();
Lightvalve 34:bb2ca2fc2a8e 195
Lightvalve 23:59218d4a256d 196 //Timer priority
Lightvalve 23:59218d4a256d 197 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 23:59218d4a256d 198 NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 199 NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve 34:bb2ca2fc2a8e 200
Lightvalve 23:59218d4a256d 201 //can.reset();
Lightvalve 19:23b7c1ad8683 202 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 203
GiJeongKim 0:51c43836c1d7 204 // spi _ enc
GiJeongKim 0:51c43836c1d7 205 spi_enc_set_init();
Lightvalve 11:82d8768d7351 206 make_delay();
Lightvalve 13:747daba9cf59 207
Lightvalve 11:82d8768d7351 208 //DAC init
Lightvalve 16:903b5a4433b4 209 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 210 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 11:82d8768d7351 211 make_delay();
Lightvalve 13:747daba9cf59 212
Lightvalve 19:23b7c1ad8683 213 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 214 if(i%2==0)
Lightvalve 11:82d8768d7351 215 ID_index_array[i] = - i * 0.5;
Lightvalve 11:82d8768d7351 216 else
Lightvalve 11:82d8768d7351 217 ID_index_array[i] = (i+1) * 0.5;
Lightvalve 11:82d8768d7351 218 }
Lightvalve 13:747daba9cf59 219
jobuuu 6:df07d3491e3a 220 /************************************
jobuuu 1:e04e563be5ce 221 *** Program is operating!
jobuuu 6:df07d3491e3a 222 *************************************/
GiJeongKim 0:51c43836c1d7 223 while(1) {
Lightvalve 21:e5f1a43ea6f9 224 if(timer_while==1000) {
Lightvalve 28:2a62d73e3dd0 225 //pc.printf("cmd %d\n ");
Lightvalve 17:1865016ca2e7 226 //i2c
Lightvalve 17:1865016ca2e7 227 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 228 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 21:e5f1a43ea6f9 229
Lightvalve 19:23b7c1ad8683 230 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 231 // LED=0;
Lightvalve 19:23b7c1ad8683 232 // } else
Lightvalve 19:23b7c1ad8683 233 // LED = 1;
Lightvalve 17:1865016ca2e7 234 timer_while = 0;
Lightvalve 21:e5f1a43ea6f9 235
Lightvalve 17:1865016ca2e7 236 }
Lightvalve 17:1865016ca2e7 237 timer_while ++;
GiJeongKim 0:51c43836c1d7 238 }
jobuuu 1:e04e563be5ce 239 }
jobuuu 1:e04e563be5ce 240
Lightvalve 33:91b17819ec30 241 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 242 {
Lightvalve 14:8e7590227d22 243
Lightvalve 13:747daba9cf59 244 int i = 0;
Lightvalve 33:91b17819ec30 245 float Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 246 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 247 if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve 14:8e7590227d22 248 if(i==0) {
Lightvalve 33:91b17819ec30 249 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 14:8e7590227d22 250 } else {
Lightvalve 33:91b17819ec30 251 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 13:747daba9cf59 252 }
Lightvalve 13:747daba9cf59 253 break;
Lightvalve 13:747daba9cf59 254 }
Lightvalve 13:747daba9cf59 255 }
Lightvalve 14:8e7590227d22 256 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 257 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 258 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 259 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 260 }
Lightvalve 36:a46e63505ed8 261
Lightvalve 35:34ce7b0347b8 262 //VELOCITY_COMP_GAIN = 20;
Lightvalve 35:34ce7b0347b8 263 //CAN_TX_PRES((int16_t)(Ref_Valve_Pos_FF), (int16_t) (7));
Lightvalve 33:91b17819ec30 264 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + DDV_CENTER;
Lightvalve 34:bb2ca2fc2a8e 265
Lightvalve 13:747daba9cf59 266 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 267 }
jobuuu 6:df07d3491e3a 268
jobuuu 6:df07d3491e3a 269
Lightvalve 30:8d561f16383b 270 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 271 {
Lightvalve 13:747daba9cf59 272 int i = 0;
Lightvalve 13:747daba9cf59 273
Lightvalve 13:747daba9cf59 274 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 275 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 276 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 277 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 278 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 279 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 280
Lightvalve 13:747daba9cf59 281 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 282
Lightvalve 14:8e7590227d22 283 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 284 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 285 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 286 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 287 }
Lightvalve 34:bb2ca2fc2a8e 288
Lightvalve 34:bb2ca2fc2a8e 289
Lightvalve 23:59218d4a256d 290 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve 23:59218d4a256d 291 // {
Lightvalve 23:59218d4a256d 292 // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve 30:8d561f16383b 293 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve 23:59218d4a256d 294 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve 30:8d561f16383b 295 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1];
Lightvalve 23:59218d4a256d 296 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve 30:8d561f16383b 297 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3];
Lightvalve 23:59218d4a256d 298 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve 30:8d561f16383b 299 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5];
Lightvalve 23:59218d4a256d 300 // }else
Lightvalve 23:59218d4a256d 301 // VALVE_PWM_RAW_FF = 12000.0;
Lightvalve 23:59218d4a256d 302 // }
Lightvalve 23:59218d4a256d 303 // else
Lightvalve 23:59218d4a256d 304 // {
Lightvalve 23:59218d4a256d 305 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve 30:8d561f16383b 306 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2];
Lightvalve 23:59218d4a256d 307 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve 30:8d561f16383b 308 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4];
Lightvalve 23:59218d4a256d 309 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve 30:8d561f16383b 310 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6];
Lightvalve 23:59218d4a256d 311 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve 30:8d561f16383b 312 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8];
Lightvalve 23:59218d4a256d 313 // }else
Lightvalve 23:59218d4a256d 314 // VALVE_PWM_RAW_FF = -12000.0;
Lightvalve 23:59218d4a256d 315 // }
Lightvalve 14:8e7590227d22 316
Lightvalve 18:b8adf1582ea3 317 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 318 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 319 if(i==0) {
Lightvalve 30:8d561f16383b 320 VALVE_PWM_RAW_FF = (float) 1000.0 / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 321 } else {
Lightvalve 30:8d561f16383b 322 VALVE_PWM_RAW_FF = (float) 1000.0* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0* (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 323 }
Lightvalve 13:747daba9cf59 324 break;
Lightvalve 13:747daba9cf59 325 }
Lightvalve 13:747daba9cf59 326 }
Lightvalve 19:23b7c1ad8683 327
Lightvalve 14:8e7590227d22 328 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 27:a2254a485f23 329 //V_out = VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 330 }
Lightvalve 13:747daba9cf59 331
Lightvalve 14:8e7590227d22 332 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 333 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 334 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 335 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 336 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 337 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 338 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 339 }; // duty
Lightvalve 30:8d561f16383b 340 float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve 34:bb2ca2fc2a8e 341 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 342 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 343 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 344 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 345 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 346 }; // mV
Lightvalve 13:747daba9cf59 347
Lightvalve 30:8d561f16383b 348 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 349 {
Lightvalve 30:8d561f16383b 350 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 351 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 352 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 353 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 354 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 355 } else {
Lightvalve 13:747daba9cf59 356 int idx = 0;
Lightvalve 13:747daba9cf59 357 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 358 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 359 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 360 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 361 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 362 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 363 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 364 break;
Lightvalve 13:747daba9cf59 365 }
Lightvalve 13:747daba9cf59 366 }
Lightvalve 13:747daba9cf59 367 }
Lightvalve 14:8e7590227d22 368
Lightvalve 13:747daba9cf59 369 return PWM_duty;
Lightvalve 13:747daba9cf59 370 }
jobuuu 6:df07d3491e3a 371
jobuuu 2:a1c0a37df760 372 /*******************************************************************************
jobuuu 2:a1c0a37df760 373 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 374 *******************************************************************************/
jobuuu 2:a1c0a37df760 375
Lightvalve 19:23b7c1ad8683 376 //unsigned long CNT_TMR4 = 0;
Lightvalve 30:8d561f16383b 377 float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve 30:8d561f16383b 378 float DT_TMR4 = (float)DT_10k;
jobuuu 1:e04e563be5ce 379 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 380 {
Lightvalve 23:59218d4a256d 381
Lightvalve 19:23b7c1ad8683 382 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 383
Lightvalve 21:e5f1a43ea6f9 384 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 385 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 386 ********************************************************/
Lightvalve 13:747daba9cf59 387
Lightvalve 19:23b7c1ad8683 388
Lightvalve 21:e5f1a43ea6f9 389 //Using LoadCell
Lightvalve 15:bd0d12728506 390 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 391 // //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 392 // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 393 // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve 30:8d561f16383b 394 // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 395
Lightvalve 19:23b7c1ad8683 396
Lightvalve 17:1865016ca2e7 397
Lightvalve 21:e5f1a43ea6f9 398 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 399 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 400 //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 401 float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 402 float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 403 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 19:23b7c1ad8683 404
Lightvalve 21:e5f1a43ea6f9 405 //Pressure sensor 1B
Lightvalve 21:e5f1a43ea6f9 406 //ADC2->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 407 //while((ADC2->SR & 0b10));
Lightvalve 30:8d561f16383b 408 float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 409 float pres_B_new = ((float)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 410 pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 30:8d561f16383b 411 torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 412
Lightvalve 17:1865016ca2e7 413
Lightvalve 17:1865016ca2e7 414
Lightvalve 21:e5f1a43ea6f9 415 //Current
Lightvalve 21:e5f1a43ea6f9 416 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 417 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 418 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 419 //while((ADC3->SR & 0b10));
Lightvalve 30:8d561f16383b 420 float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 421 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 422 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 423 //cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 424
Lightvalve 21:e5f1a43ea6f9 425 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 426 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 427 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 428 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 429 }
Lightvalve 11:82d8768d7351 430 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 431 }
Lightvalve 19:23b7c1ad8683 432
Lightvalve 19:23b7c1ad8683 433
Lightvalve 18:b8adf1582ea3 434 int j =0;
Lightvalve 19:23b7c1ad8683 435 //unsigned long CNT_TMR3 = 0;
Lightvalve 30:8d561f16383b 436 //float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 30:8d561f16383b 437 float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve 30:8d561f16383b 438 //float DT_TMR3 = (float)DT_5k;
Lightvalve 30:8d561f16383b 439 float DT_TMR3 = (float)DT_1k;
Lightvalve 11:82d8768d7351 440 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 441 {
Lightvalve 19:23b7c1ad8683 442 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 443 ENC_UPDATE();
Lightvalve 13:747daba9cf59 444
Lightvalve 19:23b7c1ad8683 445 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 446
Lightvalve 14:8e7590227d22 447 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 448 case MODE_NO_ACT: {
Lightvalve 30:8d561f16383b 449 V_out = 0.0f;
Lightvalve 13:747daba9cf59 450 break;
Lightvalve 13:747daba9cf59 451 }
Lightvalve 14:8e7590227d22 452
Lightvalve 14:8e7590227d22 453 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 30:8d561f16383b 454 V_out = (float) Vout.ref;
Lightvalve 14:8e7590227d22 455 break;
Lightvalve 14:8e7590227d22 456 }
Lightvalve 14:8e7590227d22 457
Lightvalve 14:8e7590227d22 458 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 459 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 460 break;
Lightvalve 14:8e7590227d22 461 }
Lightvalve 14:8e7590227d22 462
Lightvalve 14:8e7590227d22 463 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 464 float PWM_RAW_POS_FB = 0.0f; // PWM by Position Feedback
Lightvalve 30:8d561f16383b 465 float PWM_RAW_POS_FF = 0.0f; // PWM by Position Feedforward
Lightvalve 30:8d561f16383b 466 float PWM_RAW_FORCE_FB = 0.0f; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 467
Lightvalve 13:747daba9cf59 468 // feedback input for position control
Lightvalve 30:8d561f16383b 469 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 470 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 471 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 472 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 473 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 474 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 475 // PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 30:8d561f16383b 476 PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 30:8d561f16383b 477 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 478
Lightvalve 13:747daba9cf59 479 // feedforward input for position control
Lightvalve 30:8d561f16383b 480 float Ref_Vel_Act = vel.ref/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 481 float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 482 if(Ref_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 483 if(Ref_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 484 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 485
Lightvalve 13:747daba9cf59 486 // torque feedback
Lightvalve 15:bd0d12728506 487 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 488 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 489 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 490 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 491 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 492 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 493 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 30:8d561f16383b 494 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 19:23b7c1ad8683 495
Lightvalve 30:8d561f16383b 496 PWM_RAW_FORCE_FB = 0.0f;
Lightvalve 14:8e7590227d22 497
Lightvalve 14:8e7590227d22 498 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 499
Lightvalve 13:747daba9cf59 500 break;
Lightvalve 13:747daba9cf59 501 }
Lightvalve 14:8e7590227d22 502
Lightvalve 14:8e7590227d22 503 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 34:bb2ca2fc2a8e 504
Lightvalve 34:bb2ca2fc2a8e 505
Lightvalve 30:8d561f16383b 506 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 30:8d561f16383b 507 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 30:8d561f16383b 508 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 509 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 510 // feedback input for position control
Lightvalve 30:8d561f16383b 511 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 512 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 513 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 514 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 515 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 516 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 32:4b8c0fedaf2c 517 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * 0.01f * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 30:8d561f16383b 518 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 519
Lightvalve 14:8e7590227d22 520
Lightvalve 13:747daba9cf59 521 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 522 // feedforward input for position control
Lightvalve 30:8d561f16383b 523 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 524 // float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 525 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 526 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 527 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 528
Lightvalve 13:747daba9cf59 529 // torque feedback
Lightvalve 15:bd0d12728506 530 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 531 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 532 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 533 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 534 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 535 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 536 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 30:8d561f16383b 537 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 30:8d561f16383b 538 VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 14:8e7590227d22 539
Lightvalve 33:91b17819ec30 540 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 23:59218d4a256d 541 //valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 34:bb2ca2fc2a8e 542
Lightvalve 34:bb2ca2fc2a8e 543 if (valve_pos.ref > DDV_CENTER) {
Lightvalve 32:4b8c0fedaf2c 544 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS - DDV_CENTER;
Lightvalve 34:bb2ca2fc2a8e 545 } else if(valve_pos.ref < DDV_CENTER) {
Lightvalve 32:4b8c0fedaf2c 546 valve_pos.ref = valve_pos.ref - DDV_CENTER + VALVE_DEADZONE_MINUS;
Lightvalve 32:4b8c0fedaf2c 547 }
Lightvalve 14:8e7590227d22 548 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 549
Lightvalve 34:bb2ca2fc2a8e 550
Lightvalve 13:747daba9cf59 551 break;
Lightvalve 13:747daba9cf59 552 }
Lightvalve 14:8e7590227d22 553
Lightvalve 14:8e7590227d22 554 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 555
Lightvalve 13:747daba9cf59 556 break;
Lightvalve 13:747daba9cf59 557 }
Lightvalve 14:8e7590227d22 558
Lightvalve 14:8e7590227d22 559 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 560 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 561 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 562 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 563 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 564 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 565 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 566 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 567
Lightvalve 14:8e7590227d22 568 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 569 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 570 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 571 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 572 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 573 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 574 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 575
Lightvalve 30:8d561f16383b 576 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 14:8e7590227d22 577
Lightvalve 30:8d561f16383b 578 V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 579
Lightvalve 30:8d561f16383b 580 CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 30:8d561f16383b 581 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 582 if (DIR_VALVE > 0) {
Lightvalve 30:8d561f16383b 583 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 584 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve 30:8d561f16383b 585 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve 30:8d561f16383b 586 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve 30:8d561f16383b 587 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve 30:8d561f16383b 588 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 589 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve 30:8d561f16383b 590 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve 30:8d561f16383b 591 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve 30:8d561f16383b 592 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve 30:8d561f16383b 593 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve 30:8d561f16383b 594 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 595 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 596 } else {
Lightvalve 30:8d561f16383b 597 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 598 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve 30:8d561f16383b 599 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve 30:8d561f16383b 600 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve 30:8d561f16383b 601 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve 30:8d561f16383b 602 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 603 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve 30:8d561f16383b 604 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve 30:8d561f16383b 605 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve 30:8d561f16383b 606 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve 30:8d561f16383b 607 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve 30:8d561f16383b 608 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 609 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 610 }
Lightvalve 30:8d561f16383b 611 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 14:8e7590227d22 612
Lightvalve 30:8d561f16383b 613 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve 30:8d561f16383b 614 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve 14:8e7590227d22 615
Lightvalve 18:b8adf1582ea3 616 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 617 break;
Lightvalve 14:8e7590227d22 618 }
Lightvalve 14:8e7590227d22 619
Lightvalve 14:8e7590227d22 620 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 621 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 622 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 623 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 624 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 625 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 626 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 627 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 628
Lightvalve 15:bd0d12728506 629 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 630 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 631 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 632 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 633 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 634 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 635 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 636
Lightvalve 14:8e7590227d22 637 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 638 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 19:23b7c1ad8683 639
Lightvalve 14:8e7590227d22 640 break;
Lightvalve 14:8e7590227d22 641 }
Lightvalve 14:8e7590227d22 642
Lightvalve 14:8e7590227d22 643 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 644
Lightvalve 14:8e7590227d22 645 break;
Lightvalve 14:8e7590227d22 646 }
Lightvalve 14:8e7590227d22 647
Lightvalve 19:23b7c1ad8683 648
Lightvalve 19:23b7c1ad8683 649 case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 650 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 651 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 652 }
Lightvalve 19:23b7c1ad8683 653 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 654
Lightvalve 19:23b7c1ad8683 655 // Set Current Reference
Lightvalve 30:8d561f16383b 656 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 657 float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 658 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 30:8d561f16383b 659 I_REF = I_REF_MID + 1.0f;
Lightvalve 14:8e7590227d22 660 } else {
Lightvalve 30:8d561f16383b 661 I_REF = I_REF_MID - 1.0f;
Lightvalve 19:23b7c1ad8683 662 }
Lightvalve 30:8d561f16383b 663 // float T = 1.0; // wave period
Lightvalve 30:8d561f16383b 664 // I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 30:8d561f16383b 665 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 19:23b7c1ad8683 666
Lightvalve 14:8e7590227d22 667 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 668 //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 669 }
Lightvalve 14:8e7590227d22 670 break;
Lightvalve 14:8e7590227d22 671 }
Lightvalve 19:23b7c1ad8683 672
Lightvalve 19:23b7c1ad8683 673 case MODE_TEST_PWM_CONTROL: {
Lightvalve 14:8e7590227d22 674 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 675 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 676 }
Lightvalve 19:23b7c1ad8683 677 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 678
Lightvalve 14:8e7590227d22 679 // Set PWM reference
Lightvalve 30:8d561f16383b 680 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 681 //float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 682 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 683 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 684 } else {
Lightvalve 14:8e7590227d22 685 CUR_PWM = -1000;
Lightvalve 19:23b7c1ad8683 686 }
Lightvalve 19:23b7c1ad8683 687
Lightvalve 14:8e7590227d22 688 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 30:8d561f16383b 689 //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 14:8e7590227d22 690 }
Lightvalve 13:747daba9cf59 691 break;
Lightvalve 13:747daba9cf59 692 }
Lightvalve 19:23b7c1ad8683 693
Lightvalve 19:23b7c1ad8683 694
Lightvalve 14:8e7590227d22 695 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 696
Lightvalve 14:8e7590227d22 697 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 698 CurrentControl();
Lightvalve 14:8e7590227d22 699 break;
Lightvalve 14:8e7590227d22 700 }
Lightvalve 19:23b7c1ad8683 701
Lightvalve 14:8e7590227d22 702 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 703 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 704 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 705 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 706 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 707
Lightvalve 14:8e7590227d22 708 // feedback input for position control
Lightvalve 14:8e7590227d22 709 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 710 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 711 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 712 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 713 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 714 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 715
Lightvalve 14:8e7590227d22 716 // feedforward input for position control
Lightvalve 30:8d561f16383b 717 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 718 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 719 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 720 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 721 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 722 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 723
Lightvalve 14:8e7590227d22 724 // feedback input for position control
Lightvalve 30:8d561f16383b 725 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 726
Lightvalve 14:8e7590227d22 727 // feedforward input for position control
Lightvalve 30:8d561f16383b 728 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 729
Lightvalve 14:8e7590227d22 730 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 731
Lightvalve 14:8e7590227d22 732 CurrentControl();
Lightvalve 19:23b7c1ad8683 733
Lightvalve 13:747daba9cf59 734 break;
Lightvalve 13:747daba9cf59 735 }
Lightvalve 19:23b7c1ad8683 736
Lightvalve 14:8e7590227d22 737 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 738 //float T_REF = 0.0; // Torque Reference
Lightvalve 30:8d561f16383b 739 float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 740 float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 19:23b7c1ad8683 741
Lightvalve 14:8e7590227d22 742 // feedback input for position control
Lightvalve 30:8d561f16383b 743 //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 744 //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 745 //float K_spring = 0.7f;
Lightvalve 30:8d561f16383b 746 //float D_damper = 0.02f;
Lightvalve 14:8e7590227d22 747 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 19:23b7c1ad8683 748
Lightvalve 14:8e7590227d22 749 // torque feedback
Lightvalve 15:bd0d12728506 750 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 751 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 752 // torq.err_old = torq.err;
Lightvalve 30:8d561f16383b 753 torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 754 I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 19:23b7c1ad8683 755
Lightvalve 14:8e7590227d22 756 // velocity compensation for torque control
Lightvalve 30:8d561f16383b 757 float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 758 float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 30:8d561f16383b 759 float K_v = 0.0f; // Valve gain
Lightvalve 30:8d561f16383b 760 if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 30:8d561f16383b 761 if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 14:8e7590227d22 762 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 19:23b7c1ad8683 763
Lightvalve 14:8e7590227d22 764 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 765 // cur.ref = I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 766
Lightvalve 30:8d561f16383b 767 float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 30:8d561f16383b 768 float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 769 if(cur.ref > I_MAX) {
Lightvalve 30:8d561f16383b 770 float I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 771 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 772 cur.ref = I_MAX;
Lightvalve 30:8d561f16383b 773 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 774 } else if(cur.ref < -I_MAX) {
Lightvalve 30:8d561f16383b 775 float I_rem = cur.ref-(-I_MAX);
Lightvalve 19:23b7c1ad8683 776 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 777 cur.ref = -I_MAX;
Lightvalve 30:8d561f16383b 778 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 779 }
Lightvalve 19:23b7c1ad8683 780
Lightvalve 14:8e7590227d22 781 CurrentControl();
Lightvalve 19:23b7c1ad8683 782
Lightvalve 19:23b7c1ad8683 783
Lightvalve 14:8e7590227d22 784 /*
Lightvalve 30:8d561f16383b 785 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 786 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 787 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 788 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 789
Lightvalve 14:8e7590227d22 790 // feedback input for position control
Lightvalve 14:8e7590227d22 791 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 792 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 793 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 794 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 795 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 796 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 797
Lightvalve 14:8e7590227d22 798 // feedforward input for position control
Lightvalve 30:8d561f16383b 799 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 800 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 801 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 802 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 803 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 804 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 805
Lightvalve 14:8e7590227d22 806 // feedback input for position control
Lightvalve 30:8d561f16383b 807 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 808
Lightvalve 14:8e7590227d22 809 // feedforward input for position control
Lightvalve 30:8d561f16383b 810 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 811
Lightvalve 14:8e7590227d22 812 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 813
Lightvalve 14:8e7590227d22 814 CurrentControl();
Lightvalve 14:8e7590227d22 815 */
Lightvalve 19:23b7c1ad8683 816
Lightvalve 13:747daba9cf59 817 break;
Lightvalve 13:747daba9cf59 818 }
Lightvalve 14:8e7590227d22 819
Lightvalve 14:8e7590227d22 820 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 821 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 822 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 823 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 824
Lightvalve 14:8e7590227d22 825 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 826 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 827 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 828
Lightvalve 30:8d561f16383b 829 TORQUE_VREF += 0.0001f * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 830
Lightvalve 30:8d561f16383b 831 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 832 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 19:23b7c1ad8683 833
Lightvalve 16:903b5a4433b4 834 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 835
Lightvalve 16:903b5a4433b4 836 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 837 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 838 }
Lightvalve 13:747daba9cf59 839 } else {
Lightvalve 13:747daba9cf59 840 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 841 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 842 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 843 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 844
Lightvalve 16:903b5a4433b4 845 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 846
Lightvalve 16:903b5a4433b4 847 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 848
Lightvalve 17:1865016ca2e7 849 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 850 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 851
Lightvalve 13:747daba9cf59 852 }
Lightvalve 14:8e7590227d22 853 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 854 break;
Lightvalve 19:23b7c1ad8683 855 }
Lightvalve 14:8e7590227d22 856
Lightvalve 14:8e7590227d22 857 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 858 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 859 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 860 else temp_time = 0;
Lightvalve 13:747daba9cf59 861 }
Lightvalve 13:747daba9cf59 862 if (need_enc_init) {
Lightvalve 30:8d561f16383b 863 if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 864 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 865 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 866 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 867 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 868 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 869 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 870 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 871 }
Lightvalve 14:8e7590227d22 872
Lightvalve 14:8e7590227d22 873 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 874 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 875 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 876
Lightvalve 30:8d561f16383b 877 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 878 V_out = 0;
Lightvalve 13:747daba9cf59 879 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 880 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 881 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 882 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 883 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 884 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 885 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 886 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 887 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 888
Lightvalve 13:747daba9cf59 889 // Position of Dead Zone
Lightvalve 13:747daba9cf59 890 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 891 // | / | / |/
Lightvalve 13:747daba9cf59 892 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 893 // |/ / | / |
Lightvalve 13:747daba9cf59 894 // /| / | / |
Lightvalve 13:747daba9cf59 895 // 0V 0V 0V
Lightvalve 14:8e7590227d22 896
Lightvalve 13:747daba9cf59 897 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 898 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 899 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 900 } else {
Lightvalve 18:b8adf1582ea3 901 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 902 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 903 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 904 }
Lightvalve 13:747daba9cf59 905 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 906 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 907 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 908 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 909 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 910 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 911 }
Lightvalve 13:747daba9cf59 912 } else {
Lightvalve 14:8e7590227d22 913 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 914 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 915 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 916 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 917 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 918 }
Lightvalve 18:b8adf1582ea3 919 V_out = 0;
Lightvalve 19:23b7c1ad8683 920
Lightvalve 16:903b5a4433b4 921 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 922
Lightvalve 16:903b5a4433b4 923 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 924 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 925
Lightvalve 13:747daba9cf59 926 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 927 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 928 }
Lightvalve 13:747daba9cf59 929 }
Lightvalve 14:8e7590227d22 930 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 931 break;
Lightvalve 13:747daba9cf59 932 }
Lightvalve 14:8e7590227d22 933
Lightvalve 14:8e7590227d22 934 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 935 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 936 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 937 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 938 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 939 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 940 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 941 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 942 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 943 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 944 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 945 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 946 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 947 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 948 }
Lightvalve 29:69f3f5445d6d 949 cnt_findhome++;
Lightvalve 30:8d561f16383b 950 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 951
Lightvalve 29:69f3f5445d6d 952 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 953 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 954 } else {
Lightvalve 29:69f3f5445d6d 955 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 956 }
Lightvalve 19:23b7c1ad8683 957
Lightvalve 30:8d561f16383b 958 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 959 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 960 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 961 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 962 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 963 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 964 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 965 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 966 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 967 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 968
Lightvalve 30:8d561f16383b 969 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 970 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 971 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 972 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 973 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 974 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 975 } else {
Lightvalve 29:69f3f5445d6d 976 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 977 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 978 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 979 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 980 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 981 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 982 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 983 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 984 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 985 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 986 }
Lightvalve 29:69f3f5445d6d 987 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 988 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 989 pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 30:8d561f16383b 990 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 991
Lightvalve 29:69f3f5445d6d 992 // input for position control
Lightvalve 30:8d561f16383b 993 pos.err = (pos.ref_home_pos - (float)pos.sen) / ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 994 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 995 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 996 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 997 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 998 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 999
Lightvalve 19:23b7c1ad8683 1000
Lightvalve 29:69f3f5445d6d 1001 // if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 30:8d561f16383b 1002 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1003 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve 29:69f3f5445d6d 1004 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1005 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1006 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1007 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1008 // // L thetadot(rad/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1009 // } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve 30:8d561f16383b 1010 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1011 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 29:69f3f5445d6d 1012 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1013 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1014 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1015 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1016 // // L xdot(mm/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1017 // }
Lightvalve 29:69f3f5445d6d 1018
Lightvalve 29:69f3f5445d6d 1019 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1020 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1021 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1022 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1023 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1024 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1025 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1026 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1027 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 1028 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 29:69f3f5445d6d 1029 }
Lightvalve 13:747daba9cf59 1030 }
Lightvalve 19:23b7c1ad8683 1031
Lightvalve 13:747daba9cf59 1032 break;
Lightvalve 13:747daba9cf59 1033 }
Lightvalve 14:8e7590227d22 1034
Lightvalve 14:8e7590227d22 1035 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1036 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1037 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1038 else {
Lightvalve 18:b8adf1582ea3 1039 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1040 temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1041 }
Lightvalve 13:747daba9cf59 1042 }
Lightvalve 13:747daba9cf59 1043 if (need_enc_init) {
Lightvalve 30:8d561f16383b 1044 if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1045 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1046 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1047 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1048 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1049 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1050 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1051 need_enc_init = false;
Lightvalve 30:8d561f16383b 1052 check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 30:8d561f16383b 1053 check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1054 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1055 }
Lightvalve 13:747daba9cf59 1056 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1057 }
Lightvalve 14:8e7590227d22 1058 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1059 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1060 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 30:8d561f16383b 1061 VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1062 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1063 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1064 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1065 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1066 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 30:8d561f16383b 1067 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 13:747daba9cf59 1068 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1069 }
Lightvalve 13:747daba9cf59 1070 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 30:8d561f16383b 1071 VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1072 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1073 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1074 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1075 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1076 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 30:8d561f16383b 1077 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 13:747daba9cf59 1078 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1079 }
Lightvalve 13:747daba9cf59 1080 }
Lightvalve 13:747daba9cf59 1081 if (fl_temp_cnt2 == 100) {
Lightvalve 19:23b7c1ad8683 1082
Lightvalve 16:903b5a4433b4 1083 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1084
Lightvalve 30:8d561f16383b 1085 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 13:747daba9cf59 1086 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1087 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1088 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1089 flag_flowrate++;
Lightvalve 13:747daba9cf59 1090 }
Lightvalve 13:747daba9cf59 1091 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1092 V_out = 0;
Lightvalve 13:747daba9cf59 1093 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1094 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1095 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1096 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1097 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1098 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1099 }
Lightvalve 14:8e7590227d22 1100
Lightvalve 13:747daba9cf59 1101 }
Lightvalve 13:747daba9cf59 1102 break;
Lightvalve 13:747daba9cf59 1103 }
Lightvalve 14:8e7590227d22 1104
Lightvalve 13:747daba9cf59 1105 }
Lightvalve 14:8e7590227d22 1106
Lightvalve 14:8e7590227d22 1107 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1108 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1109 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1110 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1111 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1112
Lightvalve 14:8e7590227d22 1113 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1114 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1115 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1116 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1117 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1118
Lightvalve 30:8d561f16383b 1119 float VREF_NullingGain = 0.003f;
Lightvalve 13:747daba9cf59 1120 PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 13:747daba9cf59 1121 PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1122
Lightvalve 30:8d561f16383b 1123 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1124 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1125 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1126 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1127
Lightvalve 30:8d561f16383b 1128 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1129 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1130 }
Lightvalve 13:747daba9cf59 1131 } else {
Lightvalve 13:747daba9cf59 1132 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1133 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1134 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1135 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1136 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1137 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1138
Lightvalve 16:903b5a4433b4 1139 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1140
Lightvalve 30:8d561f16383b 1141 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1142 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1143 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1144 }
Lightvalve 14:8e7590227d22 1145 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1146 break;
Lightvalve 13:747daba9cf59 1147 }
Lightvalve 14:8e7590227d22 1148
Lightvalve 14:8e7590227d22 1149 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1150 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1151 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1152 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1153 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1154 }
Lightvalve 14:8e7590227d22 1155 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1156 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1157 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1158 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1159 }
Lightvalve 13:747daba9cf59 1160 } else {
Lightvalve 13:747daba9cf59 1161 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1162 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1163 V_out = 0;
Lightvalve 30:8d561f16383b 1164 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 30:8d561f16383b 1165 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 30:8d561f16383b 1166 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 30:8d561f16383b 1167 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 13:747daba9cf59 1168 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1169 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1170 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1171 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 1172
Lightvalve 16:903b5a4433b4 1173 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1174
Lightvalve 30:8d561f16383b 1175 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 30:8d561f16383b 1176 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 13:747daba9cf59 1177 }
Lightvalve 14:8e7590227d22 1178 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1179 break;
Lightvalve 13:747daba9cf59 1180 }
Lightvalve 14:8e7590227d22 1181
Lightvalve 14:8e7590227d22 1182 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 30:8d561f16383b 1183 if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 30:8d561f16383b 1184 V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 18:b8adf1582ea3 1185 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 18:b8adf1582ea3 1186 else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1187 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1188 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1189 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 30:8d561f16383b 1190 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1191 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1192 }
Lightvalve 13:747daba9cf59 1193 break;
Lightvalve 13:747daba9cf59 1194 }
Lightvalve 14:8e7590227d22 1195
Lightvalve 14:8e7590227d22 1196 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1197 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1198
Lightvalve 14:8e7590227d22 1199 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1200 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1201 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1202 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1203 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1204 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1205 data_num = 0;
Lightvalve 14:8e7590227d22 1206 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1207 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1208 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1209 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1210 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1211 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1212 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1213 }
Lightvalve 14:8e7590227d22 1214
Lightvalve 17:1865016ca2e7 1215 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1216 int i;
Lightvalve 13:747daba9cf59 1217 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1218 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1219 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1220 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1221 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1222 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1223 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1224 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1225 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1226 }
Lightvalve 13:747daba9cf59 1227 }
Lightvalve 27:a2254a485f23 1228 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1229 ID_index = 0;
Lightvalve 13:747daba9cf59 1230 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1231 }
Lightvalve 14:8e7590227d22 1232
Lightvalve 14:8e7590227d22 1233
Lightvalve 13:747daba9cf59 1234 break;
Lightvalve 13:747daba9cf59 1235 }
Lightvalve 14:8e7590227d22 1236
Lightvalve 14:8e7590227d22 1237 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1238
Lightvalve 13:747daba9cf59 1239 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1240 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1241 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1242 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1243 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1244 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1245 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1246 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1247 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1248 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1249 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1250 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1251 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1252 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1253 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1254 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1255 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1256 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1257 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1258 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1259 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1260 START_POS = pos.sen;
Lightvalve 23:59218d4a256d 1261 //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1262 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1263 data_num = 0;
Lightvalve 14:8e7590227d22 1264
Lightvalve 30:8d561f16383b 1265 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1266 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1267 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1268 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1269
Lightvalve 30:8d561f16383b 1270 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1271 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1272 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1273 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1274 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1275 else
Lightvalve 13:747daba9cf59 1276 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1277 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1278 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1279 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1280 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1281 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1282 // {
Lightvalve 14:8e7590227d22 1283 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1284 // }
Lightvalve 14:8e7590227d22 1285 // else
Lightvalve 14:8e7590227d22 1286 // {
Lightvalve 14:8e7590227d22 1287 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1288 // }
Lightvalve 14:8e7590227d22 1289 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1290 // {
Lightvalve 14:8e7590227d22 1291 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1292 // }
Lightvalve 14:8e7590227d22 1293
Lightvalve 14:8e7590227d22 1294 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1295 DZ_case = 1;
Lightvalve 14:8e7590227d22 1296 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1297 DZ_case = -1;
Lightvalve 14:8e7590227d22 1298 } else {
Lightvalve 13:747daba9cf59 1299 DZ_case = 0;
Lightvalve 13:747daba9cf59 1300 }
Lightvalve 14:8e7590227d22 1301
Lightvalve 14:8e7590227d22 1302 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1303 first_check = 1;
Lightvalve 13:747daba9cf59 1304 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1305 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1306 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1307 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1308 DZ_index = 1;
Lightvalve 18:b8adf1582ea3 1309 //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1310
Lightvalve 13:747daba9cf59 1311 }
Lightvalve 19:23b7c1ad8683 1312 } else {
Lightvalve 14:8e7590227d22 1313 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1314 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1315 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1316 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1317 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1318 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1319 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1320 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1321 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1322 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1323 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1324 }
Lightvalve 14:8e7590227d22 1325 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1326 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1327 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1328 else
Lightvalve 13:747daba9cf59 1329 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1330 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1331 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1332 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1333 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1334 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1335 // else
Lightvalve 14:8e7590227d22 1336 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1337 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1338 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1339
Lightvalve 14:8e7590227d22 1340 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1341 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1342 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1343 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1344 } else {
Lightvalve 13:747daba9cf59 1345 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1346 }
Lightvalve 14:8e7590227d22 1347
Lightvalve 14:8e7590227d22 1348 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1349
Lightvalve 13:747daba9cf59 1350 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1351 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1352 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1353 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1354 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1355 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1356 DZ_index = 1;
Lightvalve 13:747daba9cf59 1357 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1358 }
Lightvalve 14:8e7590227d22 1359
Lightvalve 13:747daba9cf59 1360 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1361 }
Lightvalve 14:8e7590227d22 1362 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1363 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1364 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1365 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1366 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1367 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1368 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1369 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1370 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1371 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1372 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1373 }
Lightvalve 14:8e7590227d22 1374 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1375 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1376 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1377 else
Lightvalve 13:747daba9cf59 1378 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1379 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1380 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1381 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1382 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1383 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1384 // else
Lightvalve 14:8e7590227d22 1385 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1386 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1387 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1388
Lightvalve 14:8e7590227d22 1389 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1390 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1391 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1392 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1393 } else {
Lightvalve 13:747daba9cf59 1394 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1395 }
Lightvalve 14:8e7590227d22 1396
Lightvalve 14:8e7590227d22 1397 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1398
Lightvalve 14:8e7590227d22 1399
Lightvalve 13:747daba9cf59 1400 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1401 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1402 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1403 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1404 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1405 first_check = 0;
Lightvalve 33:91b17819ec30 1406 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1407 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1408
Lightvalve 16:903b5a4433b4 1409 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1410
Lightvalve 13:747daba9cf59 1411 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1412 DZ_index = 1;
Lightvalve 13:747daba9cf59 1413 }
Lightvalve 14:8e7590227d22 1414
Lightvalve 23:59218d4a256d 1415 //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1416 }
Lightvalve 14:8e7590227d22 1417 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1418 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1419 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1420 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1421 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1422 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1423 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1424 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1425 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1426 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1427 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1428 }
Lightvalve 14:8e7590227d22 1429 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1430 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1431 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1432 else
Lightvalve 13:747daba9cf59 1433 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1434 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1435 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1436 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1437 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1438 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1439 // else
Lightvalve 14:8e7590227d22 1440 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1441 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1442 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1443
Lightvalve 14:8e7590227d22 1444 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1445 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1446 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1447 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1448 } else {
Lightvalve 13:747daba9cf59 1449 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1450 }
Lightvalve 14:8e7590227d22 1451
Lightvalve 14:8e7590227d22 1452 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1453 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1454 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1455 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1456 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1457 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1458 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1459 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1460 DZ_index = 1;
Lightvalve 13:747daba9cf59 1461 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1462 }
Lightvalve 13:747daba9cf59 1463 }
Lightvalve 14:8e7590227d22 1464 } else {
Lightvalve 30:8d561f16383b 1465 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1466 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1467 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1468 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1469 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1470 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1471 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1472 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1473 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1474 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1475 }
Lightvalve 14:8e7590227d22 1476 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1477 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1478 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1479 else
Lightvalve 13:747daba9cf59 1480 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1481 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1482 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1483 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1484 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1485 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1486 else
Lightvalve 13:747daba9cf59 1487 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1488 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1489 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1490
Lightvalve 14:8e7590227d22 1491 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1492
Lightvalve 14:8e7590227d22 1493
Lightvalve 13:747daba9cf59 1494 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1495 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1496 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1497 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1498 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1499 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1500 first_check = 0;
Lightvalve 33:91b17819ec30 1501 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1502 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1503
Lightvalve 13:747daba9cf59 1504 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1505 DZ_index = 1;
Lightvalve 13:747daba9cf59 1506 }
Lightvalve 14:8e7590227d22 1507
Lightvalve 13:747daba9cf59 1508 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1509 }
Lightvalve 13:747daba9cf59 1510 }
Lightvalve 14:8e7590227d22 1511 }
Lightvalve 13:747daba9cf59 1512 break;
Lightvalve 13:747daba9cf59 1513 }
Lightvalve 14:8e7590227d22 1514
Lightvalve 14:8e7590227d22 1515 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1516 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1517 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1518 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1519 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 23:59218d4a256d 1520 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1521 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1522 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1523 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1524 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1525 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1526 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1527 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1528 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 18:b8adf1582ea3 1529 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1530 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1531 first_check = 1;
Lightvalve 13:747daba9cf59 1532 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1533 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1534 ID_index = 0;
Lightvalve 13:747daba9cf59 1535 max_check = 0;
Lightvalve 13:747daba9cf59 1536 min_check = 0;
Lightvalve 13:747daba9cf59 1537 }
Lightvalve 14:8e7590227d22 1538 } else {
Lightvalve 30:8d561f16383b 1539 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1540 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1541 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1542 data_num = 0;
Lightvalve 33:91b17819ec30 1543 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1544
Lightvalve 14:8e7590227d22 1545 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1546 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1547 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 33:91b17819ec30 1548 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1549 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1550 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1551 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1552 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1553 one_period_end = 1;
Lightvalve 13:747daba9cf59 1554 }
Lightvalve 30:8d561f16383b 1555 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1556 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1557 one_period_end = 1;
Lightvalve 13:747daba9cf59 1558 }
Lightvalve 14:8e7590227d22 1559
Lightvalve 14:8e7590227d22 1560 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1561 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1562 max_check = 1;
Lightvalve 14:8e7590227d22 1563 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1564 min_check = 1;
Lightvalve 13:747daba9cf59 1565 }
Lightvalve 13:747daba9cf59 1566 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1567
Lightvalve 19:23b7c1ad8683 1568 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1569
Lightvalve 16:903b5a4433b4 1570 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1571 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1572 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1573 one_period_end = 0;
Lightvalve 13:747daba9cf59 1574 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1575 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 30:8d561f16383b 1576 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1577 }
Lightvalve 14:8e7590227d22 1578
Lightvalve 14:8e7590227d22 1579 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1580
Lightvalve 16:903b5a4433b4 1581 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1582 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1583 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1584 ID_index = 0;
Lightvalve 13:747daba9cf59 1585 first_check = 0;
Lightvalve 13:747daba9cf59 1586 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1587 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1588 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1589 }
Lightvalve 13:747daba9cf59 1590 }
Lightvalve 13:747daba9cf59 1591 break;
Lightvalve 13:747daba9cf59 1592 }
Lightvalve 14:8e7590227d22 1593
Lightvalve 12:6f2531038ea4 1594 default:
Lightvalve 12:6f2531038ea4 1595 break;
Lightvalve 12:6f2531038ea4 1596 }
Lightvalve 14:8e7590227d22 1597
Lightvalve 13:747daba9cf59 1598 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1599 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1600 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1601 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1602 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1603 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1604 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1605 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1606 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1607
Lightvalve 14:8e7590227d22 1608 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1609 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1610
Lightvalve 14:8e7590227d22 1611 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1612
Lightvalve 13:747daba9cf59 1613 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 30:8d561f16383b 1614 float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 30:8d561f16383b 1615 float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1616
Lightvalve 14:8e7590227d22 1617 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1618 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1619 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1620 } else {
Lightvalve 17:1865016ca2e7 1621 V_out = V_out;
Lightvalve 13:747daba9cf59 1622 }
Lightvalve 14:8e7590227d22 1623
jobuuu 7:e9086c72bb22 1624 /*******************************************************
jobuuu 7:e9086c72bb22 1625 *** PWM
jobuuu 7:e9086c72bb22 1626 ********************************************************/
Lightvalve 34:bb2ca2fc2a8e 1627 if (V_out >= 12000.0f) {
Lightvalve 30:8d561f16383b 1628 V_out = 12000.0f;
Lightvalve 34:bb2ca2fc2a8e 1629 } else if(V_out<=-12000.0f) {
Lightvalve 30:8d561f16383b 1630 V_out = -12000.0f;
Lightvalve 27:a2254a485f23 1631 }
Lightvalve 18:b8adf1582ea3 1632 PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1633
jobuuu 2:a1c0a37df760 1634 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1635 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1636 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1637
Lightvalve 19:23b7c1ad8683 1638 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1639 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1640 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1641
Lightvalve 30:8d561f16383b 1642 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1643 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1644 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1645 } else {
jobuuu 2:a1c0a37df760 1646 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1647 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1648 }
Lightvalve 13:747daba9cf59 1649
jobuuu 1:e04e563be5ce 1650 //pwm
Lightvalve 30:8d561f16383b 1651 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1652 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1653
jobuuu 1:e04e563be5ce 1654 }
Lightvalve 11:82d8768d7351 1655 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1656
jobuuu 7:e9086c72bb22 1657 }
jobuuu 7:e9086c72bb22 1658
Lightvalve 20:806196fda269 1659
Lightvalve 20:806196fda269 1660
Lightvalve 20:806196fda269 1661 //unsigned long CNT_TMR5 = 0;
Lightvalve 30:8d561f16383b 1662 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 30:8d561f16383b 1663 //float DT_TMR5 = (float)DT_500;
Lightvalve 23:59218d4a256d 1664 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1665 {
Lightvalve 23:59218d4a256d 1666 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1667
Lightvalve 20:806196fda269 1668 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1669 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1670 //position+velocity
Lightvalve 20:806196fda269 1671 CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 20:806196fda269 1672 //CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve 20:806196fda269 1673 //CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve 20:806196fda269 1674 //pc.printf("can good");
Lightvalve 20:806196fda269 1675 // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve 20:806196fda269 1676 }
Lightvalve 20:806196fda269 1677
Lightvalve 20:806196fda269 1678 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1679 //torque
Lightvalve 20:806196fda269 1680 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1681 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 20:806196fda269 1682 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 20:806196fda269 1683 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 20:806196fda269 1684 }
Lightvalve 20:806196fda269 1685
Lightvalve 20:806196fda269 1686 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1687 //pressure A and B
Lightvalve 20:806196fda269 1688 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1689 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1690 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1691 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1692 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1693
Lightvalve 20:806196fda269 1694 }
Lightvalve 20:806196fda269 1695
Lightvalve 20:806196fda269 1696 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1697 //PWM
Lightvalve 20:806196fda269 1698 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 20:806196fda269 1699 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1700 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1701 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1702
Lightvalve 20:806196fda269 1703 }
Lightvalve 20:806196fda269 1704
Lightvalve 20:806196fda269 1705 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1706 //valve position
Lightvalve 27:a2254a485f23 1707 CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 33:91b17819ec30 1708 //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 20:806196fda269 1709
Lightvalve 20:806196fda269 1710 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 1711 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 1712 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 1713 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 1714 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 1715 }
Lightvalve 20:806196fda269 1716
Lightvalve 20:806196fda269 1717 }
Lightvalve 23:59218d4a256d 1718 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 1719 }
Lightvalve 20:806196fda269 1720
Lightvalve 20:806196fda269 1721
Lightvalve 20:806196fda269 1722
Lightvalve 13:747daba9cf59 1723 void CurrentControl()
Lightvalve 13:747daba9cf59 1724 {
jobuuu 7:e9086c72bb22 1725 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1726 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1727 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1728 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1729
Lightvalve 30:8d561f16383b 1730 float R_model = 150.0f; // ohm
Lightvalve 30:8d561f16383b 1731 float L_model = 0.3f;
Lightvalve 30:8d561f16383b 1732 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 30:8d561f16383b 1733 float KP_I = L_model*w0;
Lightvalve 30:8d561f16383b 1734 float KI_I = R_model*w0;
Lightvalve 30:8d561f16383b 1735 float KD_I = 0.0f;
jobuuu 7:e9086c72bb22 1736
Lightvalve 30:8d561f16383b 1737 float FF_gain = 0.0f;
jobuuu 7:e9086c72bb22 1738 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1739 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1740 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1741
Lightvalve 30:8d561f16383b 1742 float Ka = 5.0f/KP_I;
jobuuu 7:e9086c72bb22 1743 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1744 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1745 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1746 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1747 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1748 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1749 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1750 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1751 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1752 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1753 }
Lightvalve 21:e5f1a43ea6f9 1754 }
Lightvalve 23:59218d4a256d 1755
Lightvalve 28:2a62d73e3dd0 1756
Lightvalve 30:8d561f16383b 1757
Lightvalve 32:4b8c0fedaf2c 1758
Lightvalve 36:a46e63505ed8 1759