Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

main.cpp@43:b084e5f5d0d5, 2020-01-07 (annotated)

Committer:
Lightvalve
Date:
Tue Jan 07 08:39:22 2020 +0000
Revision:
43:b084e5f5d0d5
Parent:
42:1cf66990ccab
Child:
44:fe7d5cfd2eea
20200107

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 43:b084e5f5d0d5 209 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 210 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 211 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 212 dac_2 = 0.0f;
Lightvalve 11:82d8768d7351 213 make_delay();
Lightvalve 13:747daba9cf59 214
Lightvalve 19:23b7c1ad8683 215 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 216 if(i%2==0)
Lightvalve 38:118df027d851 217 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 218 else
Lightvalve 38:118df027d851 219 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 220 }
Lightvalve 13:747daba9cf59 221
jobuuu 6:df07d3491e3a 222 /************************************
jobuuu 1:e04e563be5ce 223 *** Program is operating!
jobuuu 6:df07d3491e3a 224 *************************************/
GiJeongKim 0:51c43836c1d7 225 while(1) {
Lightvalve 21:e5f1a43ea6f9 226 if(timer_while==1000) {
Lightvalve 28:2a62d73e3dd0 227 //pc.printf("cmd %d\n ");
Lightvalve 17:1865016ca2e7 228 //i2c
Lightvalve 17:1865016ca2e7 229 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 230 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 21:e5f1a43ea6f9 231
Lightvalve 19:23b7c1ad8683 232 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 233 // LED=0;
Lightvalve 19:23b7c1ad8683 234 // } else
Lightvalve 19:23b7c1ad8683 235 // LED = 1;
Lightvalve 17:1865016ca2e7 236 timer_while = 0;
Lightvalve 21:e5f1a43ea6f9 237
Lightvalve 17:1865016ca2e7 238 }
Lightvalve 17:1865016ca2e7 239 timer_while ++;
GiJeongKim 0:51c43836c1d7 240 }
jobuuu 1:e04e563be5ce 241 }
jobuuu 1:e04e563be5ce 242
Lightvalve 33:91b17819ec30 243 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 244 {
Lightvalve 14:8e7590227d22 245
Lightvalve 13:747daba9cf59 246 int i = 0;
Lightvalve 33:91b17819ec30 247 float Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 248 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 249 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 250 if(i==0) {
Lightvalve 38:118df027d851 251 if(JOINT_VEL[i+1] == JOINT_VEL[i]){
Lightvalve 38:118df027d851 252 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 38:118df027d851 253 }else{
Lightvalve 38:118df027d851 254 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 38:118df027d851 255 }
Lightvalve 14:8e7590227d22 256 } else {
Lightvalve 38:118df027d851 257 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]){
Lightvalve 38:118df027d851 258 Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 38:118df027d851 259 }else{
Lightvalve 38:118df027d851 260 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 38:118df027d851 261 }
Lightvalve 13:747daba9cf59 262 }
Lightvalve 13:747daba9cf59 263 break;
Lightvalve 13:747daba9cf59 264 }
Lightvalve 13:747daba9cf59 265 }
Lightvalve 14:8e7590227d22 266 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 267 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 268 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 269 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 270 }
Lightvalve 36:a46e63505ed8 271
Lightvalve 35:34ce7b0347b8 272 //VELOCITY_COMP_GAIN = 20;
Lightvalve 35:34ce7b0347b8 273 //CAN_TX_PRES((int16_t)(Ref_Valve_Pos_FF), (int16_t) (7));
Lightvalve 33:91b17819ec30 274 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + DDV_CENTER;
Lightvalve 34:bb2ca2fc2a8e 275
Lightvalve 13:747daba9cf59 276 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 277 }
jobuuu 6:df07d3491e3a 278
jobuuu 6:df07d3491e3a 279
Lightvalve 30:8d561f16383b 280 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 281 {
Lightvalve 13:747daba9cf59 282 int i = 0;
Lightvalve 13:747daba9cf59 283
Lightvalve 38:118df027d851 284 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 285 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 286 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 287 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 288 }
Lightvalve 38:118df027d851 289
Lightvalve 13:747daba9cf59 290 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 291 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 292 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 293 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 294 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 295 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 296
Lightvalve 13:747daba9cf59 297 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 298
Lightvalve 38:118df027d851 299
Lightvalve 34:bb2ca2fc2a8e 300
Lightvalve 34:bb2ca2fc2a8e 301
Lightvalve 23:59218d4a256d 302 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve 23:59218d4a256d 303 // {
Lightvalve 23:59218d4a256d 304 // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve 30:8d561f16383b 305 // 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 306 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve 30:8d561f16383b 307 // 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 308 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve 30:8d561f16383b 309 // 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 310 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve 30:8d561f16383b 311 // 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 312 // }else
Lightvalve 23:59218d4a256d 313 // VALVE_PWM_RAW_FF = 12000.0;
Lightvalve 23:59218d4a256d 314 // }
Lightvalve 23:59218d4a256d 315 // else
Lightvalve 23:59218d4a256d 316 // {
Lightvalve 23:59218d4a256d 317 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve 30:8d561f16383b 318 // 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 319 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve 30:8d561f16383b 320 // 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 321 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve 30:8d561f16383b 322 // 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 323 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve 30:8d561f16383b 324 // 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 325 // }else
Lightvalve 23:59218d4a256d 326 // VALVE_PWM_RAW_FF = -12000.0;
Lightvalve 23:59218d4a256d 327 // }
Lightvalve 14:8e7590227d22 328
Lightvalve 18:b8adf1582ea3 329 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 330 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 331 if(i==0) {
Lightvalve 30:8d561f16383b 332 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 333 } else {
Lightvalve 30:8d561f16383b 334 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 335 }
Lightvalve 13:747daba9cf59 336 break;
Lightvalve 13:747daba9cf59 337 }
Lightvalve 13:747daba9cf59 338 }
Lightvalve 19:23b7c1ad8683 339
Lightvalve 14:8e7590227d22 340 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 27:a2254a485f23 341 //V_out = VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 342 }
Lightvalve 13:747daba9cf59 343
Lightvalve 14:8e7590227d22 344 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 345 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 346 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 347 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 348 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 349 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 350 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 351 }; // duty
Lightvalve 30:8d561f16383b 352 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 353 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 354 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 355 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 356 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 357 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 358 }; // mV
Lightvalve 13:747daba9cf59 359
Lightvalve 30:8d561f16383b 360 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 361 {
Lightvalve 30:8d561f16383b 362 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 363 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 364 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 365 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 366 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 367 } else {
Lightvalve 13:747daba9cf59 368 int idx = 0;
Lightvalve 13:747daba9cf59 369 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 370 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 371 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 372 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 373 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 374 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 375 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 376 break;
Lightvalve 13:747daba9cf59 377 }
Lightvalve 13:747daba9cf59 378 }
Lightvalve 13:747daba9cf59 379 }
Lightvalve 14:8e7590227d22 380
Lightvalve 13:747daba9cf59 381 return PWM_duty;
Lightvalve 13:747daba9cf59 382 }
jobuuu 6:df07d3491e3a 383
jobuuu 2:a1c0a37df760 384 /*******************************************************************************
jobuuu 2:a1c0a37df760 385 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 386 *******************************************************************************/
jobuuu 2:a1c0a37df760 387
Lightvalve 19:23b7c1ad8683 388 //unsigned long CNT_TMR4 = 0;
Lightvalve 30:8d561f16383b 389 float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve 30:8d561f16383b 390 float DT_TMR4 = (float)DT_10k;
jobuuu 1:e04e563be5ce 391 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 392 {
Lightvalve 23:59218d4a256d 393
Lightvalve 19:23b7c1ad8683 394 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 395
Lightvalve 21:e5f1a43ea6f9 396 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 397 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 398 ********************************************************/
Lightvalve 13:747daba9cf59 399
Lightvalve 19:23b7c1ad8683 400
Lightvalve 21:e5f1a43ea6f9 401 //Using LoadCell
Lightvalve 15:bd0d12728506 402 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 403 // //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 404 // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 405 // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve 30:8d561f16383b 406 // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 407
Lightvalve 19:23b7c1ad8683 408
Lightvalve 17:1865016ca2e7 409
Lightvalve 21:e5f1a43ea6f9 410 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 411 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 412 //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 413 float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 414 // float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 38:118df027d851 415 float pres_A_new = ((float)ADC1->DR);
Lightvalve 30:8d561f16383b 416 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 43:b084e5f5d0d5 417 torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 38:118df027d851 418
Lightvalve 19:23b7c1ad8683 419
Lightvalve 21:e5f1a43ea6f9 420 //Pressure sensor 1B
Lightvalve 38:118df027d851 421 //float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 38:118df027d851 422 //float pres_B_new = ((float)ADC2->DR);
Lightvalve 38:118df027d851 423 //pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 38:118df027d851 424 //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 425
Lightvalve 17:1865016ca2e7 426
Lightvalve 17:1865016ca2e7 427
Lightvalve 21:e5f1a43ea6f9 428 //Current
Lightvalve 21:e5f1a43ea6f9 429 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 430 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 431 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 432 //while((ADC3->SR & 0b10));
Lightvalve 30:8d561f16383b 433 float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 434 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 435 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 436 //cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 437
Lightvalve 21:e5f1a43ea6f9 438 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 439 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 440 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 441 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 442 }
Lightvalve 11:82d8768d7351 443 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 444 }
Lightvalve 19:23b7c1ad8683 445
Lightvalve 19:23b7c1ad8683 446
Lightvalve 18:b8adf1582ea3 447 int j =0;
Lightvalve 19:23b7c1ad8683 448 //unsigned long CNT_TMR3 = 0;
Lightvalve 30:8d561f16383b 449 //float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 30:8d561f16383b 450 float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve 30:8d561f16383b 451 //float DT_TMR3 = (float)DT_5k;
Lightvalve 30:8d561f16383b 452 float DT_TMR3 = (float)DT_1k;
Lightvalve 11:82d8768d7351 453 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 454 {
Lightvalve 19:23b7c1ad8683 455 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 456 ENC_UPDATE();
Lightvalve 13:747daba9cf59 457
Lightvalve 19:23b7c1ad8683 458 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 459
Lightvalve 14:8e7590227d22 460 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 461 case MODE_NO_ACT: {
Lightvalve 30:8d561f16383b 462 V_out = 0.0f;
Lightvalve 13:747daba9cf59 463 break;
Lightvalve 13:747daba9cf59 464 }
Lightvalve 14:8e7590227d22 465
Lightvalve 14:8e7590227d22 466 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 30:8d561f16383b 467 V_out = (float) Vout.ref;
Lightvalve 14:8e7590227d22 468 break;
Lightvalve 14:8e7590227d22 469 }
Lightvalve 14:8e7590227d22 470
Lightvalve 14:8e7590227d22 471 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 472 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 473 break;
Lightvalve 14:8e7590227d22 474 }
Lightvalve 14:8e7590227d22 475
Lightvalve 14:8e7590227d22 476 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 477 float PWM_RAW_POS_FB = 0.0f; // PWM by Position Feedback
Lightvalve 30:8d561f16383b 478 float PWM_RAW_POS_FF = 0.0f; // PWM by Position Feedforward
Lightvalve 30:8d561f16383b 479 float PWM_RAW_FORCE_FB = 0.0f; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 480
Lightvalve 13:747daba9cf59 481 // feedback input for position control
Lightvalve 30:8d561f16383b 482 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 483 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 484 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 485 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 486 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 487 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 488 // 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 489 PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 30:8d561f16383b 490 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 491
Lightvalve 13:747daba9cf59 492 // feedforward input for position control
Lightvalve 30:8d561f16383b 493 float Ref_Vel_Act = vel.ref/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 494 float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 495 if(Ref_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 496 if(Ref_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 497 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 498
Lightvalve 13:747daba9cf59 499 // torque feedback
Lightvalve 15:bd0d12728506 500 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 501 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 502 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 503 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 504 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 505 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 506 // 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 507 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 19:23b7c1ad8683 508
Lightvalve 30:8d561f16383b 509 PWM_RAW_FORCE_FB = 0.0f;
Lightvalve 14:8e7590227d22 510
Lightvalve 14:8e7590227d22 511 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 512
Lightvalve 13:747daba9cf59 513 break;
Lightvalve 13:747daba9cf59 514 }
Lightvalve 14:8e7590227d22 515
Lightvalve 14:8e7590227d22 516 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 517 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 30:8d561f16383b 518 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 30:8d561f16383b 519 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 520 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 521 // feedback input for position control
Lightvalve 30:8d561f16383b 522 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 523 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 524 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 525 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 526 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 527 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 32:4b8c0fedaf2c 528 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 529 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 530
Lightvalve 14:8e7590227d22 531
Lightvalve 13:747daba9cf59 532 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 533 // feedforward input for position control
Lightvalve 30:8d561f16383b 534 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 535 // float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 536 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 537 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 538 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 539
Lightvalve 38:118df027d851 540 //torque feedback
Lightvalve 38:118df027d851 541 torq.err = - torq.ref + torq.sen;
Lightvalve 38:118df027d851 542 torq.err_diff = torq.err - torq.err_old;
Lightvalve 38:118df027d851 543 torq.err_old = torq.err;
Lightvalve 38:118df027d851 544 torq.err_sum += torq.err;
Lightvalve 38:118df027d851 545 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 38:118df027d851 546 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 38:118df027d851 547 VALVE_POS_RAW_FORCE_FB = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 38:118df027d851 548 VALVE_POS_RAW_FORCE_FB = VALVE_POS_RAW_FORCE_FB * 0.01f;
Lightvalve 14:8e7590227d22 549
Lightvalve 33:91b17819ec30 550 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 34:bb2ca2fc2a8e 551
Lightvalve 34:bb2ca2fc2a8e 552 if (valve_pos.ref > DDV_CENTER) {
Lightvalve 32:4b8c0fedaf2c 553 valve_pos.ref = valve_pos.ref + VALVE_DEADZONE_PLUS - DDV_CENTER;
Lightvalve 34:bb2ca2fc2a8e 554 } else if(valve_pos.ref < DDV_CENTER) {
Lightvalve 32:4b8c0fedaf2c 555 valve_pos.ref = valve_pos.ref - DDV_CENTER + VALVE_DEADZONE_MINUS;
Lightvalve 32:4b8c0fedaf2c 556 }
Lightvalve 14:8e7590227d22 557 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 558
Lightvalve 34:bb2ca2fc2a8e 559
Lightvalve 13:747daba9cf59 560 break;
Lightvalve 13:747daba9cf59 561 }
Lightvalve 14:8e7590227d22 562
Lightvalve 14:8e7590227d22 563 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 564
Lightvalve 13:747daba9cf59 565 break;
Lightvalve 13:747daba9cf59 566 }
Lightvalve 14:8e7590227d22 567
Lightvalve 14:8e7590227d22 568 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 569 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 570 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 571 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 572 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 573 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 574 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 575 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 576
Lightvalve 14:8e7590227d22 577 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 578 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 579 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 580 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 581 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 582 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 583 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 584
Lightvalve 30:8d561f16383b 585 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 14:8e7590227d22 586
Lightvalve 30:8d561f16383b 587 V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 588
Lightvalve 30:8d561f16383b 589 CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 30:8d561f16383b 590 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 591 if (DIR_VALVE > 0) {
Lightvalve 30:8d561f16383b 592 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 593 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 594 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 595 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 596 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 597 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 598 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 599 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 600 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 601 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 602 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 603 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 604 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 605 } else {
Lightvalve 30:8d561f16383b 606 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 607 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 608 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 609 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 610 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 611 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 612 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 613 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 614 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 615 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 616 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 617 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 618 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 619 }
Lightvalve 30:8d561f16383b 620 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 14:8e7590227d22 621
Lightvalve 30:8d561f16383b 622 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 623 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 624
Lightvalve 18:b8adf1582ea3 625 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 626 break;
Lightvalve 14:8e7590227d22 627 }
Lightvalve 14:8e7590227d22 628
Lightvalve 14:8e7590227d22 629 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 630 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 631 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 632 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 633 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 634 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 635 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 636 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 637
Lightvalve 15:bd0d12728506 638 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 639 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 640 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 641 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 642 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 643 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 644 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 645
Lightvalve 14:8e7590227d22 646 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 647 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 19:23b7c1ad8683 648
Lightvalve 14:8e7590227d22 649 break;
Lightvalve 14:8e7590227d22 650 }
Lightvalve 14:8e7590227d22 651
Lightvalve 14:8e7590227d22 652 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 653
Lightvalve 14:8e7590227d22 654 break;
Lightvalve 14:8e7590227d22 655 }
Lightvalve 14:8e7590227d22 656
Lightvalve 19:23b7c1ad8683 657
Lightvalve 19:23b7c1ad8683 658 case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 659 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 660 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 661 }
Lightvalve 19:23b7c1ad8683 662 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 663
Lightvalve 19:23b7c1ad8683 664 // Set Current Reference
Lightvalve 30:8d561f16383b 665 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 666 float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 667 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 30:8d561f16383b 668 I_REF = I_REF_MID + 1.0f;
Lightvalve 14:8e7590227d22 669 } else {
Lightvalve 30:8d561f16383b 670 I_REF = I_REF_MID - 1.0f;
Lightvalve 19:23b7c1ad8683 671 }
Lightvalve 30:8d561f16383b 672 // float T = 1.0; // wave period
Lightvalve 30:8d561f16383b 673 // I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 30:8d561f16383b 674 // 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 675
Lightvalve 14:8e7590227d22 676 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 677 //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 678 }
Lightvalve 14:8e7590227d22 679 break;
Lightvalve 14:8e7590227d22 680 }
Lightvalve 19:23b7c1ad8683 681
Lightvalve 19:23b7c1ad8683 682 case MODE_TEST_PWM_CONTROL: {
Lightvalve 14:8e7590227d22 683 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 684 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 685 }
Lightvalve 19:23b7c1ad8683 686 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 687
Lightvalve 14:8e7590227d22 688 // Set PWM reference
Lightvalve 30:8d561f16383b 689 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 690 //float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 691 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 692 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 693 } else {
Lightvalve 14:8e7590227d22 694 CUR_PWM = -1000;
Lightvalve 19:23b7c1ad8683 695 }
Lightvalve 19:23b7c1ad8683 696
Lightvalve 14:8e7590227d22 697 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 30:8d561f16383b 698 //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 14:8e7590227d22 699 }
Lightvalve 13:747daba9cf59 700 break;
Lightvalve 13:747daba9cf59 701 }
Lightvalve 19:23b7c1ad8683 702
Lightvalve 19:23b7c1ad8683 703
Lightvalve 14:8e7590227d22 704 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 705
Lightvalve 14:8e7590227d22 706 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 707 CurrentControl();
Lightvalve 14:8e7590227d22 708 break;
Lightvalve 14:8e7590227d22 709 }
Lightvalve 19:23b7c1ad8683 710
Lightvalve 14:8e7590227d22 711 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 712 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 713 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 714 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 715 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 716
Lightvalve 14:8e7590227d22 717 // feedback input for position control
Lightvalve 14:8e7590227d22 718 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 719 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 720 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 721 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 722 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 723 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 724
Lightvalve 14:8e7590227d22 725 // feedforward input for position control
Lightvalve 30:8d561f16383b 726 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 727 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 728 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 729 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 730 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 731 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 732
Lightvalve 14:8e7590227d22 733 // feedback input for position control
Lightvalve 30:8d561f16383b 734 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 735
Lightvalve 14:8e7590227d22 736 // feedforward input for position control
Lightvalve 30:8d561f16383b 737 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 738
Lightvalve 14:8e7590227d22 739 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 740
Lightvalve 14:8e7590227d22 741 CurrentControl();
Lightvalve 19:23b7c1ad8683 742
Lightvalve 13:747daba9cf59 743 break;
Lightvalve 13:747daba9cf59 744 }
Lightvalve 19:23b7c1ad8683 745
Lightvalve 14:8e7590227d22 746 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 747 //float T_REF = 0.0; // Torque Reference
Lightvalve 30:8d561f16383b 748 float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 749 float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 19:23b7c1ad8683 750
Lightvalve 14:8e7590227d22 751 // feedback input for position control
Lightvalve 30:8d561f16383b 752 //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 753 //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 754 //float K_spring = 0.7f;
Lightvalve 30:8d561f16383b 755 //float D_damper = 0.02f;
Lightvalve 14:8e7590227d22 756 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 19:23b7c1ad8683 757
Lightvalve 14:8e7590227d22 758 // torque feedback
Lightvalve 15:bd0d12728506 759 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 760 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 761 // torq.err_old = torq.err;
Lightvalve 30:8d561f16383b 762 torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 763 I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 19:23b7c1ad8683 764
Lightvalve 14:8e7590227d22 765 // velocity compensation for torque control
Lightvalve 30:8d561f16383b 766 float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 767 float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 30:8d561f16383b 768 float K_v = 0.0f; // Valve gain
Lightvalve 30:8d561f16383b 769 if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 30:8d561f16383b 770 if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 14:8e7590227d22 771 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 19:23b7c1ad8683 772
Lightvalve 14:8e7590227d22 773 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 774 // cur.ref = I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 775
Lightvalve 30:8d561f16383b 776 float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 30:8d561f16383b 777 float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 778 if(cur.ref > I_MAX) {
Lightvalve 30:8d561f16383b 779 float I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 780 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 781 cur.ref = I_MAX;
Lightvalve 30:8d561f16383b 782 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 783 } else if(cur.ref < -I_MAX) {
Lightvalve 30:8d561f16383b 784 float I_rem = cur.ref-(-I_MAX);
Lightvalve 19:23b7c1ad8683 785 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 786 cur.ref = -I_MAX;
Lightvalve 30:8d561f16383b 787 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 788 }
Lightvalve 19:23b7c1ad8683 789
Lightvalve 14:8e7590227d22 790 CurrentControl();
Lightvalve 19:23b7c1ad8683 791
Lightvalve 19:23b7c1ad8683 792
Lightvalve 14:8e7590227d22 793 /*
Lightvalve 30:8d561f16383b 794 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 795 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 796 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 797 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 798
Lightvalve 14:8e7590227d22 799 // feedback input for position control
Lightvalve 14:8e7590227d22 800 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 801 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 802 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 803 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 804 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 805 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 806
Lightvalve 14:8e7590227d22 807 // feedforward input for position control
Lightvalve 30:8d561f16383b 808 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 809 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 810 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 811 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 812 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 813 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 814
Lightvalve 14:8e7590227d22 815 // feedback input for position control
Lightvalve 30:8d561f16383b 816 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 817
Lightvalve 14:8e7590227d22 818 // feedforward input for position control
Lightvalve 30:8d561f16383b 819 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 820
Lightvalve 14:8e7590227d22 821 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 822
Lightvalve 14:8e7590227d22 823 CurrentControl();
Lightvalve 14:8e7590227d22 824 */
Lightvalve 19:23b7c1ad8683 825
Lightvalve 13:747daba9cf59 826 break;
Lightvalve 13:747daba9cf59 827 }
Lightvalve 14:8e7590227d22 828
Lightvalve 14:8e7590227d22 829 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 830 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 831 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 832 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 833
Lightvalve 14:8e7590227d22 834 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 835 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 836 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 837
Lightvalve 43:b084e5f5d0d5 838 TORQUE_VREF += 0.0003 * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 839
Lightvalve 30:8d561f16383b 840 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 841 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 43:b084e5f5d0d5 842
Lightvalve 16:903b5a4433b4 843 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 844 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 845 }
Lightvalve 13:747daba9cf59 846 } else {
Lightvalve 13:747daba9cf59 847 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 848 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 849 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 850 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 851
Lightvalve 16:903b5a4433b4 852 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 853
Lightvalve 16:903b5a4433b4 854 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 855
Lightvalve 17:1865016ca2e7 856 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 857 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 858
Lightvalve 13:747daba9cf59 859 }
Lightvalve 14:8e7590227d22 860 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 861 break;
Lightvalve 43:b084e5f5d0d5 862
Lightvalve 43:b084e5f5d0d5 863
Lightvalve 43:b084e5f5d0d5 864
Lightvalve 43:b084e5f5d0d5 865 // // DAC Voltage reference set
Lightvalve 43:b084e5f5d0d5 866 // if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 43:b084e5f5d0d5 867 // CUR_PRES_A_sum += pres_A.sen;
Lightvalve 43:b084e5f5d0d5 868 // CUR_PRES_B_sum += pres_B.sen;
Lightvalve 43:b084e5f5d0d5 869 //
Lightvalve 43:b084e5f5d0d5 870 // if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 43:b084e5f5d0d5 871 // CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 872 // CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 43:b084e5f5d0d5 873 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 874 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 875 //
Lightvalve 43:b084e5f5d0d5 876 // float VREF_NullingGain = 0.0003f;
Lightvalve 43:b084e5f5d0d5 877 // PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 43:b084e5f5d0d5 878 // PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 43:b084e5f5d0d5 879 //
Lightvalve 43:b084e5f5d0d5 880 // if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 881 // if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 882 // if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 43:b084e5f5d0d5 883 // if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 43:b084e5f5d0d5 884 //
Lightvalve 43:b084e5f5d0d5 885 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 886 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 887 // }
Lightvalve 43:b084e5f5d0d5 888 // } else {
Lightvalve 43:b084e5f5d0d5 889 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 43:b084e5f5d0d5 890 // TMR3_COUNT_PRES_NULL = 0;
Lightvalve 43:b084e5f5d0d5 891 // CUR_PRES_A_sum = 0;
Lightvalve 43:b084e5f5d0d5 892 // CUR_PRES_B_sum = 0;
Lightvalve 43:b084e5f5d0d5 893 // CUR_PRES_A_mean = 0;
Lightvalve 43:b084e5f5d0d5 894 // CUR_PRES_B_mean = 0;
Lightvalve 43:b084e5f5d0d5 895 //
Lightvalve 43:b084e5f5d0d5 896 // ROM_RESET_DATA();
Lightvalve 43:b084e5f5d0d5 897 //
Lightvalve 43:b084e5f5d0d5 898 // dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 899 // dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 43:b084e5f5d0d5 900 // //pc.printf("nulling end");
Lightvalve 43:b084e5f5d0d5 901 // }
Lightvalve 43:b084e5f5d0d5 902 // TMR3_COUNT_PRES_NULL++;
Lightvalve 43:b084e5f5d0d5 903 // break;
Lightvalve 43:b084e5f5d0d5 904
Lightvalve 43:b084e5f5d0d5 905
Lightvalve 43:b084e5f5d0d5 906
Lightvalve 43:b084e5f5d0d5 907
Lightvalve 43:b084e5f5d0d5 908
Lightvalve 19:23b7c1ad8683 909 }
Lightvalve 14:8e7590227d22 910
Lightvalve 14:8e7590227d22 911 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 912 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 913 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 914 else temp_time = 0;
Lightvalve 13:747daba9cf59 915 }
Lightvalve 13:747daba9cf59 916 if (need_enc_init) {
Lightvalve 30:8d561f16383b 917 if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 918 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 919 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 920 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 921 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 922 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 923 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 924 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 925 }
Lightvalve 14:8e7590227d22 926
Lightvalve 14:8e7590227d22 927 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 928 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 929 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 930
Lightvalve 30:8d561f16383b 931 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 932 V_out = 0;
Lightvalve 13:747daba9cf59 933 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 934 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 935 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 936 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 937 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 938 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 939 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 940 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 941 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 942
Lightvalve 13:747daba9cf59 943 // Position of Dead Zone
Lightvalve 13:747daba9cf59 944 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 945 // | / | / |/
Lightvalve 13:747daba9cf59 946 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 947 // |/ / | / |
Lightvalve 13:747daba9cf59 948 // /| / | / |
Lightvalve 13:747daba9cf59 949 // 0V 0V 0V
Lightvalve 14:8e7590227d22 950
Lightvalve 13:747daba9cf59 951 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 952 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 953 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 954 } else {
Lightvalve 18:b8adf1582ea3 955 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 956 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 957 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 958 }
Lightvalve 13:747daba9cf59 959 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 960 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 961 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 962 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 963 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 964 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 965 }
Lightvalve 13:747daba9cf59 966 } else {
Lightvalve 14:8e7590227d22 967 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 968 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 969 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 970 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 971 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 972 }
Lightvalve 18:b8adf1582ea3 973 V_out = 0;
Lightvalve 19:23b7c1ad8683 974
Lightvalve 16:903b5a4433b4 975 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 976
Lightvalve 16:903b5a4433b4 977 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 978 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 979
Lightvalve 13:747daba9cf59 980 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 981 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 982 }
Lightvalve 13:747daba9cf59 983 }
Lightvalve 14:8e7590227d22 984 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 985 break;
Lightvalve 13:747daba9cf59 986 }
Lightvalve 14:8e7590227d22 987
Lightvalve 14:8e7590227d22 988 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 989 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 990 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 991 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 992 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 993 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 994 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 995 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 40:3f2c0619c8c4 996 CAN_TX_PRES((int16_t)(CONTROL_MODE), (int16_t) (3));
Lightvalve 29:69f3f5445d6d 997 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 998 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 999 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 1000 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 1001 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 1002 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 1003 }
Lightvalve 29:69f3f5445d6d 1004 cnt_findhome++;
Lightvalve 30:8d561f16383b 1005 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 1006
Lightvalve 29:69f3f5445d6d 1007 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 1008 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 1009 } else {
Lightvalve 29:69f3f5445d6d 1010 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1011 }
Lightvalve 19:23b7c1ad8683 1012
Lightvalve 30:8d561f16383b 1013 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 1014 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 1015 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 1016 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 1017 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 1018 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 1019 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 1020 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 1021 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1022 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 34:bb2ca2fc2a8e 1023
Lightvalve 30:8d561f16383b 1024 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1025 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 1026 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 1027 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 1028 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 1029 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 1030 } else {
Lightvalve 29:69f3f5445d6d 1031 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 1032 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 1033 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1034 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1035 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 1036 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 1037 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 1038 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 1039 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 1040 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 1041 }
Lightvalve 29:69f3f5445d6d 1042 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 1043 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 1044 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 1045 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 1046
Lightvalve 29:69f3f5445d6d 1047 // input for position control
Lightvalve 40:3f2c0619c8c4 1048 pos.err = pos.ref_home_pos - (float)pos.sen;
Lightvalve 30:8d561f16383b 1049 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 1050 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 1051 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 1052 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 1053 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1054
Lightvalve 19:23b7c1ad8683 1055
Lightvalve 29:69f3f5445d6d 1056 // if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 30:8d561f16383b 1057 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1058 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve 29:69f3f5445d6d 1059 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1060 // 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 1061 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1062 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1063 // // L thetadot(rad/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1064 // } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve 30:8d561f16383b 1065 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1066 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 29:69f3f5445d6d 1067 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1068 // 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 1069 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1070 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1071 // // L xdot(mm/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1072 // }
Lightvalve 29:69f3f5445d6d 1073
Lightvalve 29:69f3f5445d6d 1074 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1075 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1076 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1077 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1078 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1079 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1080 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1081 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1082 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 1083 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 29:69f3f5445d6d 1084 }
Lightvalve 13:747daba9cf59 1085 }
Lightvalve 19:23b7c1ad8683 1086
Lightvalve 13:747daba9cf59 1087 break;
Lightvalve 13:747daba9cf59 1088 }
Lightvalve 14:8e7590227d22 1089
Lightvalve 14:8e7590227d22 1090 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1091 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1092 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1093 else {
Lightvalve 18:b8adf1582ea3 1094 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1095 temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1096 }
Lightvalve 13:747daba9cf59 1097 }
Lightvalve 13:747daba9cf59 1098 if (need_enc_init) {
Lightvalve 30:8d561f16383b 1099 if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1100 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1101 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1102 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1103 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1104 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1105 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1106 need_enc_init = false;
Lightvalve 30:8d561f16383b 1107 check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 30:8d561f16383b 1108 check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1109 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1110 }
Lightvalve 13:747daba9cf59 1111 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1112 }
Lightvalve 14:8e7590227d22 1113 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1114 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1115 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 30:8d561f16383b 1116 VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1117 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1118 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1119 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1120 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1121 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 1122 // 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 1123 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1124 }
Lightvalve 13:747daba9cf59 1125 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 30:8d561f16383b 1126 VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1127 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1128 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1129 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1130 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1131 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 1132 // 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 1133 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1134 }
Lightvalve 13:747daba9cf59 1135 }
Lightvalve 13:747daba9cf59 1136 if (fl_temp_cnt2 == 100) {
Lightvalve 19:23b7c1ad8683 1137
Lightvalve 16:903b5a4433b4 1138 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1139
Lightvalve 30:8d561f16383b 1140 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 13:747daba9cf59 1141 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1142 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1143 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1144 flag_flowrate++;
Lightvalve 13:747daba9cf59 1145 }
Lightvalve 13:747daba9cf59 1146 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1147 V_out = 0;
Lightvalve 13:747daba9cf59 1148 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1149 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1150 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1151 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1152 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1153 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1154 }
Lightvalve 14:8e7590227d22 1155
Lightvalve 13:747daba9cf59 1156 }
Lightvalve 13:747daba9cf59 1157 break;
Lightvalve 13:747daba9cf59 1158 }
Lightvalve 14:8e7590227d22 1159
Lightvalve 13:747daba9cf59 1160 }
Lightvalve 14:8e7590227d22 1161
Lightvalve 14:8e7590227d22 1162 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1163 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1164 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1165 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1166 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1167
Lightvalve 14:8e7590227d22 1168 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1169 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1170 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1171 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1172 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1173
Lightvalve 38:118df027d851 1174 float VREF_NullingGain = 0.0003f;
Lightvalve 38:118df027d851 1175 PRES_A_VREF = PRES_A_VREF - VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 38:118df027d851 1176 PRES_B_VREF = PRES_B_VREF - VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1177
Lightvalve 30:8d561f16383b 1178 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1179 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1180 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1181 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1182
Lightvalve 30:8d561f16383b 1183 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1184 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1185 }
Lightvalve 13:747daba9cf59 1186 } else {
Lightvalve 13:747daba9cf59 1187 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1188 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1189 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1190 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1191 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1192 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1193
Lightvalve 16:903b5a4433b4 1194 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1195
Lightvalve 30:8d561f16383b 1196 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1197 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1198 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1199 }
Lightvalve 14:8e7590227d22 1200 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1201 break;
Lightvalve 13:747daba9cf59 1202 }
Lightvalve 14:8e7590227d22 1203
Lightvalve 14:8e7590227d22 1204 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1205 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1206 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1207 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1208 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1209 }
Lightvalve 14:8e7590227d22 1210 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1211 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1212 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1213 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1214 }
Lightvalve 13:747daba9cf59 1215 } else {
Lightvalve 13:747daba9cf59 1216 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1217 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1218 V_out = 0;
Lightvalve 30:8d561f16383b 1219 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 30:8d561f16383b 1220 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 30:8d561f16383b 1221 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 30:8d561f16383b 1222 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 13:747daba9cf59 1223 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1224 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1225 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1226 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 1227
Lightvalve 16:903b5a4433b4 1228 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1229
Lightvalve 30:8d561f16383b 1230 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 30:8d561f16383b 1231 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 13:747daba9cf59 1232 }
Lightvalve 14:8e7590227d22 1233 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1234 break;
Lightvalve 13:747daba9cf59 1235 }
Lightvalve 14:8e7590227d22 1236
Lightvalve 14:8e7590227d22 1237 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 30:8d561f16383b 1238 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 1239 V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 18:b8adf1582ea3 1240 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 18:b8adf1582ea3 1241 else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1242 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1243 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1244 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 30:8d561f16383b 1245 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1246 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1247 }
Lightvalve 13:747daba9cf59 1248 break;
Lightvalve 13:747daba9cf59 1249 }
Lightvalve 14:8e7590227d22 1250
Lightvalve 14:8e7590227d22 1251 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1252 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1253
Lightvalve 14:8e7590227d22 1254 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1255 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1256 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1257 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1258 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1259 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1260 data_num = 0;
Lightvalve 14:8e7590227d22 1261 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1262 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1263 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1264 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1265 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1266 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1267 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1268 }
Lightvalve 14:8e7590227d22 1269
Lightvalve 17:1865016ca2e7 1270 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1271 int i;
Lightvalve 13:747daba9cf59 1272 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1273 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1274 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1275 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1276 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1277 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1278 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1279 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1280 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1281 }
Lightvalve 13:747daba9cf59 1282 }
Lightvalve 27:a2254a485f23 1283 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1284 ID_index = 0;
Lightvalve 13:747daba9cf59 1285 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1286 }
Lightvalve 14:8e7590227d22 1287
Lightvalve 14:8e7590227d22 1288
Lightvalve 13:747daba9cf59 1289 break;
Lightvalve 13:747daba9cf59 1290 }
Lightvalve 14:8e7590227d22 1291
Lightvalve 14:8e7590227d22 1292 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1293
Lightvalve 13:747daba9cf59 1294 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1295 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1296 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1297 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1298 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1299 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1300 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1301 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1302 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1303 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1304 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1305 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1306 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1307 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 1308 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1309 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 1310 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1311 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1312 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1313 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 1314 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1315 START_POS = pos.sen;
Lightvalve 23:59218d4a256d 1316 //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1317 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1318 data_num = 0;
Lightvalve 14:8e7590227d22 1319
Lightvalve 30:8d561f16383b 1320 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1321 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1322 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1323 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1324
Lightvalve 30:8d561f16383b 1325 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1326 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1327 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1328 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1329 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1330 else
Lightvalve 13:747daba9cf59 1331 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1332 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1333 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1334 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1335 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1336 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1337 // {
Lightvalve 14:8e7590227d22 1338 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1339 // }
Lightvalve 14:8e7590227d22 1340 // else
Lightvalve 14:8e7590227d22 1341 // {
Lightvalve 14:8e7590227d22 1342 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1343 // }
Lightvalve 14:8e7590227d22 1344 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1345 // {
Lightvalve 14:8e7590227d22 1346 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1347 // }
Lightvalve 14:8e7590227d22 1348
Lightvalve 14:8e7590227d22 1349 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1350 DZ_case = 1;
Lightvalve 14:8e7590227d22 1351 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1352 DZ_case = -1;
Lightvalve 14:8e7590227d22 1353 } else {
Lightvalve 13:747daba9cf59 1354 DZ_case = 0;
Lightvalve 13:747daba9cf59 1355 }
Lightvalve 14:8e7590227d22 1356
Lightvalve 14:8e7590227d22 1357 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1358 first_check = 1;
Lightvalve 13:747daba9cf59 1359 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1360 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1361 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1362 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1363 DZ_index = 1;
Lightvalve 18:b8adf1582ea3 1364 //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1365
Lightvalve 13:747daba9cf59 1366 }
Lightvalve 19:23b7c1ad8683 1367 } else {
Lightvalve 14:8e7590227d22 1368 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1369 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1370 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 1371 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1372 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1373 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1374 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1375 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1376 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1377 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1378 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1379 }
Lightvalve 14:8e7590227d22 1380 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1381 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1382 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1383 else
Lightvalve 13:747daba9cf59 1384 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1385 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1386 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1387 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1388 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1389 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1390 // else
Lightvalve 14:8e7590227d22 1391 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1392 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1393 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1394
Lightvalve 14:8e7590227d22 1395 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1396 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1397 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1398 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1399 } else {
Lightvalve 13:747daba9cf59 1400 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1401 }
Lightvalve 14:8e7590227d22 1402
Lightvalve 14:8e7590227d22 1403 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1404
Lightvalve 13:747daba9cf59 1405 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1406 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1407 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1408 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1409 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1410 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1411 DZ_index = 1;
Lightvalve 13:747daba9cf59 1412 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1413 }
Lightvalve 14:8e7590227d22 1414
Lightvalve 13:747daba9cf59 1415 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1416 }
Lightvalve 14:8e7590227d22 1417 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
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 18:b8adf1582ea3 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 * DZ_case;
Lightvalve 14:8e7590227d22 1439 // else
Lightvalve 14:8e7590227d22 1440 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1441 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1442 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1443
Lightvalve 14:8e7590227d22 1444 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 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 14:8e7590227d22 1453
Lightvalve 14:8e7590227d22 1454
Lightvalve 13:747daba9cf59 1455 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1456 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1457 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1458 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1459 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1460 first_check = 0;
Lightvalve 33:91b17819ec30 1461 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1462 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1463
Lightvalve 16:903b5a4433b4 1464 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1465
Lightvalve 13:747daba9cf59 1466 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1467 DZ_index = 1;
Lightvalve 13:747daba9cf59 1468 }
Lightvalve 14:8e7590227d22 1469
Lightvalve 23:59218d4a256d 1470 //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1471 }
Lightvalve 14:8e7590227d22 1472 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1473 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1474 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 1475 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1476 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1477 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1478 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1479 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1480 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1481 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1482 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1483 }
Lightvalve 14:8e7590227d22 1484 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1485 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1486 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1487 else
Lightvalve 13:747daba9cf59 1488 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1489 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1490 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1491 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1492 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1493 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1494 // else
Lightvalve 14:8e7590227d22 1495 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1496 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1497 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1498
Lightvalve 14:8e7590227d22 1499 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1500 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1501 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1502 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1503 } else {
Lightvalve 13:747daba9cf59 1504 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1505 }
Lightvalve 14:8e7590227d22 1506
Lightvalve 14:8e7590227d22 1507 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1508 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1509 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1510 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1511 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1512 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1513 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1514 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1515 DZ_index = 1;
Lightvalve 13:747daba9cf59 1516 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1517 }
Lightvalve 13:747daba9cf59 1518 }
Lightvalve 14:8e7590227d22 1519 } else {
Lightvalve 30:8d561f16383b 1520 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1521 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 1522 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1523 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1524 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1525 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1526 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1527 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1528 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1529 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1530 }
Lightvalve 14:8e7590227d22 1531 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1532 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1533 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1534 else
Lightvalve 13:747daba9cf59 1535 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1536 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1537 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1538 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1539 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1540 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1541 else
Lightvalve 13:747daba9cf59 1542 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1543 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1544 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1545
Lightvalve 14:8e7590227d22 1546 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1547
Lightvalve 14:8e7590227d22 1548
Lightvalve 13:747daba9cf59 1549 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1550 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1551 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1552 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1553 SECOND_DZ = valve_pos.ref;
Lightvalve 33:91b17819ec30 1554 DDV_CENTER = 0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ);
Lightvalve 13:747daba9cf59 1555 first_check = 0;
Lightvalve 33:91b17819ec30 1556 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1557 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 34:bb2ca2fc2a8e 1558
Lightvalve 13:747daba9cf59 1559 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1560 DZ_index = 1;
Lightvalve 13:747daba9cf59 1561 }
Lightvalve 14:8e7590227d22 1562
Lightvalve 13:747daba9cf59 1563 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1564 }
Lightvalve 13:747daba9cf59 1565 }
Lightvalve 14:8e7590227d22 1566 }
Lightvalve 13:747daba9cf59 1567 break;
Lightvalve 13:747daba9cf59 1568 }
Lightvalve 14:8e7590227d22 1569
Lightvalve 14:8e7590227d22 1570 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1571 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1572 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1573 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1574 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 23:59218d4a256d 1575 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1576 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1577 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1578 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1579 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1580 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1581 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1582 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1583 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 18:b8adf1582ea3 1584 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1585 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1586 first_check = 1;
Lightvalve 13:747daba9cf59 1587 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1588 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1589 ID_index = 0;
Lightvalve 13:747daba9cf59 1590 max_check = 0;
Lightvalve 13:747daba9cf59 1591 min_check = 0;
Lightvalve 13:747daba9cf59 1592 }
Lightvalve 14:8e7590227d22 1593 } else {
Lightvalve 30:8d561f16383b 1594 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1595 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 1596 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1597 data_num = 0;
Lightvalve 33:91b17819ec30 1598 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1599
Lightvalve 14:8e7590227d22 1600 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1601 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1602 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 33:91b17819ec30 1603 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1604 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1605 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1606 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1607 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1608 one_period_end = 1;
Lightvalve 13:747daba9cf59 1609 }
Lightvalve 30:8d561f16383b 1610 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1611 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1612 one_period_end = 1;
Lightvalve 13:747daba9cf59 1613 }
Lightvalve 14:8e7590227d22 1614
Lightvalve 14:8e7590227d22 1615 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1616 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1617 max_check = 1;
Lightvalve 14:8e7590227d22 1618 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1619 min_check = 1;
Lightvalve 13:747daba9cf59 1620 }
Lightvalve 13:747daba9cf59 1621 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1622
Lightvalve 19:23b7c1ad8683 1623 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1624
Lightvalve 16:903b5a4433b4 1625 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1626 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1627 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1628 one_period_end = 0;
Lightvalve 13:747daba9cf59 1629 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1630 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 30:8d561f16383b 1631 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1632 }
Lightvalve 14:8e7590227d22 1633
Lightvalve 14:8e7590227d22 1634 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1635
Lightvalve 16:903b5a4433b4 1636 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1637 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1638 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1639 ID_index = 0;
Lightvalve 13:747daba9cf59 1640 first_check = 0;
Lightvalve 13:747daba9cf59 1641 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1642 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1643 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1644 }
Lightvalve 13:747daba9cf59 1645 }
Lightvalve 13:747daba9cf59 1646 break;
Lightvalve 13:747daba9cf59 1647 }
Lightvalve 14:8e7590227d22 1648
Lightvalve 12:6f2531038ea4 1649 default:
Lightvalve 12:6f2531038ea4 1650 break;
Lightvalve 12:6f2531038ea4 1651 }
Lightvalve 14:8e7590227d22 1652
Lightvalve 13:747daba9cf59 1653 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1654 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1655 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1656 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1657 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1658 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1659 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1660 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1661 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1662
Lightvalve 14:8e7590227d22 1663 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1664 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1665
Lightvalve 14:8e7590227d22 1666 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1667
Lightvalve 13:747daba9cf59 1668 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 30:8d561f16383b 1669 float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 30:8d561f16383b 1670 float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1671
Lightvalve 14:8e7590227d22 1672 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1673 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1674 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1675 } else {
Lightvalve 17:1865016ca2e7 1676 V_out = V_out;
Lightvalve 13:747daba9cf59 1677 }
Lightvalve 14:8e7590227d22 1678
jobuuu 7:e9086c72bb22 1679 /*******************************************************
jobuuu 7:e9086c72bb22 1680 *** PWM
jobuuu 7:e9086c72bb22 1681 ********************************************************/
Lightvalve 34:bb2ca2fc2a8e 1682 if (V_out >= 12000.0f) {
Lightvalve 30:8d561f16383b 1683 V_out = 12000.0f;
Lightvalve 34:bb2ca2fc2a8e 1684 } else if(V_out<=-12000.0f) {
Lightvalve 30:8d561f16383b 1685 V_out = -12000.0f;
Lightvalve 27:a2254a485f23 1686 }
Lightvalve 18:b8adf1582ea3 1687 PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1688
jobuuu 2:a1c0a37df760 1689 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1690 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1691 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1692
Lightvalve 19:23b7c1ad8683 1693 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1694 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1695 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1696
Lightvalve 30:8d561f16383b 1697 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1698 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1699 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1700 } else {
jobuuu 2:a1c0a37df760 1701 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1702 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1703 }
Lightvalve 13:747daba9cf59 1704
jobuuu 1:e04e563be5ce 1705 //pwm
Lightvalve 30:8d561f16383b 1706 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1707 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1708
jobuuu 1:e04e563be5ce 1709 }
Lightvalve 11:82d8768d7351 1710 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1711
jobuuu 7:e9086c72bb22 1712 }
jobuuu 7:e9086c72bb22 1713
Lightvalve 20:806196fda269 1714
Lightvalve 20:806196fda269 1715
Lightvalve 20:806196fda269 1716 //unsigned long CNT_TMR5 = 0;
Lightvalve 30:8d561f16383b 1717 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 30:8d561f16383b 1718 //float DT_TMR5 = (float)DT_500;
Lightvalve 23:59218d4a256d 1719 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1720 {
Lightvalve 23:59218d4a256d 1721 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1722
Lightvalve 20:806196fda269 1723 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1724 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1725 //position+velocity
Lightvalve 41:abbd4e2af68b 1726 //CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 43:b084e5f5d0d5 1727 CAN_TX_POSITION((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 20:806196fda269 1728 }
Lightvalve 20:806196fda269 1729
Lightvalve 20:806196fda269 1730 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1731 //torque
Lightvalve 20:806196fda269 1732 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1733 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 20:806196fda269 1734 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 20:806196fda269 1735 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 20:806196fda269 1736 }
Lightvalve 20:806196fda269 1737
Lightvalve 20:806196fda269 1738 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1739 //pressure A and B
Lightvalve 38:118df027d851 1740 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF * 1000.0)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 38:118df027d851 1741 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1742 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1743 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1744 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1745
Lightvalve 20:806196fda269 1746 }
Lightvalve 20:806196fda269 1747
Lightvalve 20:806196fda269 1748 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1749 //PWM
Lightvalve 20:806196fda269 1750 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 20:806196fda269 1751 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1752 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1753 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1754
Lightvalve 20:806196fda269 1755 }
Lightvalve 20:806196fda269 1756
Lightvalve 20:806196fda269 1757 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1758 //valve position
Lightvalve 27:a2254a485f23 1759 CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 33:91b17819ec30 1760 //CAN_TX_VALVE_POSITION((int16_t) (DDV_CENTER * 10.0f), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 20:806196fda269 1761
Lightvalve 20:806196fda269 1762 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 1763 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 1764 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 1765 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 1766 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 1767 }
Lightvalve 20:806196fda269 1768
Lightvalve 20:806196fda269 1769 }
Lightvalve 23:59218d4a256d 1770 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 1771 }
Lightvalve 20:806196fda269 1772
Lightvalve 20:806196fda269 1773
Lightvalve 20:806196fda269 1774
Lightvalve 13:747daba9cf59 1775 void CurrentControl()
Lightvalve 13:747daba9cf59 1776 {
jobuuu 7:e9086c72bb22 1777 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1778 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1779 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1780 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1781
Lightvalve 30:8d561f16383b 1782 float R_model = 150.0f; // ohm
Lightvalve 30:8d561f16383b 1783 float L_model = 0.3f;
Lightvalve 30:8d561f16383b 1784 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 30:8d561f16383b 1785 float KP_I = L_model*w0;
Lightvalve 30:8d561f16383b 1786 float KI_I = R_model*w0;
Lightvalve 30:8d561f16383b 1787 float KD_I = 0.0f;
jobuuu 7:e9086c72bb22 1788
Lightvalve 30:8d561f16383b 1789 float FF_gain = 0.0f;
jobuuu 7:e9086c72bb22 1790 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1791 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1792 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1793
Lightvalve 30:8d561f16383b 1794 float Ka = 5.0f/KP_I;
jobuuu 7:e9086c72bb22 1795 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1796 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1797 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1798 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1799 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1800 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1801 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1802 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1803 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1804 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1805 }
Lightvalve 21:e5f1a43ea6f9 1806 }
Lightvalve 23:59218d4a256d 1807
Lightvalve 28:2a62d73e3dd0 1808
Lightvalve 30:8d561f16383b 1809
Lightvalve 32:4b8c0fedaf2c 1810
Lightvalve 36:a46e63505ed8 1811
Lightvalve 42:1cf66990ccab 1812