Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_

rainbow

Dependencies:   mbed FastPWM

main.cpp@144:fb8c3025963c, 2020-10-08 (annotated)

Committer:
Lightvalve
Date:
Thu Oct 08 07:35:31 2020 +0000
Revision:
144:fb8c3025963c
Parent:
143:d441540d477e
Child:
145:35f5ec0d7e56
Child:
146:0b606cae0984
201008-5

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 144:fb8c3025963c 1 //201008-5
GiJeongKim 0:51c43836c1d7 2 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 3 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 4 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 5 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 6 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 7 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 8 #include "setting.h"
Lightvalve 11:82d8768d7351 9 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 10 #include "stm32f4xx_flash.h"
Lightvalve 65:a2d7c63419c2 11 #include "FlashWriter.h"
Lightvalve 61:bc8c8270f0ab 12
Lightvalve 61:bc8c8270f0ab 13 using namespace std;
Lightvalve 61:bc8c8270f0ab 14 Timer t;
GiJeongKim 0:51c43836c1d7 15
Lightvalve 31:66738bfecec5 16 ///191008////
Lightvalve 31:66738bfecec5 17
jobuuu 7:e9086c72bb22 18 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 19 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 20 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 22 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 23 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 24 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 25 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 26
Lightvalve 24:ef6e1092e9e6 27
jobuuu 7:e9086c72bb22 28 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 29 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 30 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 31
jobuuu 7:e9086c72bb22 32 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 33 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 34 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 35 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 38 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 39 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 40 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 41 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 42 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 43 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 44
jobuuu 7:e9086c72bb22 45 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 46 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 47
jobuuu 7:e9086c72bb22 48 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 49 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 50 CANMessage msg;
Lightvalve 11:82d8768d7351 51 void onMsgReceived()
Lightvalve 11:82d8768d7351 52 {
Lightvalve 11:82d8768d7351 53 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 54 }
jobuuu 2:a1c0a37df760 55
jobuuu 7:e9086c72bb22 56 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 57 State pos;
jobuuu 7:e9086c72bb22 58 State vel;
jobuuu 7:e9086c72bb22 59 State Vout;
jobuuu 7:e9086c72bb22 60 State torq;
jobuuu 7:e9086c72bb22 61 State pres_A;
jobuuu 7:e9086c72bb22 62 State pres_B;
jobuuu 7:e9086c72bb22 63 State cur;
Lightvalve 14:8e7590227d22 64 State valve_pos;
Lightvalve 14:8e7590227d22 65
Lightvalve 14:8e7590227d22 66 State INIT_Vout;
Lightvalve 14:8e7590227d22 67 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_Pos;
Lightvalve 14:8e7590227d22 69 State INIT_torq;
jobuuu 5:a4319f79457b 70
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 72 extern int CID_RX_REF_POSITION;
Lightvalve 49:e7bcfc244d40 73 extern int CID_RX_REF_VALVE_POS;
Lightvalve 45:35fa6884d0c6 74 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 75
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 81 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 82
Lightvalve 61:bc8c8270f0ab 83
Lightvalve 61:bc8c8270f0ab 84
Lightvalve 61:bc8c8270f0ab 85
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88 // =============================================================================
jobuuu 7:e9086c72bb22 89
Lightvalve 12:6f2531038ea4 90 /*******************************************************************************
Lightvalve 12:6f2531038ea4 91 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 92 ******************************************************************************/
Lightvalve 13:747daba9cf59 93 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 94 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 95 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 96 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 97 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 98 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 99 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 100 };
Lightvalve 12:6f2531038ea4 101
Lightvalve 12:6f2531038ea4 102 /*******************************************************************************
Lightvalve 12:6f2531038ea4 103 * CONTROL MODE
Lightvalve 12:6f2531038ea4 104 ******************************************************************************/
Lightvalve 13:747daba9cf59 105 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 106 //control mode
Lightvalve 12:6f2531038ea4 107 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 108 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 109 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 110
Lightvalve 47:fdcb8bd86fd6 111 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 112 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 12:6f2531038ea4 113 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 114
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 116 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 117 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 120 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 121
Lightvalve 14:8e7590227d22 122 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 124 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 125
Lightvalve 12:6f2531038ea4 126 //utility
Lightvalve 12:6f2531038ea4 127 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 128 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 129 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 130 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 132 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 133 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 136 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 137 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 138 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 139 };
Lightvalve 12:6f2531038ea4 140
Lightvalve 65:a2d7c63419c2 141 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 142 {
Lightvalve 65:a2d7c63419c2 143 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 65:a2d7c63419c2 144 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 145
Lightvalve 65:a2d7c63419c2 146 /** Configure the main internal regulator output voltage
Lightvalve 65:a2d7c63419c2 147 */
Lightvalve 65:a2d7c63419c2 148 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 65:a2d7c63419c2 149 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 65:a2d7c63419c2 150 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 151 */
Lightvalve 65:a2d7c63419c2 152 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 65:a2d7c63419c2 153 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 65:a2d7c63419c2 154 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 65:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 65:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 65:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 65:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 65:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 65:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 65:a2d7c63419c2 161 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 65:a2d7c63419c2 162 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 65:a2d7c63419c2 163 {
Lightvalve 65:a2d7c63419c2 164 //Error_Handler();
Lightvalve 65:a2d7c63419c2 165 }
Lightvalve 65:a2d7c63419c2 166 /** Activate the Over-Drive mode
Lightvalve 65:a2d7c63419c2 167 */
Lightvalve 65:a2d7c63419c2 168 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 65:a2d7c63419c2 169 {
Lightvalve 65:a2d7c63419c2 170 //Error_Handler();
Lightvalve 65:a2d7c63419c2 171 }
Lightvalve 65:a2d7c63419c2 172 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 65:a2d7c63419c2 173 */
Lightvalve 65:a2d7c63419c2 174 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 65:a2d7c63419c2 175 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 65:a2d7c63419c2 176 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 65:a2d7c63419c2 177 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 65:a2d7c63419c2 178 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 65:a2d7c63419c2 179 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 180
Lightvalve 65:a2d7c63419c2 181 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 65:a2d7c63419c2 182 {
Lightvalve 65:a2d7c63419c2 183 //Error_Handler();
Lightvalve 65:a2d7c63419c2 184 }
Lightvalve 65:a2d7c63419c2 185 }
Lightvalve 65:a2d7c63419c2 186
Lightvalve 99:7bbcb3c0fb06 187 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 112:8dcb1600cb90 195 const float h1[num_input][16] = {
Lightvalve 144:fb8c3025963c 196 {-2.3152809143066406f,1.727402925491333f,0.12024858593940735f,0.3642372488975525f,-2.551915168762207f,1.6625466346740723f,-0.1628284603357315f,-0.2717422544956207f,-0.23101584613323212f,-0.023556355386972427f,-0.213934063911438f,-0.9510829448699951f,-0.46818628907203674f,-1.5005090236663818f,-0.2396446317434311f,-0.5505883693695068f},
Lightvalve 144:fb8c3025963c 197 {-1.8617732524871826f,1.2280305624008179f,-0.36603355407714844f,0.020320722833275795f,-1.852152943611145f,0.9200283288955688f,-0.3777896761894226f,-0.26674363017082214f,-0.0329865925014019f,0.21348443627357483f,-0.24816828966140747f,-0.7358936667442322f,0.04711906611919403f,-1.5031263828277588f,-0.1953967958688736f,-0.21457244455814362f},
Lightvalve 144:fb8c3025963c 198 {-1.328779697418213f,0.6305422186851501f,0.33912619948387146f,-0.36133837699890137f,-0.8119953870773315f,0.42370355129241943f,0.2676515281200409f,0.02444564737379551f,-0.10264942795038223f,0.2200983166694641f,-0.316930890083313f,-0.648487389087677f,-0.12411943823099136f,-0.5221869945526123f,0.05209478735923767f,-0.36078131198883057f},
Lightvalve 144:fb8c3025963c 199 {-0.5197798013687134f,-0.32913661003112793f,0.3703531324863434f,0.20121149718761444f,0.17911207675933838f,-0.7240257859230042f,-0.10795548558235168f,0.3901039958000183f,0.0750034898519516f,0.3478025794029236f,0.09678419679403305f,0.0063720084726810455f,-0.22296254336833954f,0.06852824240922928f,-0.27597576379776f,0.02640494890511036f},
Lightvalve 144:fb8c3025963c 200 {1.0433883666992188f,-1.2392282485961914f,-0.004794687032699585f,0.1031724065542221f,1.4619780778884888f,-1.5678507089614868f,0.12058994174003601f,0.1821904182434082f,0.08734194189310074f,0.17816007137298584f,0.33168479800224304f,0.4059227406978607f,-0.07882260531187057f,1.2437946796417236f,-0.36018112301826477f,-0.16798365116119385f},
Lightvalve 144:fb8c3025963c 201 {2.857693910598755f,-3.3041610717773438f,0.20290347933769226f,0.07956814765930176f,3.318584680557251f,-3.3711345195770264f,0.15389427542686462f,0.06304170936346054f,0.09683135896921158f,0.18959861993789673f,-0.22322161495685577f,1.841825246810913f,-0.20501361787319183f,2.939310073852539f,-0.38513508439064026f,-0.0713680163025856f},
Lightvalve 144:fb8c3025963c 202 {0.6324058771133423f,-0.43518802523612976f,-0.2331579178571701f,-0.3590847849845886f,-0.19355417788028717f,-0.17370332777500153f,0.05604562163352966f,-0.6124011278152466f,0.31069356203079224f,0.010415825061500072f,0.15558111667633057f,0.9956388473510742f,-0.26913198828697205f,1.016658067703247f,-0.14554673433303833f,-0.3392884135246277f},
Lightvalve 144:fb8c3025963c 203 {0.44745802879333496f,-0.45198550820350647f,-0.24806702136993408f,0.13153602182865143f,-0.3461902439594269f,-0.2838374674320221f,-0.16704979538917542f,-0.5994587540626526f,-0.003078911919146776f,0.05557386949658394f,0.11294785887002945f,0.6535332202911377f,0.2496033012866974f,0.5708394646644592f,0.04009982943534851f,-0.12518605589866638f},
Lightvalve 144:fb8c3025963c 204 {0.5713577270507812f,0.1668863445520401f,0.09550115466117859f,-0.32965824007987976f,-0.1708855777978897f,0.03479478880763054f,-0.06753402948379517f,-0.644003689289093f,-0.2797917127609253f,0.2735665440559387f,-0.26223233342170715f,0.6971666812896729f,0.12468379735946655f,0.49515432119369507f,-0.2847418785095215f,-0.1023692935705185f},
Lightvalve 144:fb8c3025963c 205 {0.16310913860797882f,-0.11523257941007614f,0.17205187678337097f,-0.10984060168266296f,0.13215506076812744f,0.39142823219299316f,-0.2786858379840851f,-0.3326667249202728f,-0.03540360555052757f,-0.48883235454559326f,0.007313740439713001f,-1.0144288539886475f,0.2633468806743622f,-0.301626056432724f,0.3247623145580292f,-0.3123617470264435f},
Lightvalve 144:fb8c3025963c 206 {0.09060637652873993f,0.751677393913269f,0.34649983048439026f,0.238347128033638f,-0.18993692100048065f,0.7072498202323914f,-0.1895401030778885f,-0.24043914675712585f,-0.4269353449344635f,-0.02136058919131756f,0.33979934453964233f,-2.280555486679077f,-0.13881582021713257f,-0.8600243330001831f,0.24870619177818298f,-0.6370449066162109f},
Lightvalve 144:fb8c3025963c 207 {-1.2227174043655396f,0.8980315923690796f,-0.3757385015487671f,-0.016326511278748512f,-0.37785834074020386f,1.2150253057479858f,0.1429324448108673f,0.1361755132675171f,-0.16958828270435333f,0.14431153237819672f,-0.3707931339740753f,-2.920011520385742f,0.0691303163766861f,-1.61436927318573f,0.09779238700866699f,-0.41666141152381897f},
Lightvalve 144:fb8c3025963c 208 {-0.3208516538143158f,0.4696144163608551f,0.18496140837669373f,0.10039933770895004f,0.34736987948417664f,0.8090188503265381f,-0.22405625879764557f,-0.032775260508060455f,-0.18931987881660461f,-0.22892595827579498f,-0.08640900999307632f,-2.58586049079895f,0.04208873212337494f,-0.8988630771636963f,-0.2075144499540329f,-0.6604486107826233f},
Lightvalve 144:fb8c3025963c 209 {0.16262409090995789f,-0.01671232096850872f,0.38466766476631165f,-0.14667004346847534f,0.18218474090099335f,-0.10421261936426163f,-0.2982172966003418f,-0.40107446908950806f,-0.1390027552843094f,-0.2559940814971924f,-0.166481614112854f,-1.602246642112732f,-0.3095857799053192f,-0.24121171236038208f,0.04470124840736389f,-0.15184690058231354f},
Lightvalve 144:fb8c3025963c 210 {0.5174210667610168f,-0.04763205349445343f,0.18900898098945618f,-0.028117891401052475f,0.5945087671279907f,-0.10929259657859802f,0.03916636109352112f,0.16368715465068817f,0.2704102098941803f,0.033244144171476364f,-0.24501635134220123f,-1.0999691486358643f,0.10306726396083832f,0.03853769227862358f,0.062258750200271606f,-0.027132803574204445f},
Lightvalve 144:fb8c3025963c 211 {0.2914155125617981f,-0.4265623986721039f,-0.37685394287109375f,-0.1996072381734848f,-0.019203273579478264f,0.009786401875317097f,-0.14507901668548584f,-0.0853961631655693f,0.17501948773860931f,-0.047144565731287f,-0.4260883331298828f,-0.3157176971435547f,-0.22497230768203735f,0.23816914856433868f,-0.07684260606765747f,0.05888473987579346f},
Lightvalve 144:fb8c3025963c 212 {0.13738799095153809f,-0.22142702341079712f,0.15568438172340393f,-0.058044277131557465f,-0.0232255682349205f,-0.14742983877658844f,-0.03859376907348633f,-0.050225719809532166f,-0.07352999597787857f,0.041070763021707535f,-0.3139238655567169f,0.17045529186725616f,0.14994587004184723f,0.5364378690719604f,0.2742314636707306f,-0.06731603294610977f},
Lightvalve 144:fb8c3025963c 213 {0.15600940585136414f,-0.16535674035549164f,0.19490453600883484f,-0.3138192892074585f,-0.3106350898742676f,-0.08246537297964096f,-0.336474746465683f,0.05921122804284096f,-0.39584556221961975f,-0.15033116936683655f,-0.13937796652317047f,0.12563101947307587f,0.31835269927978516f,0.17374621331691742f,-0.2561379373073578f,-0.11289579421281815f},
Lightvalve 144:fb8c3025963c 214 {-0.18690593540668488f,-0.06943024694919586f,-0.2776013910770416f,0.05439651012420654f,0.33863118290901184f,-0.03686759993433952f,0.25546005368232727f,-0.350205659866333f,-0.3939896523952484f,-0.004937915131449699f,-0.38015687465667725f,0.1677393615245819f,0.14523454010486603f,0.4078146517276764f,-0.30415377020835876f,-0.5786517262458801f},
Lightvalve 144:fb8c3025963c 215 {0.26198509335517883f,0.24746471643447876f,0.1420871913433075f,-0.4235791265964508f,-0.377158522605896f,0.3205195367336273f,-0.13263443112373352f,-0.400607705116272f,-0.1832873523235321f,0.01716863363981247f,0.11593614518642426f,0.543384850025177f,0.2921818196773529f,0.42891642451286316f,0.13351169228553772f,0.00543095450848341f},
Lightvalve 144:fb8c3025963c 216 {-0.2991099953651428f,-0.41585615277290344f,-0.07561364769935608f,-0.03986741602420807f,-0.4765874743461609f,-0.01874842494726181f,0.14428457617759705f,-0.02254398912191391f,-0.383146733045578f,-0.3092406094074249f,-0.3674323558807373f,0.6129317879676819f,-0.11757314205169678f,0.49564477801322937f,0.019461065530776978f,0.1277700960636139f},
Lightvalve 144:fb8c3025963c 217 {-0.21371565759181976f,-0.8026935458183289f,0.2631795108318329f,-0.7004210948944092f,0.1280365288257599f,-0.4730685353279114f,0.27224990725517273f,0.006050639320164919f,-0.09381511807441711f,0.08090905845165253f,0.05304040387272835f,1.5589348077774048f,0.29210609197616577f,0.5046173930168152f,0.06011766195297241f,0.05217600241303444f},
Lightvalve 65:a2d7c63419c2 218 };
Lightvalve 65:a2d7c63419c2 219
Lightvalve 112:8dcb1600cb90 220 const float h2[16][16] = {
Lightvalve 144:fb8c3025963c 221 {-0.2627347707748413f,1.6072235107421875f,-0.06966331601142883f,1.3059860467910767f,-0.21907491981983185f,-10.074268341064453f,-0.10165838152170181f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.889585018157959f,-0.4408711791038513f,0.09407905489206314f,-2.1551506519317627f,-1.681544303894043f,-8.785170555114746f},
Lightvalve 144:fb8c3025963c 222 {-0.07196462154388428f,-0.46957844495773315f,0.057057321071624756f,-0.3067782521247864f,-0.35503754019737244f,-3.547255277633667f,-0.42634716629981995f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.7903809547424316f,-0.6991819143295288f,0.27004608511924744f,0.7093417644500732f,0.9480265378952026f,-2.6635963916778564f},
Lightvalve 112:8dcb1600cb90 223 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 144:fb8c3025963c 224 {-0.006364033091813326f,-0.2805274426937103f,-0.2894435524940491f,0.22353897988796234f,0.08946844935417175f,0.3361161947250366f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.2456456422805786f,0.38107261061668396f,-0.4747326970100403f,-0.23024532198905945f,0.21823757886886597f,0.13803395628929138f},
Lightvalve 144:fb8c3025963c 225 {-0.3554824888706207f,3.049980401992798f,-0.25313520431518555f,0.3931412994861603f,0.036378175020217896f,-2.617460012435913f,-0.5512491464614868f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.678700864315033f,-0.7182751297950745f,0.033540356904268265f,-0.06770995259284973f,-2.3080103397369385f,-1.9733433723449707f},
Lightvalve 144:fb8c3025963c 226 {0.20959323644638062f,-1.3502219915390015f,-0.3519742488861084f,0.18502606451511383f,-0.3015052080154419f,-3.7923583984375f,-0.7683287262916565f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.8958200216293335f,-0.34072569012641907f,-0.27347302436828613f,0.9521313309669495f,1.0914380550384521f,-2.391331911087036f},
Lightvalve 112:8dcb1600cb90 227 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 144:fb8c3025963c 228 {0.09947510808706284f,0.35010796785354614f,0.33083590865135193f,-0.3367353081703186f,-0.14358049631118774f,-0.36243200302124023f,-0.09043094515800476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.31178247928619385f,-0.31911033391952515f,-0.41125836968421936f,0.2665112614631653f,0.01156060304492712f,0.12491219490766525f},
Lightvalve 144:fb8c3025963c 229 {-0.2314327508211136f,0.4525166153907776f,-0.11379697918891907f,-0.09526991099119186f,0.041274964809417725f,-0.2055896818637848f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.10668562352657318f,-0.3197441101074219f,-0.37024784088134766f,-0.3530832827091217f,-0.4519219398498535f,-0.12629814445972443f},
Lightvalve 144:fb8c3025963c 230 {-0.1665608137845993f,0.3012998402118683f,-0.13502129912376404f,0.054572269320487976f,0.12987366318702698f,0.20264874398708344f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.3255550265312195f,0.36860600113868713f,0.3811538517475128f,-0.324370801448822f,-0.07046277821063995f,-0.14053338766098022f},
Lightvalve 144:fb8c3025963c 231 {-0.22478652000427246f,-0.01952047273516655f,0.0457797646522522f,-0.36477410793304443f,-0.03321319818496704f,-0.44883063435554504f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.22648464143276215f,0.3545852601528168f,-0.3647043704986572f,0.42692625522613525f,-0.38498252630233765f,-0.2930787205696106f},
Lightvalve 144:fb8c3025963c 232 {0.1855839043855667f,-0.21992193162441254f,0.3954955041408539f,0.39627113938331604f,0.0033026933670043945f,-1.2386260032653809f,-0.293239563703537f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.059261854737997055f,-0.33992287516593933f,0.014869287610054016f,-0.669883668422699f,0.249106764793396f,-0.41038769483566284f},
Lightvalve 144:fb8c3025963c 233 {-0.3410651385784149f,-0.24929744005203247f,-0.15798500180244446f,0.5034734606742859f,-0.37393757700920105f,0.23025217652320862f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.15765021741390228f,-0.3137330710887909f,0.3513602316379547f,-0.04629771038889885f,-0.24852626025676727f,0.07677663862705231f},
Lightvalve 144:fb8c3025963c 234 {-0.45097577571868896f,-0.13339103758335114f,-0.2018718123435974f,0.06062299385666847f,0.07545611262321472f,1.9103381633758545f,-0.46714287996292114f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,1.649477243423462f,-0.6026387214660645f,-0.2412213385105133f,-1.874483585357666f,-0.12564484775066376f,-0.35405778884887695f},
Lightvalve 112:8dcb1600cb90 235 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 144:fb8c3025963c 236 {-0.43417003750801086f,0.2870778739452362f,0.12081471085548401f,-0.28882813453674316f,0.29976895451545715f,-0.129892036318779f,-0.112851083278656f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,0.28394222259521484f,-0.14616353809833527f,-0.2666535973548889f,0.17890380322933197f,0.34988918900489807f,0.09183908253908157f},
Lightvalve 65:a2d7c63419c2 237 };
Lightvalve 65:a2d7c63419c2 238
Lightvalve 112:8dcb1600cb90 239 const float h3[16][16] = {
Lightvalve 144:fb8c3025963c 240 {-0.36079341173171997f,-0.22157756984233856f,0.04996342584490776f,-0.37189048528671265f,-0.06003464758396149f,-0.08961917459964752f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.012323440052568913f,0.18081840872764587f,-0.30172455310821533f,0.13669900596141815f},
Lightvalve 144:fb8c3025963c 241 {0.047732532024383545f,0.6989078521728516f,0.6557276844978333f,-1.027191162109375f,-0.7921809554100037f,0.10846979916095734f,-0.3198729455471039f,0.06247803568840027f,0.5821853280067444f,-0.5057151317596436f,0.11285559087991714f,-2.0360121726989746f,-1.6084725856781006f,-0.6113699674606323f,-0.5270559787750244f,-0.4096241891384125f},
Lightvalve 115:f41863b95e6f 242 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 144:fb8c3025963c 243 {-0.30922991037368774f,0.2609212398529053f,-0.35918179154396057f,-0.49626997113227844f,-2.002046585083008f,0.23198626935482025f,0.20021501183509827f,0.07002416253089905f,-2.9994735717773438f,-0.6615407466888428f,-0.16319164633750916f,-0.4781607985496521f,-0.19987694919109344f,-0.03317837044596672f,0.2836754620075226f,-0.10154473036527634f},
Lightvalve 130:26b416050376 244 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve 144:fb8c3025963c 245 {-0.37449589371681213f,1.4071166515350342f,0.07251398265361786f,-0.9862403869628906f,-0.453469455242157f,1.3401246070861816f,-0.18732719123363495f,0.22384825348854065f,1.1909663677215576f,-0.4245598614215851f,-0.24387189745903015f,-4.09767484664917f,-2.500598430633545f,0.9592363238334656f,0.290335088968277f,-0.3659419119358063f},
Lightvalve 144:fb8c3025963c 246 {0.4110594093799591f,0.1429830938577652f,-0.0927792340517044f,0.37246426939964294f,0.1850888431072235f,-0.19440588355064392f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21155259013175964f,0.09956309199333191f,0.3126353323459625f,-0.3391006588935852f},
Lightvalve 132:06e670a4f416 247 {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve 115:f41863b95e6f 248 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 125:2397bee14630 249 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 144:fb8c3025963c 250 {0.15459725260734558f,0.72439044713974f,-0.5466641187667847f,-0.7720921635627747f,-0.6371919512748718f,0.7213203310966492f,-0.08742031455039978f,0.05785742402076721f,-1.262664794921875f,-0.5998016595840454f,-0.17241103947162628f,-2.2987046241760254f,-3.9738259315490723f,-1.018069863319397f,0.1471223384141922f,0.12088090926408768f},
Lightvalve 144:fb8c3025963c 251 {-0.408692330121994f,-0.01745096780359745f,0.09452779591083527f,0.06247909367084503f,0.015625588595867157f,-0.2146359384059906f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4221092760562897f,-0.379727303981781f,-0.3349076807498932f,0.31518054008483887f},
Lightvalve 144:fb8c3025963c 252 {-0.2991822361946106f,0.29517999291419983f,0.0042093913070857525f,0.024277420714497566f,0.16840599477291107f,0.15824651718139648f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.09814348071813583f,-0.21696944534778595f,0.27826768159866333f,-0.16869547963142395f},
Lightvalve 144:fb8c3025963c 253 {-0.2675279378890991f,-0.770762026309967f,1.6120538711547852f,-0.20645307004451752f,-0.15061108767986298f,-0.16551825404167175f,-0.32875844836235046f,-0.31893211603164673f,-1.4138376712799072f,-0.8004869818687439f,-0.3685331642627716f,-1.5057293176651f,0.1274058073759079f,-1.585729718208313f,0.1306980550289154f,0.1441774070262909f},
Lightvalve 144:fb8c3025963c 254 {-0.015470266342163086f,-1.9857964515686035f,1.6790562868118286f,0.4655911922454834f,-0.08354365080595016f,-2.514406442642212f,0.05196094512939453f,-0.008358269929885864f,-4.3329997062683105f,-0.579310953617096f,0.13179203867912292f,-0.040511056780815125f,2.757723093032837f,-2.6764187812805176f,0.035064682364463806f,-0.5825209021568298f},
Lightvalve 144:fb8c3025963c 255 {0.1863725483417511f,1.4100269079208374f,0.11397874355316162f,-0.8381223678588867f,0.6091724038124084f,0.9195526838302612f,0.04860696196556091f,0.17769548296928406f,0.4023902416229248f,-0.09889062494039536f,-0.5419447422027588f,0.34525805711746216f,-0.9069976806640625f,1.014098882675171f,-0.04629502072930336f,-0.16994908452033997f},
Lightvalve 66:a8e6799dbce3 256 };
Lightvalve 65:a2d7c63419c2 257
Lightvalve 144:fb8c3025963c 258 const float hout[16] = { 0.45773375034332275f,0.23122456669807434f,-0.18602921068668365f,-0.3125866651535034f,-0.029993798583745956f,0.20471511781215668f,0.0030125975608825684f,0.15066689252853394f,-0.5208629369735718f,0.004466731566935778f,0.08295199275016785f,-0.26822465658187866f,-0.3498326539993286f,0.026779841631650925f,0.07775511592626572f,-0.060560304671525955f };
Lightvalve 66:a8e6799dbce3 259
Lightvalve 144:fb8c3025963c 260 const float b1[16] = { 1.3190714120864868f,1.5952208042144775f,-1.7145336866378784f,0.3097442090511322f,0.9651374220848083f,1.5615040063858032f,-0.058932315558195114f,0.8412410616874695f,0.534761905670166f,-0.8942662477493286f,0.5916527509689331f,3.810105562210083f,-0.45955052971839905f,-0.3557904064655304f,-1.087764859199524f,0.9899064898490906f };
Lightvalve 87:471334725012 261
Lightvalve 144:fb8c3025963c 262 const float b2[16] = { -0.2645142376422882f,-0.2895103693008423f,-1.4564176797866821f,-0.49256083369255066f,-0.6939148902893066f,0.8274815082550049f,0.09697892516851425f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.27735763788223267f,0.3822407126426697f,-0.14580224454402924f,1.841172695159912f,0.46085551381111145f,0.41733479499816895f };
Lightvalve 65:a2d7c63419c2 263
Lightvalve 144:fb8c3025963c 264 const float b3[16] = { -1.963319182395935f,-0.4159342348575592f,0.1794152706861496f,-0.4108562469482422f,-0.21904510259628296f,0.0030512125231325626f,-0.45353031158447266f,-0.6562485098838806f,-0.5568499565124512f,0.06824243813753128f,-0.44575250148773193f,2.5458240509033203f,-3.0509939193725586f,-0.7597270607948303f,-1.5004441738128662f,-0.6097174286842346f };
Lightvalve 87:471334725012 265
Lightvalve 144:fb8c3025963c 266 const float bout[1] = { -0.21177443861961365f };
Lightvalve 65:a2d7c63419c2 267
Lightvalve 66:a8e6799dbce3 268
Lightvalve 87:471334725012 269 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 270 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 271
GiJeongKim 0:51c43836c1d7 272 int main()
GiJeongKim 0:51c43836c1d7 273 {
Lightvalve 66:a8e6799dbce3 274
Lightvalve 65:a2d7c63419c2 275 HAL_Init();
Lightvalve 65:a2d7c63419c2 276 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 277
jobuuu 6:df07d3491e3a 278 /*********************************
jobuuu 1:e04e563be5ce 279 *** Initialization
jobuuu 6:df07d3491e3a 280 *********************************/
Lightvalve 69:3995ffeaa786 281 LED = 0;
Lightvalve 61:bc8c8270f0ab 282 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 283
GiJeongKim 0:51c43836c1d7 284 // i2c init
Lightvalve 8:5d2eebdad025 285 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 286 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 287 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 288 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 289 make_delay();
jobuuu 2:a1c0a37df760 290
GiJeongKim 0:51c43836c1d7 291 // // spi init
Lightvalve 16:903b5a4433b4 292 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 293 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 294 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 295 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 296 make_delay();
Lightvalve 21:e5f1a43ea6f9 297
Lightvalve 16:903b5a4433b4 298 //rom
Lightvalve 19:23b7c1ad8683 299 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 300 make_delay();
Lightvalve 13:747daba9cf59 301
GiJeongKim 0:51c43836c1d7 302 // ADC init
jobuuu 5:a4319f79457b 303 Init_ADC();
Lightvalve 11:82d8768d7351 304 make_delay();
jobuuu 2:a1c0a37df760 305
GiJeongKim 0:51c43836c1d7 306 // Pwm init
GiJeongKim 0:51c43836c1d7 307 Init_PWM();
GiJeongKim 0:51c43836c1d7 308 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 309 make_delay();
Lightvalve 13:747daba9cf59 310
Lightvalve 11:82d8768d7351 311 // TMR3 init
Lightvalve 11:82d8768d7351 312 Init_TMR3();
Lightvalve 11:82d8768d7351 313 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 314 make_delay();
Lightvalve 21:e5f1a43ea6f9 315
Lightvalve 50:3c630b5eba9f 316 // TMR2 init
Lightvalve 56:6f50d9d3bfee 317 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 318 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 319 // make_delay();
Lightvalve 21:e5f1a43ea6f9 320
GiJeongKim 0:51c43836c1d7 321 // CAN
jobuuu 2:a1c0a37df760 322 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 323 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 324 make_delay();
Lightvalve 34:bb2ca2fc2a8e 325
Lightvalve 23:59218d4a256d 326 //Timer priority
Lightvalve 23:59218d4a256d 327 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 328 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 329 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 330
Lightvalve 23:59218d4a256d 331 //can.reset();
Lightvalve 19:23b7c1ad8683 332 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 333
GiJeongKim 0:51c43836c1d7 334 // spi _ enc
GiJeongKim 0:51c43836c1d7 335 spi_enc_set_init();
Lightvalve 11:82d8768d7351 336 make_delay();
Lightvalve 13:747daba9cf59 337
Lightvalve 11:82d8768d7351 338 //DAC init
Lightvalve 58:2eade98630e2 339 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 340 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 341 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 342 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 343 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 344 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 345 }
Lightvalve 11:82d8768d7351 346 make_delay();
Lightvalve 13:747daba9cf59 347
Lightvalve 19:23b7c1ad8683 348 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 349 if(i%2==0)
Lightvalve 38:118df027d851 350 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 351 else
Lightvalve 38:118df027d851 352 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 353 }
Lightvalve 61:bc8c8270f0ab 354
Lightvalve 61:bc8c8270f0ab 355
jobuuu 6:df07d3491e3a 356 /************************************
jobuuu 1:e04e563be5ce 357 *** Program is operating!
jobuuu 6:df07d3491e3a 358 *************************************/
GiJeongKim 0:51c43836c1d7 359 while(1) {
Lightvalve 66:a8e6799dbce3 360 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 361 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 362 //i2c
Lightvalve 66:a8e6799dbce3 363
Lightvalve 65:a2d7c63419c2 364 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 365 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 366 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 367 // LED=0;
Lightvalve 65:a2d7c63419c2 368 // } else
Lightvalve 65:a2d7c63419c2 369 // LED = 1;
Lightvalve 65:a2d7c63419c2 370 timer_while = 0;
Lightvalve 66:a8e6799dbce3 371 //}
Lightvalve 66:a8e6799dbce3 372
Lightvalve 66:a8e6799dbce3 373 timer_while ++;
Lightvalve 66:a8e6799dbce3 374
Lightvalve 87:471334725012 375 //LED = 0;
Lightvalve 87:471334725012 376
Lightvalve 73:f80dc3970c99 377 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 378 LED = 0;
Lightvalve 73:f80dc3970c99 379 }
Lightvalve 66:a8e6799dbce3 380
Lightvalve 73:f80dc3970c99 381 else if(NN_Control_Flag == 1) {
Lightvalve 117:7141c0517b82 382
Lightvalve 117:7141c0517b82 383 int ind = 0;
Lightvalve 117:7141c0517b82 384 for(int i=0; i<numpast_u; i++) {
Lightvalve 118:af86e883dcb4 385 input_NN[ind] = u_past[time_interval*i];
Lightvalve 117:7141c0517b82 386 ind = ind + 1;
Lightvalve 117:7141c0517b82 387 }
Lightvalve 117:7141c0517b82 388
Lightvalve 117:7141c0517b82 389 for(int i=0; i<numpast_x; i++) {
Lightvalve 118:af86e883dcb4 390 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 117:7141c0517b82 391 ind = ind + 1;
Lightvalve 117:7141c0517b82 392 }
Lightvalve 117:7141c0517b82 393 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 117:7141c0517b82 394 ind = ind + 1;
Lightvalve 121:89396c37b03e 395
Lightvalve 122:dcb3ce3056a0 396 // for(int i=0; i<numfuture_x; i++) {
Lightvalve 122:dcb3ce3056a0 397 // input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 122:dcb3ce3056a0 398 // ind = ind + 1;
Lightvalve 122:dcb3ce3056a0 399 // }
Lightvalve 117:7141c0517b82 400
Lightvalve 117:7141c0517b82 401 for(int i=0; i<numpast_f; i++) {
Lightvalve 118:af86e883dcb4 402 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 403 ind = ind + 1;
Lightvalve 117:7141c0517b82 404 }
Lightvalve 117:7141c0517b82 405 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 406 ind = ind + 1;
Lightvalve 117:7141c0517b82 407 for(int i=0; i<numfuture_f; i++) {
Lightvalve 144:fb8c3025963c 408 // input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve 144:fb8c3025963c 409 input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve 117:7141c0517b82 410 ind = ind + 1;
Lightvalve 117:7141c0517b82 411 }
Lightvalve 117:7141c0517b82 412
Lightvalve 112:8dcb1600cb90 413 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 414 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 415 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 416 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 417
Lightvalve 112:8dcb1600cb90 418 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 419 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 420 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 421 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 422 }
Lightvalve 66:a8e6799dbce3 423 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 424 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 425 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 426 }
Lightvalve 66:a8e6799dbce3 427 }
Lightvalve 65:a2d7c63419c2 428
Lightvalve 112:8dcb1600cb90 429 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 430 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 431 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 432 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 433 }
Lightvalve 66:a8e6799dbce3 434 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 435 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 436 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 437 }
Lightvalve 66:a8e6799dbce3 438 }
Lightvalve 65:a2d7c63419c2 439
Lightvalve 112:8dcb1600cb90 440 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 441 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 442 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 443 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 444 }
Lightvalve 66:a8e6799dbce3 445 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 446 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 447 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 448 }
Lightvalve 65:a2d7c63419c2 449 }
Lightvalve 66:a8e6799dbce3 450
Lightvalve 66:a8e6799dbce3 451 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 452 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 453 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 454 }
Lightvalve 66:a8e6799dbce3 455 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 456
Lightvalve 66:a8e6799dbce3 457 }
Lightvalve 73:f80dc3970c99 458 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 459 output_normalized = output;
Lightvalve 68:328e1be06f5d 460 output = output * 20000.0f - 10000.0f;
Lightvalve 101:50159049a518 461
Lightvalve 66:a8e6799dbce3 462 if(output>=0) {
Lightvalve 66:a8e6799dbce3 463 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 464 } else {
Lightvalve 66:a8e6799dbce3 465 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 466 }
Lightvalve 87:471334725012 467
Lightvalve 88:d6e591bece22 468 // // torque feedback
Lightvalve 88:d6e591bece22 469 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 470 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 471 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 472 //
Lightvalve 88:d6e591bece22 473 //
Lightvalve 88:d6e591bece22 474 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 475 //
Lightvalve 88:d6e591bece22 476 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 477 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 478 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 479 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 480 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 481 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 482 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 483 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 484 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 485 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 486 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 487 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 488 // }
Lightvalve 88:d6e591bece22 489 // }
Lightvalve 87:471334725012 490
Lightvalve 69:3995ffeaa786 491
Lightvalve 69:3995ffeaa786 492 if(LED==1) {
Lightvalve 69:3995ffeaa786 493 LED=0;
Lightvalve 69:3995ffeaa786 494 } else
Lightvalve 69:3995ffeaa786 495 LED = 1;
Lightvalve 69:3995ffeaa786 496
Lightvalve 65:a2d7c63419c2 497 }
Lightvalve 62:b5452adfb2cd 498
Lightvalve 87:471334725012 499 //LED = 1;
Lightvalve 69:3995ffeaa786 500
Lightvalve 66:a8e6799dbce3 501
GiJeongKim 0:51c43836c1d7 502 }
jobuuu 1:e04e563be5ce 503 }
jobuuu 1:e04e563be5ce 504
Lightvalve 33:91b17819ec30 505 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 506 {
Lightvalve 14:8e7590227d22 507
Lightvalve 13:747daba9cf59 508 int i = 0;
Lightvalve 48:889798ff9329 509 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 510 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 511 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 512 if(i==0) {
Lightvalve 50:3c630b5eba9f 513 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 514 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 515 } else {
Lightvalve 57:f4819de54e7a 516 Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve 38:118df027d851 517 }
Lightvalve 14:8e7590227d22 518 } else {
Lightvalve 50:3c630b5eba9f 519 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 520 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 521 } else {
Lightvalve 57:f4819de54e7a 522 Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve 38:118df027d851 523 }
Lightvalve 13:747daba9cf59 524 }
Lightvalve 13:747daba9cf59 525 break;
Lightvalve 13:747daba9cf59 526 }
Lightvalve 13:747daba9cf59 527 }
Lightvalve 14:8e7590227d22 528 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 529 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 530 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 531 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 532 }
Lightvalve 36:a46e63505ed8 533
Lightvalve 57:f4819de54e7a 534 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 535 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 536
Lightvalve 13:747daba9cf59 537 }
jobuuu 6:df07d3491e3a 538
jobuuu 6:df07d3491e3a 539
Lightvalve 30:8d561f16383b 540 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 541 {
Lightvalve 13:747daba9cf59 542 int i = 0;
Lightvalve 13:747daba9cf59 543
Lightvalve 38:118df027d851 544 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 545 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 546 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 547 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 548 }
Lightvalve 38:118df027d851 549
Lightvalve 89:a7b45368ea0f 550 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 551 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 552 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 553 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 554 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 555 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 556
Lightvalve 13:747daba9cf59 557 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 558
Lightvalve 18:b8adf1582ea3 559 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 560 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 561 if(i==0) {
Lightvalve 48:889798ff9329 562 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 563 } else {
Lightvalve 48:889798ff9329 564 VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 565 }
Lightvalve 13:747daba9cf59 566 break;
Lightvalve 13:747daba9cf59 567 }
Lightvalve 13:747daba9cf59 568 }
Lightvalve 59:f308b1656d9c 569 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 570 }
Lightvalve 13:747daba9cf59 571
Lightvalve 14:8e7590227d22 572 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 573 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 574 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 575 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 576 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 577 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 578 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 579 }; // duty
Lightvalve 67:c2812cf26c38 580 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 67:c2812cf26c38 581 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 582 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 583 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 584 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 585 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 586 }; // mV
Lightvalve 13:747daba9cf59 587
Lightvalve 30:8d561f16383b 588 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 589 {
Lightvalve 30:8d561f16383b 590 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 591 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 592 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 593 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 594 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 595 } else {
Lightvalve 13:747daba9cf59 596 int idx = 0;
Lightvalve 13:747daba9cf59 597 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 598 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 599 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 600 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 601 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 602 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 603 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 604 break;
Lightvalve 13:747daba9cf59 605 }
Lightvalve 13:747daba9cf59 606 }
Lightvalve 13:747daba9cf59 607 }
Lightvalve 14:8e7590227d22 608
Lightvalve 13:747daba9cf59 609 return PWM_duty;
Lightvalve 13:747daba9cf59 610 }
jobuuu 6:df07d3491e3a 611
Lightvalve 57:f4819de54e7a 612
Lightvalve 57:f4819de54e7a 613
Lightvalve 57:f4819de54e7a 614
Lightvalve 57:f4819de54e7a 615
jobuuu 2:a1c0a37df760 616 /*******************************************************************************
jobuuu 2:a1c0a37df760 617 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 618 *******************************************************************************/
jobuuu 2:a1c0a37df760 619
Lightvalve 51:b46bed7fec80 620 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 621 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 622 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 623 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 624 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 625 {
Lightvalve 19:23b7c1ad8683 626 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 627
Lightvalve 21:e5f1a43ea6f9 628 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 629 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 630 ********************************************************/
Lightvalve 13:747daba9cf59 631
Lightvalve 57:f4819de54e7a 632 //Encoder
Lightvalve 57:f4819de54e7a 633 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 634 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 635 }
Lightvalve 61:bc8c8270f0ab 636
Lightvalve 61:bc8c8270f0ab 637 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 638 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 639 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 640 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 641 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 642 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 643 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 644
Lightvalve 67:c2812cf26c38 645
Lightvalve 67:c2812cf26c38 646 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 647 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 648 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 649 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 650 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 651
Lightvalve 17:1865016ca2e7 652
Lightvalve 58:2eade98630e2 653 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 654 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 655 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 656 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 657 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 658 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 659 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 660 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 661 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 662
Lightvalve 58:2eade98630e2 663 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 664 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 58:2eade98630e2 665 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 666 torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve 58:2eade98630e2 667 }
Lightvalve 58:2eade98630e2 668 }
Lightvalve 61:bc8c8270f0ab 669
Lightvalve 58:2eade98630e2 670 // //Pressure sensor A
Lightvalve 58:2eade98630e2 671 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 672 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 673 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 674 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 675 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 676 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve 58:2eade98630e2 677 //
Lightvalve 58:2eade98630e2 678 //
Lightvalve 58:2eade98630e2 679 // //Pressure sensor B
Lightvalve 58:2eade98630e2 680 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 681 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 682 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 683 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 684
Lightvalve 17:1865016ca2e7 685
Lightvalve 21:e5f1a43ea6f9 686 //Current
Lightvalve 21:e5f1a43ea6f9 687 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 688 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 689 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 690 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 691 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 692 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 693 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 694
Lightvalve 57:f4819de54e7a 695 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 696 }
Lightvalve 11:82d8768d7351 697 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 698 }
Lightvalve 19:23b7c1ad8683 699
Lightvalve 19:23b7c1ad8683 700
Lightvalve 18:b8adf1582ea3 701 int j =0;
Lightvalve 54:647072f5307a 702 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 703 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 704 int cnt_trans = 0;
Lightvalve 48:889798ff9329 705 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 706 int can_rest =0;
Lightvalve 48:889798ff9329 707
Lightvalve 11:82d8768d7351 708 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 709 {
Lightvalve 19:23b7c1ad8683 710 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 711
Lightvalve 57:f4819de54e7a 712 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 713 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 714 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 715 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 716 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 717 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 718 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 719 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 720 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 721 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 722 }
Lightvalve 50:3c630b5eba9f 723
Lightvalve 50:3c630b5eba9f 724 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 725 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 726 cnt_trans++;
Lightvalve 46:2694daea349b 727 torq.err_sum = 0;
Lightvalve 48:889798ff9329 728 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 729 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 730 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 731 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 732 cnt_trans++;
Lightvalve 46:2694daea349b 733 torq.err_sum = 0;
Lightvalve 48:889798ff9329 734 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 735 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 736 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 737 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 738 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 739 } else {
Lightvalve 58:2eade98630e2 740 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 741 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 742 }
Lightvalve 45:35fa6884d0c6 743
Lightvalve 50:3c630b5eba9f 744
Lightvalve 57:f4819de54e7a 745 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 746 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 747
Lightvalve 57:f4819de54e7a 748 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 749 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 750 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 751 } else {
Lightvalve 57:f4819de54e7a 752 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 753 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 754 }
Lightvalve 56:6f50d9d3bfee 755
Lightvalve 56:6f50d9d3bfee 756
Lightvalve 56:6f50d9d3bfee 757
Lightvalve 57:f4819de54e7a 758 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 759
Lightvalve 57:f4819de54e7a 760 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 761 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 762 break;
Lightvalve 13:747daba9cf59 763 }
Lightvalve 14:8e7590227d22 764
Lightvalve 14:8e7590227d22 765 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 766 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 767 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 768 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 769
Lightvalve 14:8e7590227d22 770 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 771 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 772 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 773
Lightvalve 84:c355d3e52bf1 774 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 775
Lightvalve 30:8d561f16383b 776 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 777 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 778
Lightvalve 16:903b5a4433b4 779 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 780 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 781 }
Lightvalve 13:747daba9cf59 782 } else {
Lightvalve 58:2eade98630e2 783 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 784 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 785 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 786 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 787
Lightvalve 16:903b5a4433b4 788 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 789
Lightvalve 30:8d561f16383b 790 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 791
Lightvalve 13:747daba9cf59 792 }
Lightvalve 14:8e7590227d22 793 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 794 break;
Lightvalve 19:23b7c1ad8683 795 }
Lightvalve 14:8e7590227d22 796
Lightvalve 50:3c630b5eba9f 797 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 798 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 799 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 800 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 801 // }
Lightvalve 50:3c630b5eba9f 802 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 803 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 804 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 805 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 806 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 807 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 808 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 809 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 810 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 811 // }
Lightvalve 50:3c630b5eba9f 812 //
Lightvalve 50:3c630b5eba9f 813 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 814 // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 50:3c630b5eba9f 815 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 816 //
Lightvalve 50:3c630b5eba9f 817 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 818 // V_out = 0;
Lightvalve 50:3c630b5eba9f 819 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 820 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 821 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 822 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 823 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 824 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 825 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 826 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 827 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 828 //
Lightvalve 50:3c630b5eba9f 829 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 830 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 831 // // | / | / |/
Lightvalve 50:3c630b5eba9f 832 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 833 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 834 // // /| / | / |
Lightvalve 50:3c630b5eba9f 835 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 836 //
Lightvalve 50:3c630b5eba9f 837 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 838 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 839 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 840 // } else {
Lightvalve 50:3c630b5eba9f 841 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 842 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 843 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 844 // }
Lightvalve 50:3c630b5eba9f 845 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 846 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 847 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 848 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 849 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 850 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 851 // }
Lightvalve 50:3c630b5eba9f 852 // } else {
Lightvalve 50:3c630b5eba9f 853 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 854 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 855 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 856 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 857 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 858 // }
Lightvalve 50:3c630b5eba9f 859 // V_out = 0;
Lightvalve 50:3c630b5eba9f 860 //
Lightvalve 50:3c630b5eba9f 861 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 862 //
Lightvalve 50:3c630b5eba9f 863 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 864 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 865 //
Lightvalve 50:3c630b5eba9f 866 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 867 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 868 // }
Lightvalve 50:3c630b5eba9f 869 // }
Lightvalve 50:3c630b5eba9f 870 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 871 // break;
Lightvalve 50:3c630b5eba9f 872 // }
Lightvalve 14:8e7590227d22 873
Lightvalve 14:8e7590227d22 874 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 875 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 876 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 877 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 878 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 879 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 880 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 881 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 882 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 883 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 884 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 885 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 886 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 887 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 888 }
Lightvalve 29:69f3f5445d6d 889 cnt_findhome++;
Lightvalve 14:8e7590227d22 890
Lightvalve 29:69f3f5445d6d 891 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 892 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 893 } else {
Lightvalve 29:69f3f5445d6d 894 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 895 }
Lightvalve 19:23b7c1ad8683 896
Lightvalve 57:f4819de54e7a 897 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 898 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 899 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 900 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 901
Lightvalve 59:f308b1656d9c 902 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 903 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 904 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 905 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 906 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 907
Lightvalve 59:f308b1656d9c 908 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 909 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 910
Lightvalve 34:bb2ca2fc2a8e 911
Lightvalve 29:69f3f5445d6d 912 } else {
Lightvalve 29:69f3f5445d6d 913 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 914 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 915 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 916 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 917 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 918 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 919 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 920 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 921 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 922 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 923 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 924
Lightvalve 67:c2812cf26c38 925
Lightvalve 67:c2812cf26c38 926 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 927 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 928 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 929 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 930 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 931 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 932 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 933
Lightvalve 67:c2812cf26c38 934
Lightvalve 29:69f3f5445d6d 935 }
Lightvalve 29:69f3f5445d6d 936 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 937 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 938 pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 67:c2812cf26c38 939 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 940 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 941
Lightvalve 29:69f3f5445d6d 942 // input for position control
Lightvalve 67:c2812cf26c38 943
Lightvalve 67:c2812cf26c38 944 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 945 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 946
Lightvalve 67:c2812cf26c38 947 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 948 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 949 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 950 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 951
Lightvalve 67:c2812cf26c38 952 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 953
Lightvalve 67:c2812cf26c38 954 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 955 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 956 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 957
Lightvalve 67:c2812cf26c38 958 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 959 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 960 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 961
Lightvalve 69:3995ffeaa786 962 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 963 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve 67:c2812cf26c38 964 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 965 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 966 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 67:c2812cf26c38 967 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 968 }
Lightvalve 67:c2812cf26c38 969 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 970 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 971
Lightvalve 67:c2812cf26c38 972 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 973
Lightvalve 67:c2812cf26c38 974
Lightvalve 67:c2812cf26c38 975
Lightvalve 67:c2812cf26c38 976 } else {
Lightvalve 67:c2812cf26c38 977 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 978 VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 67:c2812cf26c38 979
Lightvalve 67:c2812cf26c38 980 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 981 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 982 } else {
Lightvalve 67:c2812cf26c38 983 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 984 }
Lightvalve 67:c2812cf26c38 985
Lightvalve 67:c2812cf26c38 986 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 987
Lightvalve 67:c2812cf26c38 988 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 989
Lightvalve 67:c2812cf26c38 990 }
Lightvalve 67:c2812cf26c38 991
Lightvalve 67:c2812cf26c38 992
Lightvalve 67:c2812cf26c38 993
Lightvalve 67:c2812cf26c38 994
Lightvalve 59:f308b1656d9c 995 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 996 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 997 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 998 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 999 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1000
Lightvalve 29:69f3f5445d6d 1001 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1002 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1003 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1004 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1005 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1006 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1007 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1008 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1009 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1010 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1011 }
Lightvalve 13:747daba9cf59 1012 }
Lightvalve 19:23b7c1ad8683 1013
Lightvalve 13:747daba9cf59 1014 break;
Lightvalve 13:747daba9cf59 1015 }
Lightvalve 14:8e7590227d22 1016
Lightvalve 50:3c630b5eba9f 1017 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1018 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1019 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1020 // else {
Lightvalve 50:3c630b5eba9f 1021 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1022 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1023 // }
Lightvalve 50:3c630b5eba9f 1024 // }
Lightvalve 50:3c630b5eba9f 1025 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1026 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1027 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1028 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1029 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1030 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1031 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1032 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1033 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1034 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1035 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1036 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1037 // }
Lightvalve 50:3c630b5eba9f 1038 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1039 // }
Lightvalve 50:3c630b5eba9f 1040 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1041 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1042 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1043 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1044 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1045 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1046 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1047 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1048 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 50:3c630b5eba9f 1049 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve 50:3c630b5eba9f 1050 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1051 // }
Lightvalve 50:3c630b5eba9f 1052 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1053 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1054 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1055 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1056 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1057 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1058 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve 50:3c630b5eba9f 1059 // // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve 50:3c630b5eba9f 1060 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1061 // }
Lightvalve 50:3c630b5eba9f 1062 // }
Lightvalve 50:3c630b5eba9f 1063 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1064 //
Lightvalve 50:3c630b5eba9f 1065 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1066 //
Lightvalve 50:3c630b5eba9f 1067 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1068 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1069 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1070 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1071 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1072 // }
Lightvalve 50:3c630b5eba9f 1073 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1074 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1075 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1076 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1077 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1078 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1079 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1080 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1081 // }
Lightvalve 50:3c630b5eba9f 1082 //
Lightvalve 50:3c630b5eba9f 1083 // }
Lightvalve 50:3c630b5eba9f 1084 // break;
Lightvalve 50:3c630b5eba9f 1085 // }
Lightvalve 50:3c630b5eba9f 1086 //
Lightvalve 50:3c630b5eba9f 1087 // }
Lightvalve 14:8e7590227d22 1088 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1089 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1090 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1091 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1092 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1093
Lightvalve 14:8e7590227d22 1094 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1095 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1096 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1097 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1098 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1099
Lightvalve 38:118df027d851 1100 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1101 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1102 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1103
Lightvalve 30:8d561f16383b 1104 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1105 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1106 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1107 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1108
Lightvalve 30:8d561f16383b 1109 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1110 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1111 }
Lightvalve 13:747daba9cf59 1112 } else {
Lightvalve 57:f4819de54e7a 1113 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1114 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1115 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1116 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1117 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1118 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1119
Lightvalve 16:903b5a4433b4 1120 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1121
Lightvalve 30:8d561f16383b 1122 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1123 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1124 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1125 }
Lightvalve 14:8e7590227d22 1126 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1127 break;
Lightvalve 13:747daba9cf59 1128 }
Lightvalve 14:8e7590227d22 1129
Lightvalve 50:3c630b5eba9f 1130 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1131 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1132 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1133 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1134 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1135 // }
Lightvalve 50:3c630b5eba9f 1136 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1137 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1138 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1139 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1140 // }
Lightvalve 50:3c630b5eba9f 1141 // } else {
Lightvalve 50:3c630b5eba9f 1142 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1143 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1144 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1145 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1146 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1147 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1148 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1149 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1150 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1151 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1152 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1153 //
Lightvalve 50:3c630b5eba9f 1154 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1155 //
Lightvalve 50:3c630b5eba9f 1156 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1157 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1158 // }
Lightvalve 50:3c630b5eba9f 1159 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1160 // break;
Lightvalve 50:3c630b5eba9f 1161 // }
Lightvalve 19:23b7c1ad8683 1162
Lightvalve 50:3c630b5eba9f 1163 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1164 // if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve 50:3c630b5eba9f 1165 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1166 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1167 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1168 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1169 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1170 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1171 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1172 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1173 // }
Lightvalve 50:3c630b5eba9f 1174 // break;
Lightvalve 50:3c630b5eba9f 1175 // }
Lightvalve 14:8e7590227d22 1176
Lightvalve 14:8e7590227d22 1177 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1178 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1179 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1180
Lightvalve 14:8e7590227d22 1181 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1182 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1183 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1184 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1185 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1186 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1187 data_num = 0;
Lightvalve 14:8e7590227d22 1188 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1189 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1190 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1191 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1192 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1193 } else {
Lightvalve 13:747daba9cf59 1194 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1195 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1196 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1197 }
Lightvalve 14:8e7590227d22 1198
Lightvalve 17:1865016ca2e7 1199 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1200 int i;
Lightvalve 13:747daba9cf59 1201 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1202 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1203 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1204 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1205 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1206 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1207 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1208 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1209 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1210 }
Lightvalve 13:747daba9cf59 1211 }
Lightvalve 59:f308b1656d9c 1212 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1213 ID_index = 0;
Lightvalve 57:f4819de54e7a 1214 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1215 }
Lightvalve 14:8e7590227d22 1216
Lightvalve 14:8e7590227d22 1217
Lightvalve 13:747daba9cf59 1218 break;
Lightvalve 13:747daba9cf59 1219 }
Lightvalve 14:8e7590227d22 1220
Lightvalve 14:8e7590227d22 1221 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1222 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1223 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1224 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1225 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1226 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1227 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1228 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1229 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1230 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1231 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1232 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1233 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1234 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1235 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1236 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 1237 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1238 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1239 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1240 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1241 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1242 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 13:747daba9cf59 1243 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1244 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1245 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1246 data_num = 0;
Lightvalve 14:8e7590227d22 1247
Lightvalve 30:8d561f16383b 1248 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1249 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1250 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1251
Lightvalve 30:8d561f16383b 1252 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1253 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1254 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1255
Lightvalve 30:8d561f16383b 1256 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1257 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1258 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1259 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1260
Lightvalve 60:64181f1d3e60 1261 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1262 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1263 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1264 DZ_case = -1;
Lightvalve 14:8e7590227d22 1265 } else {
Lightvalve 13:747daba9cf59 1266 DZ_case = 0;
Lightvalve 13:747daba9cf59 1267 }
Lightvalve 61:bc8c8270f0ab 1268
Lightvalve 60:64181f1d3e60 1269 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1270
Lightvalve 13:747daba9cf59 1271 first_check = 1;
Lightvalve 13:747daba9cf59 1272 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1273 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1274 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1275 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1276 DZ_index = 1;
Lightvalve 14:8e7590227d22 1277
Lightvalve 13:747daba9cf59 1278 }
Lightvalve 19:23b7c1ad8683 1279 } else {
Lightvalve 14:8e7590227d22 1280 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1281 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1282 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1283 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1284 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1285 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1286 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1287 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1288 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1289 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1290 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1291 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1292 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1293 }
Lightvalve 14:8e7590227d22 1294 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1295
Lightvalve 30:8d561f16383b 1296 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1297 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1298 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1299
Lightvalve 14:8e7590227d22 1300 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1301 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1302 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1303 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1304 } else {
Lightvalve 13:747daba9cf59 1305 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1306 }
Lightvalve 14:8e7590227d22 1307
Lightvalve 13:747daba9cf59 1308 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1309 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1310 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1311 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1312 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1313 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1314 DZ_index = 1;
Lightvalve 13:747daba9cf59 1315 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1316 }
Lightvalve 13:747daba9cf59 1317 }
Lightvalve 14:8e7590227d22 1318 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1319 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1320 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1321 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1322 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1323 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1324 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1325 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1326 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1327 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1328 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1329 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1330 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1331 }
Lightvalve 14:8e7590227d22 1332 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1333
Lightvalve 30:8d561f16383b 1334 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1335 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1336 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1337 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1338 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1339
Lightvalve 14:8e7590227d22 1340 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1341 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1342 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1343 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1344 } else {
Lightvalve 60:64181f1d3e60 1345 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1346 }
Lightvalve 14:8e7590227d22 1347
Lightvalve 13:747daba9cf59 1348 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1349 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1350 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1351 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1352 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1353 first_check = 0;
Lightvalve 33:91b17819ec30 1354 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1355 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1356
Lightvalve 16:903b5a4433b4 1357 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1358
Lightvalve 60:64181f1d3e60 1359 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1360 DZ_index = 1;
Lightvalve 13:747daba9cf59 1361 }
Lightvalve 13:747daba9cf59 1362 }
Lightvalve 14:8e7590227d22 1363 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1364 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1365 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1366 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1367 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1368 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1369 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1370 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1371 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1372 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1373 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1374 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1375 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1376 }
Lightvalve 14:8e7590227d22 1377 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1378
Lightvalve 30:8d561f16383b 1379 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1380 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1381 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1382
Lightvalve 14:8e7590227d22 1383 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1384 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1385 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1386 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1387 } else {
Lightvalve 13:747daba9cf59 1388 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1389 }
Lightvalve 13:747daba9cf59 1390 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1391 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1392 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1393 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1394 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1395 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1396 DZ_index = 1;
Lightvalve 13:747daba9cf59 1397 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1398 }
Lightvalve 13:747daba9cf59 1399 }
Lightvalve 14:8e7590227d22 1400 } else {
Lightvalve 30:8d561f16383b 1401 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1402 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 60:64181f1d3e60 1403 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1404 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1405 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1406 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1407 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1408 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1409 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1410 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1411 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1412 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1413 }
Lightvalve 14:8e7590227d22 1414 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1415
Lightvalve 30:8d561f16383b 1416 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1417 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1418 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1419 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1420 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1421
Lightvalve 60:64181f1d3e60 1422 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1423 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1424 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1425 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1426 } else {
Lightvalve 13:747daba9cf59 1427 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1428 }
Lightvalve 14:8e7590227d22 1429
Lightvalve 13:747daba9cf59 1430 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1431 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1432 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1433 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1434 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1435 first_check = 0;
Lightvalve 33:91b17819ec30 1436 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1437 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1438
Lightvalve 59:f308b1656d9c 1439 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1440
Lightvalve 57:f4819de54e7a 1441 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1442 DZ_index = 1;
Lightvalve 13:747daba9cf59 1443 }
Lightvalve 13:747daba9cf59 1444 }
Lightvalve 13:747daba9cf59 1445 }
Lightvalve 14:8e7590227d22 1446 }
Lightvalve 13:747daba9cf59 1447 break;
Lightvalve 13:747daba9cf59 1448 }
Lightvalve 14:8e7590227d22 1449
Lightvalve 14:8e7590227d22 1450 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1451 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1452 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1453 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1454 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1455 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1456 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1457 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1458 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1459 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1460 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1461 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1462 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1463 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1464 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1465 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1466 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1467 first_check = 1;
Lightvalve 13:747daba9cf59 1468 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1469 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1470 ID_index = 0;
Lightvalve 13:747daba9cf59 1471 max_check = 0;
Lightvalve 13:747daba9cf59 1472 min_check = 0;
Lightvalve 13:747daba9cf59 1473 }
Lightvalve 14:8e7590227d22 1474 } else {
Lightvalve 30:8d561f16383b 1475 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1476 //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1477 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1478 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1479 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1480 data_num = 0;
Lightvalve 57:f4819de54e7a 1481 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1482
Lightvalve 14:8e7590227d22 1483 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1484 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1485 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1486 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1487 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1488 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1489 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1490 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1491 one_period_end = 1;
Lightvalve 13:747daba9cf59 1492 }
Lightvalve 30:8d561f16383b 1493 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1494 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1495 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1496 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1497 }
Lightvalve 14:8e7590227d22 1498
Lightvalve 14:8e7590227d22 1499 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1500 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1501 max_check = 1;
Lightvalve 14:8e7590227d22 1502 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1503 min_check = 1;
Lightvalve 13:747daba9cf59 1504 }
Lightvalve 13:747daba9cf59 1505 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1506
Lightvalve 13:747daba9cf59 1507 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1508 one_period_end = 0;
Lightvalve 13:747daba9cf59 1509 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1510 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1511 }
Lightvalve 14:8e7590227d22 1512
Lightvalve 14:8e7590227d22 1513 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1514
Lightvalve 13:747daba9cf59 1515 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1516 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1517 ID_index = 0;
Lightvalve 13:747daba9cf59 1518 first_check = 0;
Lightvalve 13:747daba9cf59 1519 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1520 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1521 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1522 }
Lightvalve 13:747daba9cf59 1523 }
Lightvalve 13:747daba9cf59 1524 break;
Lightvalve 13:747daba9cf59 1525 }
Lightvalve 58:2eade98630e2 1526
Lightvalve 57:f4819de54e7a 1527 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1528 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1529 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1530 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1531 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1532 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1533 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1534 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1535 }
Lightvalve 57:f4819de54e7a 1536 break;
Lightvalve 57:f4819de54e7a 1537 }
Lightvalve 58:2eade98630e2 1538
Lightvalve 58:2eade98630e2 1539
Lightvalve 57:f4819de54e7a 1540
Lightvalve 57:f4819de54e7a 1541 default:
Lightvalve 57:f4819de54e7a 1542 break;
Lightvalve 57:f4819de54e7a 1543 }
Lightvalve 57:f4819de54e7a 1544
Lightvalve 57:f4819de54e7a 1545 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1546
Lightvalve 57:f4819de54e7a 1547 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1548 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1549 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1550 break;
Lightvalve 57:f4819de54e7a 1551 }
Lightvalve 57:f4819de54e7a 1552
Lightvalve 57:f4819de54e7a 1553 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1554 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1555 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1556 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1557 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1558 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1559 } else {
Lightvalve 67:c2812cf26c38 1560 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1561 }
Lightvalve 58:2eade98630e2 1562
Lightvalve 57:f4819de54e7a 1563 break;
Lightvalve 57:f4819de54e7a 1564 }
Lightvalve 57:f4819de54e7a 1565
Lightvalve 57:f4819de54e7a 1566 case MODE_JOINT_CONTROL: {
Lightvalve 137:ccf70b9b1705 1567
Lightvalve 138:a843f32ced33 1568
Lightvalve 57:f4819de54e7a 1569 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1570 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1571 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1572 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1573
Lightvalve 67:c2812cf26c38 1574 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1575 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1576 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1577 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1578
Lightvalve 139:15621998925b 1579 // torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 139:15621998925b 1580 torq_ref = torq.ref;
Lightvalve 57:f4819de54e7a 1581
Lightvalve 57:f4819de54e7a 1582 // torque feedback
Lightvalve 67:c2812cf26c38 1583 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1584 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1585
Lightvalve 57:f4819de54e7a 1586 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1587
Lightvalve 57:f4819de54e7a 1588 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1589 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1590 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1591
Lightvalve 57:f4819de54e7a 1592 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1593 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1594 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1595
Lightvalve 69:3995ffeaa786 1596 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1597 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1598 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1599 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1600 temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1601 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1602 }
Lightvalve 57:f4819de54e7a 1603 if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1604 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1605
Lightvalve 57:f4819de54e7a 1606 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1607 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1608 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1609 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve 57:f4819de54e7a 1610 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1611 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1612 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1613 I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve 57:f4819de54e7a 1614 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1615 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1616 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1617 }
Lightvalve 57:f4819de54e7a 1618 if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1619 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1620 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1621 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1622 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1623
Lightvalve 57:f4819de54e7a 1624 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1625
Lightvalve 67:c2812cf26c38 1626 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1627 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1628 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1629 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1630 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1631 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1632 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1633 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1634 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1635 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1636 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1637 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1638 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1639 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1640 }
Lightvalve 67:c2812cf26c38 1641 }
Lightvalve 57:f4819de54e7a 1642
Lightvalve 57:f4819de54e7a 1643 } else {
Lightvalve 57:f4819de54e7a 1644 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1645 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1646 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1647
Lightvalve 57:f4819de54e7a 1648 VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve 57:f4819de54e7a 1649 + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve 57:f4819de54e7a 1650
Lightvalve 72:3436ce769b1e 1651 VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve 72:3436ce769b1e 1652
Lightvalve 72:3436ce769b1e 1653 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1654
Lightvalve 72:3436ce769b1e 1655
Lightvalve 72:3436ce769b1e 1656 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1657 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1658 } else {
Lightvalve 72:3436ce769b1e 1659 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1660 }
Lightvalve 57:f4819de54e7a 1661
Lightvalve 57:f4819de54e7a 1662 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 139:15621998925b 1663 double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1664 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1665 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1666 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1667 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1668 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1669 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1670 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1671 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1672 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1673 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1674 }
Lightvalve 57:f4819de54e7a 1675 }
Lightvalve 61:bc8c8270f0ab 1676
Lightvalve 57:f4819de54e7a 1677 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1678
Lightvalve 67:c2812cf26c38 1679 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1680 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1681
Lightvalve 57:f4819de54e7a 1682 }
Lightvalve 72:3436ce769b1e 1683
Lightvalve 72:3436ce769b1e 1684 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1685
Lightvalve 133:22ab22818e01 1686
Lightvalve 57:f4819de54e7a 1687 break;
Lightvalve 57:f4819de54e7a 1688 }
Lightvalve 58:2eade98630e2 1689
Lightvalve 57:f4819de54e7a 1690 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1691 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1692 break;
Lightvalve 57:f4819de54e7a 1693 }
Lightvalve 138:a843f32ced33 1694
Lightvalve 138:a843f32ced33 1695 case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve 138:a843f32ced33 1696
Lightvalve 138:a843f32ced33 1697
Lightvalve 139:15621998925b 1698 float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 1699 float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 138:a843f32ced33 1700
Lightvalve 139:15621998925b 1701 // float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve 139:15621998925b 1702 // float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve 138:a843f32ced33 1703 V = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve 138:a843f32ced33 1704
Lightvalve 138:a843f32ced33 1705
Lightvalve 139:15621998925b 1706 float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve 138:a843f32ced33 1707
Lightvalve 138:a843f32ced33 1708 float g3_prime = 0.0f;
Lightvalve 138:a843f32ced33 1709 if (torq.sen > Amm*(Ps-Pt)*0.000001f){
Lightvalve 138:a843f32ced33 1710 g3_prime = 1.0f;
Lightvalve 138:a843f32ced33 1711 } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
Lightvalve 138:a843f32ced33 1712 g3_prime = -1.0f;
Lightvalve 138:a843f32ced33 1713 } else {
Lightvalve 138:a843f32ced33 1714 if ((value-VALVE_CENTER) > 0) {
Lightvalve 138:a843f32ced33 1715 g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 1716 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 1717 } else {
Lightvalve 138:a843f32ced33 1718 g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve 139:15621998925b 1719 // g3_prime = sqrt(Ps-Pt);
Lightvalve 138:a843f32ced33 1720 }
Lightvalve 138:a843f32ced33 1721 }
Lightvalve 138:a843f32ced33 1722 float tau = 0.01f;
Lightvalve 142:43026242815a 1723 float K_valve = 0.0004f;
Lightvalve 138:a843f32ced33 1724
Lightvalve 138:a843f32ced33 1725 float x_v = 0.0f; //x_v : -1~1
Lightvalve 138:a843f32ced33 1726 if(value>=VALVE_CENTER) {
Lightvalve 138:a843f32ced33 1727 x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 1728 } else {
Lightvalve 138:a843f32ced33 1729 x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 138:a843f32ced33 1730 }
Lightvalve 138:a843f32ced33 1731 float f4 = -x_v/tau;
Lightvalve 138:a843f32ced33 1732 float g4 = K_valve/tau;
Lightvalve 138:a843f32ced33 1733
Lightvalve 139:15621998925b 1734 float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve 138:a843f32ced33 1735
Lightvalve 138:a843f32ced33 1736 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 138:a843f32ced33 1737 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 138:a843f32ced33 1738 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 138:a843f32ced33 1739
Lightvalve 138:a843f32ced33 1740 torq.err = torq.ref - torq.sen; //[N]
Lightvalve 138:a843f32ced33 1741 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 138:a843f32ced33 1742
Lightvalve 142:43026242815a 1743 float k3 = 20000.0f; //2000
Lightvalve 142:43026242815a 1744 float k4 = 10.0f;
Lightvalve 142:43026242815a 1745 float rho3 = 3.2f;
Lightvalve 142:43026242815a 1746 float rho4 = 25000000.0f;
Lightvalve 139:15621998925b 1747 float x_4_des = (-f3 + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
Lightvalve 138:a843f32ced33 1748 if (x_4_des > 1) x_4_des = 1;
Lightvalve 138:a843f32ced33 1749 else if (x_4_des < -1) x_4_des = -1;
Lightvalve 139:15621998925b 1750
Lightvalve 139:15621998925b 1751 if (x_4_des > 0) {
Lightvalve 139:15621998925b 1752 valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 1753 } else {
Lightvalve 139:15621998925b 1754 valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve 139:15621998925b 1755 }
Lightvalve 139:15621998925b 1756
Lightvalve 139:15621998925b 1757
Lightvalve 138:a843f32ced33 1758 float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 1759 x_4_des_old = x_4_des;
Lightvalve 138:a843f32ced33 1760
Lightvalve 139:15621998925b 1761 V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
Lightvalve 138:a843f32ced33 1762
Lightvalve 142:43026242815a 1763 float rho_gamma = 50000.0f;//5000
Lightvalve 139:15621998925b 1764 float gamma_hat_dot = rho3*(-torq.err)/rho_gamma*((-f3+torq_ref_dot-k3*(-torq.err))/gamma_hat + g3_prime*(x_v-x_4_des));
Lightvalve 138:a843f32ced33 1765 gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve 138:a843f32ced33 1766 break;
Lightvalve 138:a843f32ced33 1767 }
Lightvalve 14:8e7590227d22 1768
Lightvalve 12:6f2531038ea4 1769 default:
Lightvalve 12:6f2531038ea4 1770 break;
Lightvalve 12:6f2531038ea4 1771 }
Lightvalve 14:8e7590227d22 1772
Lightvalve 57:f4819de54e7a 1773
Lightvalve 57:f4819de54e7a 1774 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1775
Lightvalve 57:f4819de54e7a 1776 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1777 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1778 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1779 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1780 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1781 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1782
Lightvalve 57:f4819de54e7a 1783 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1784 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1785
Lightvalve 57:f4819de54e7a 1786
Lightvalve 57:f4819de54e7a 1787 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1788 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1789 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1790 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1791 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1792 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1793
Lightvalve 57:f4819de54e7a 1794 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1795 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1796 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1797 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1798 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1799 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1800 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1801 }
Lightvalve 57:f4819de54e7a 1802
Lightvalve 57:f4819de54e7a 1803 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1804
Lightvalve 67:c2812cf26c38 1805 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1806 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1807 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1808 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1809 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve 67:c2812cf26c38 1810 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1811 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1812
Lightvalve 57:f4819de54e7a 1813 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1814 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1815 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1816 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1817 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1818 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1819 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1820 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1821 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1822 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1823 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1824 }
Lightvalve 57:f4819de54e7a 1825 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1826 } else {
Lightvalve 57:f4819de54e7a 1827 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1828 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1829 }
Lightvalve 57:f4819de54e7a 1830
Lightvalve 57:f4819de54e7a 1831 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1832 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1833 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1834 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1835 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1836 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1837 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1838
Lightvalve 57:f4819de54e7a 1839 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1840
Lightvalve 57:f4819de54e7a 1841 } else {
Lightvalve 57:f4819de54e7a 1842 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1843 }
Lightvalve 57:f4819de54e7a 1844
Lightvalve 57:f4819de54e7a 1845 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1846 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1847 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1848
Lightvalve 57:f4819de54e7a 1849 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1850 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1851 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1852 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1853 }
Lightvalve 89:a7b45368ea0f 1854 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1855 // Output Voltage Linearization
Lightvalve 135:79885a39c161 1856 // double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 135:79885a39c161 1857 // double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1858
Lightvalve 89:a7b45368ea0f 1859 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 135:79885a39c161 1860 // if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 135:79885a39c161 1861 // else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 135:79885a39c161 1862 // else V_out = (float) (CUR_PWM_lin);
Lightvalve 135:79885a39c161 1863
Lightvalve 135:79885a39c161 1864 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 1865 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 1866 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 1867 }
Lightvalve 67:c2812cf26c38 1868
Lightvalve 67:c2812cf26c38 1869 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1870 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1871 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1872
jobuuu 7:e9086c72bb22 1873 /*******************************************************
jobuuu 7:e9086c72bb22 1874 *** PWM
jobuuu 7:e9086c72bb22 1875 ********************************************************/
Lightvalve 67:c2812cf26c38 1876 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1877 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1878 }
Lightvalve 67:c2812cf26c38 1879
Lightvalve 49:e7bcfc244d40 1880 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1881 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1882 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1883 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1884 }
Lightvalve 49:e7bcfc244d40 1885 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1886
Lightvalve 19:23b7c1ad8683 1887 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1888 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1889 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1890
Lightvalve 30:8d561f16383b 1891 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1892 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1893 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1894 } else {
jobuuu 2:a1c0a37df760 1895 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1896 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1897 }
Lightvalve 13:747daba9cf59 1898
jobuuu 1:e04e563be5ce 1899 //pwm
Lightvalve 30:8d561f16383b 1900 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1901 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1902
Lightvalve 61:bc8c8270f0ab 1903
Lightvalve 57:f4819de54e7a 1904 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1905
Lightvalve 54:647072f5307a 1906 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1907 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1908 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1909 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1910 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1911 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1912 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1913 }
Lightvalve 57:f4819de54e7a 1914 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1915 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1916 CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve 54:647072f5307a 1917 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1918 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 54:647072f5307a 1919 }
Lightvalve 52:8ea76864368a 1920 }
Lightvalve 52:8ea76864368a 1921 }
Lightvalve 56:6f50d9d3bfee 1922 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1923 //valve position
Lightvalve 54:647072f5307a 1924 double t_value = 0;
Lightvalve 97:d71c57e3515e 1925 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1926 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1927 } else {
Lightvalve 97:d71c57e3515e 1928 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1929 }
Lightvalve 97:d71c57e3515e 1930 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1931 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1932 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1933 // } else {
Lightvalve 97:d71c57e3515e 1934 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1935 // }
Lightvalve 97:d71c57e3515e 1936 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1937 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1938 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1939 // } else {
Lightvalve 97:d71c57e3515e 1940 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1941 // }
Lightvalve 67:c2812cf26c38 1942 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1943 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1944 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1945 }
Lightvalve 58:2eade98630e2 1946
Lightvalve 58:2eade98630e2 1947
Lightvalve 131:d08121ac87ba 1948 if (flag_data_request[2] == LOW) {
Lightvalve 89:a7b45368ea0f 1949 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1950 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1951 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 131:d08121ac87ba 1952 t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1953 } else {
Lightvalve 131:d08121ac87ba 1954 t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1955 }
Lightvalve 139:15621998925b 1956 CAN_TX_PRES((int16_t) (t_value), (int16_t) (torq.ref)); // 1400
Lightvalve 55:b25725257569 1957 }
Lightvalve 58:2eade98630e2 1958
Lightvalve 57:f4819de54e7a 1959 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1960 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1961 ;
Lightvalve 57:f4819de54e7a 1962 }
Lightvalve 58:2eade98630e2 1963
Lightvalve 139:15621998925b 1964 if (flag_data_request[3] == LOW) {
Lightvalve 54:647072f5307a 1965 //PWM
Lightvalve 73:f80dc3970c99 1966 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 139:15621998925b 1967 CAN_TX_PWM((int16_t) gamma_hat); //1500
Lightvalve 54:647072f5307a 1968 }
Lightvalve 57:f4819de54e7a 1969 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1970 // ;
Lightvalve 57:f4819de54e7a 1971 // }
Lightvalve 56:6f50d9d3bfee 1972 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1973 //valve position
Lightvalve 73:f80dc3970c99 1974 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1975 }
Lightvalve 20:806196fda269 1976
Lightvalve 54:647072f5307a 1977 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1978 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1979 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1980 // }
Lightvalve 54:647072f5307a 1981 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1982 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1983 //}
Lightvalve 52:8ea76864368a 1984
Lightvalve 54:647072f5307a 1985 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1986 }
Lightvalve 54:647072f5307a 1987 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1988
Lightvalve 20:806196fda269 1989 }
Lightvalve 52:8ea76864368a 1990 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1991
Lightvalve 58:2eade98630e2 1992 }