Sungwoo Kim
rainbow
Diff: main.cpp
- Revision:
- 13:747daba9cf59
- Parent:
- 12:6f2531038ea4
- Child:
- 14:8e7590227d22
diff -r 6f2531038ea4 -r 747daba9cf59 main.cpp
--- a/main.cpp Tue Aug 27 05:32:44 2019 +0000
+++ b/main.cpp Tue Aug 27 06:50:54 2019 +0000
@@ -55,19 +55,8 @@
double V_MAX = 12000.0; // Maximum Voltage : 12V = 12000mV
double PWM_out=0.0;
-int ID_index_array[100] = {0};
-
-double CUR_PRES_DIFF_BAR = 0;
-double CUR_PRES_A_sum = 0.0;
-double CUR_PRES_B_sum = 0.0;
-double CUR_PRES_A_mean = 0.0;
-double CUR_PRES_B_mean = 0.0;
-double CUR_TORQUE_sum = 0.0;
-double CUR_TORQUE_mean = 0.0;
-double PRES_A_NULL = 200.0;
-double PRES_B_NULL = 200.0;
-double TORQUE_NULL = 3900;
+
// =============================================================================
// =============================================================================
// =============================================================================
@@ -75,8 +64,8 @@
/*******************************************************************************
* REFERENCE MODE
******************************************************************************/
-enum _REFERENCE_MODE{
- MODE_REF_NO_ACT = 0, //0
+enum _REFERENCE_MODE {
+ MODE_REF_NO_ACT = 0, //0
MODE_REF_DIRECT, //1
MODE_REF_COS_INC, //2
MODE_REF_LINE_INC, //3
@@ -87,23 +76,23 @@
/*******************************************************************************
* CONTROL MODE
******************************************************************************/
-enum _CONTROL_MODE{
+enum _CONTROL_MODE {
//control mode
MODE_NO_ACT = 0, //0
MODE_VALVE_OPEN_LOOP, //1
MODE_VALVE_POSITION_CONTROL, //2
-
+
MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
-
+
MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
-
+
MODE_TEST_CURRENT_CONTROL, //9
MODE_TEST_PWM_CONTROL, //10
-
+
//utility
MODE_TORQUE_SENSOR_NULLING = 20, //20
MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
@@ -112,7 +101,7 @@
MODE_PRESSURE_SENSOR_NULLING, //24
MODE_PRESSURE_SENSOR_CALIB, //25
MODE_ROTARY_FRICTION_TUNING, //26
-
+
MODE_DDV_POS_VS_PWM_ID = 30, //30
MODE_DDV_DEADZONE_AND_CENTER, //31
MODE_DDV_POS_VS_FLOWRATE, //32
@@ -123,7 +112,7 @@
/*********************************
*** Initialization
*********************************/
-
+
LED = 1;
pc.baud(9600);
@@ -140,7 +129,7 @@
enc.format(8,0);
enc.frequency(5000000); //5M
make_delay();
-
+
// ADC init
Init_ADC();
make_delay();
@@ -149,7 +138,7 @@
Init_PWM();
TIM4->CR1 ^= TIM_CR1_UDIS;
make_delay();
-
+
// TMR3 init
Init_TMR3();
TIM3->CR1 ^= TIM_CR1_UDIS;
@@ -159,43 +148,134 @@
can.attach(&CAN_RX_HANDLER);
CAN_ID_INIT();
make_delay();
-
+
// spi _ enc
spi_enc_set_init();
make_delay();
-
+
//eeprom
ROM_INIT_DATA();
make_delay();
-
+
//DAC init
dac_1 = PRES_A_VREF/3.3;
dac_2 = PRES_B_VREF/3.3;
make_delay();
-
- for (int i=0; i<100; i++){
+
+ for (int i=0; i<100; i++) {
if(i%2==0)
ID_index_array[i] = - i * 0.5;
else
ID_index_array[i] = (i+1) * 0.5;
}
-
-
+
+
/************************************
*** Program is operating!
*************************************/
while(1) {
-
+
//spi _ enc
//int a = spi_enc_read();
-
+
//i2c
read_field(i2c_slave_addr1);
}
}
+int DDV_JOINT_POS_FF(double REF_JOINT_VEL){
+
+ int i = 0;
+ int Ref_Valve_Pos_FF = DDV_CENTER;
+ for(i=0; i<VALVE_POS_NUM; i++)
+ {
+ if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1]))
+ {
+ if(i==0)
+ {
+ Ref_Valve_Pos_FF = ((int) 50.0/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
+ }
+ else
+ {
+ Ref_Valve_Pos_FF = ((int) 50.0*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + DDV_CENTER + 50*ID_index_array[i-1];
+ }
+ break;
+ }
+ }
+ if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2]))
+ {
+ Ref_Valve_Pos_FF = VALVE_MAX_POS;
+ }
+ else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2]))
+ {
+ Ref_Valve_Pos_FF = VALVE_MIN_POS;
+ }
+ return Ref_Valve_Pos_FF;
+}
+void VALVE_POS_CONTROL(double REF_VALVE_POS){
+ int i = 0;
+
+ valve_pos_err = REF_VALVE_POS - value;
+ valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
+ valve_pos_err_old = valve_pos_err;
+ valve_pos_err_sum += valve_pos_err;
+ if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
+ if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
+
+ 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;
+
+ if(REF_VALVE_POS > VALVE_MAX_POS)
+ {
+ REF_VALVE_POS = VALVE_MAX_POS;
+ }
+ else if(REF_VALVE_POS < VALVE_MIN_POS)
+ {
+ REF_VALVE_POS = VALVE_MIN_POS;
+ }
+
+ for(i=0; i<16; i++)
+ {
+ if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]))
+ {
+ if(i==0)
+ {
+ VALVE_PWM_RAW_FF = (double) 1000.0/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
+ }
+ else
+ {
+ VALVE_PWM_RAW_FF = (double) 1000.0*(ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * (REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000*ID_index_array[i-1];
+ }
+ break;
+ }
+ }
+ VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
+}
+
+
+double PWM_duty_byLT(double Ref_V) {
+ double PWM_duty = 0.0;
+ if(Ref_V<LT_Voltage_Output[0]) {
+ PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5+LT_PWM_duty[0];
+ } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
+ PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5+LT_PWM_duty[LT_MAX_IDX-1];
+ } else {
+ int idx = 0;
+ for(idx=0; idx<LT_MAX_IDX-1; idx++) {
+ double ini_x = LT_Voltage_Output[idx];
+ double fin_x = LT_Voltage_Output[idx+1];
+ double ini_y = LT_PWM_duty[idx];
+ double fin_y = LT_PWM_duty[idx+1];
+ if(Ref_V>=ini_x && Ref_V<fin_x) {
+ PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
+ break;
+ }
+ }
+ }
+
+ return PWM_duty;
+}
/*******************************************************************************
TIMER INTERRUPT
@@ -208,18 +288,18 @@
{
if ( TIM4->SR & TIM_SR_UIF ) {
/*******************************************************
- *** Sensor Read & Data Handling
+ *** Sensor Read & Data Handling
********************************************************/
-
- if((CNT_TMR4%2)==0){
-
+
+ if((CNT_TMR4%2)==0) {
+
//ADC
ADC3->CR2 |= 0x40000000; // adc _ 12bit
// a1=ADC1->DR;
// a1=ADC2->DR;
// int raw_cur = ADC3->DR;
while((ADC3->SR & 0b10));
-
+
double alpha_update_cur = 1.0/(1.0+(FREQ_TMR4/2.0)/(2.0*3.14*1000.0)); // f_cutoff : 500Hz
double cur_new = ((double)ADC3->DR-2048.0)*20.0/4096.0; // unit : mA
cur.sen=cur.sen*(1.0-alpha_update_cur)+cur_new*(alpha_update_cur);
@@ -229,12 +309,12 @@
// dac_1 = ADC1->DR;
// dac_2 = ADC2->DR;
-
-
+
+
/*******************************************************
*** Timer Counting & etc.
********************************************************/
- CNT_TMR4++;
+ CNT_TMR4++;
}
TIM4->SR = 0x0; // reset the status register
}
@@ -245,23 +325,21 @@
extern "C" void TIM3_IRQHandler(void)
{
if ( TIM3->SR & TIM_SR_UIF ) {
-
+
ENC_UPDATE();
CUR_PRES_A_BAR = (CUR_PRES_A - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR + 1.;
CUR_PRES_B_BAR = (CUR_PRES_B - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR + 1.;
//CUR_TORQUE_NM = (CUR_TORQUE - TORQUE_NULL) / (double) TORQUE_SENSOR_PULSE_PER_TORQUE; //
CUR_TORQUE_NM = CUR_TORQUE; //
CUR_TORQUE_NM_PRESS = 1. * (CUR_PRES_A_BAR - CUR_PRES_B_BAR);
-
- // Reference Loop
+
+ // Reference Loop
switch (REFERENCE_MODE) {
- case MODE_REF_NO_ACT:
- {
+ case MODE_REF_NO_ACT: {
break;
}
-
- case MODE_REF_DIRECT:
- {
+
+ case MODE_REF_DIRECT: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = (double) REF_PWM;
}
@@ -277,9 +355,8 @@
}
break;
}
-
- case MODE_REF_COS_INC:
- {
+
+ case MODE_REF_COS_INC: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*(0.5 - 0.5 * cos(3.14159 * (double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k)) + (double) INIT_REF_PWM;
}
@@ -300,10 +377,9 @@
}
break;
}
-
-
- case MODE_REF_LINE_INC:
- {
+
+
+ case MODE_REF_LINE_INC: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = ((double) REF_PWM - (double) INIT_REF_PWM)*((double) TMR2_COUNT_REFERENCE / (double) REF_MOVE_TIME_5k) + (double) INIT_REF_PWM;
}
@@ -327,9 +403,8 @@
}
break;
}
-
- case MODE_REF_SIN_WAVE:
- {
+
+ case MODE_REF_SIN_WAVE: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM;
}
@@ -349,9 +424,8 @@
}
break;
}
-
- case MODE_REF_SQUARE_WAVE:
- {
+
+ case MODE_REF_SQUARE_WAVE: {
if (FLAG_REFERENCE_VALVE_PWM) {
Ref_PWM = REF_MAG * sin(2 * 3.14159 * (double) TMR2_COUNT_REFERENCE / (double) TMR2_COUNT_REFERENCE) + (double) REF_PWM;
if (Ref_PWM >= REF_PWM) Ref_PWM = REF_MAG + REF_PWM;
@@ -379,33 +453,1172 @@
}
break;
}
+
+ default:
+ break;
+ }
+
+ // CONTROL LOOP ------------------------------------------------------------
+ switch (CONTROL_MODE) {
+ case MODE_NO_ACT:
+ {
+ // SPI_VREF_DAC_WRITE(PRES_A_VREF, PRES_B_VREF, TORQUE_VREF, 0);
+ VALVE_PWM_RAW = 0;
+ break;
+ }
+ case MODE_VALVE_OPEN_LOOP:
+ {
+ VALVE_PWM_RAW = Ref_PWM;
+ break;
+ }
+
+ case MODE_VALVE_POSITION_CONTROL:
+ {
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ break;
+ }
+
+ case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM:
+ {
+ double PWM_RAW_POS_FB = 0.0; // PWM by Position Feedback
+ double PWM_RAW_POS_FF = 0.0; // PWM by Position Feedforward
+ double PWM_RAW_FORCE_FB = 0.0; // PWM by Force Feedback
+
+ // feedback input for position control
+ joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
+ joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
+ joint_pos_err_old = joint_pos_err;
+ joint_pos_err_sum += joint_pos_err;
+ if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
+ if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
+ // PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff;
+ PWM_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * joint_pos_err;
+ PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01;
+
+ // feedforward input for position control
+ double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ double K_ff = 0.9;
+ if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
+ if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
+ PWM_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
+
+ // torque feedback
+ // joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
+ // joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
+ // joint_torq_err_old = joint_torq_err;
+ // joint_torq_err_sum += joint_torq_err;
+ // if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
+ // if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
+ // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+ // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
+ PWM_RAW_FORCE_FB = 0.0;
+
+ // VALVE_PWM_RAW = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
+ VALVE_PWM_RAW = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
+
+ break;
+ }
+
+ case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION:
+ {
+ TMR2_COUNT_JOINT++;
+ double VALVE_POS_RAW_POS_FB = 0.0; // Valve Position by Position Feedback
+ double VALVE_POS_RAW_POS_FF = 0.0; // Valve Position by Position Feedforward
+ double VALVE_POS_RAW_FORCE_FB = 0.0; // Valve Position by Force Feedback
+ int DDV_JOINT_CAN = 0;
+ // feedback input for position control
+ joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
+ joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
+ joint_pos_err_old = joint_pos_err;
+ joint_pos_err_sum += joint_pos_err;
+ if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
+ if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
+ VALVE_POS_RAW_POS_FB = (double) P_GAIN_JOINT_POSITION * 0.01 * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff;
+ VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01;
+
+
+ //Ref_Joint_Vel = Ref_Vel_Test;
+ // feedforward input for position control
+ // double Ref_Joint_Vel_Act = Ref_Joint_Vel/(double)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
+ // double K_ff = 0.9;
+ // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90; // open
+ // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75; // close
+ // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50;
+
+ // torque feedback
+ // joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
+ // joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
+ // joint_torq_err_old = joint_torq_err;
+ // joint_torq_err_sum += joint_torq_err;
+ // if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
+ // if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
+ // VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+ // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
+ VALVE_POS_RAW_FORCE_FB = 0.0;
+
+ Ref_Valve_Pos = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(Ref_Joint_Vel) + VALVE_POS_RAW_FORCE_FB;
+ //Ref_Valve_Pos = DDV_JOINT_POS_FF(Ref_Joint_Vel);
+
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ break;
+ }
+
+ case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING:
+ {
+
+ break;
+ }
+
+ case MODE_JOINT_POSITION_PRES_CONTROL_PWM:
+ {
+ joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
+ joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
+ joint_pos_err_old = joint_pos_err;
+ joint_pos_err_sum += joint_pos_err;
+ if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
+ if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
+ VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01;
+
+ joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
+ joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
+ joint_torq_err_old = joint_torq_err;
+ joint_torq_err_sum += joint_torq_err;
+ if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
+ if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
+ VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+
+ VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01;
+
+ VALVE_PWM_RAW = VALVE_PWM_RAW_POS + (double) COMPLIANCE_GAIN * 0.01 * VALVE_PWM_RAW_TORQ;
+
+ CUR_FLOWRATE = (double) CUR_VELOCITY * 0.00009587;
+ CUR_FLOWRATE = CUR_FLOWRATE * 0.5757; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
+ if (DIR_VALVE > 0) {
+ if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = 5.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0;
+ else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0))) VALVE_FF_VOLTAGE = -5;
+ else VALVE_FF_VOLTAGE = 0;
+ } else {
+ if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0) / (VALVE_GAIN_LPM_PER_V[0]*1.0 - 0.0) + 0.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0) / (VALVE_GAIN_LPM_PER_V[2]*2.0 - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0) / (VALVE_GAIN_LPM_PER_V[4]*3.0 - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0) / (VALVE_GAIN_LPM_PER_V[6]*4.0 - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0) / (VALVE_GAIN_LPM_PER_V[8]*5.0 - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0)) VALVE_FF_VOLTAGE = 5.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0)) && CUR_FLOWRATE < 0.0) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) / (0.0 - VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - 1.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - 2.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - 3.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - 4.0;
+ else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0)) - 5.0;
+ else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0))) VALVE_FF_VOLTAGE = -5;
+ else VALVE_FF_VOLTAGE = 0;
+ }
+ // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5;
+
+ if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707; // 0.0707 = 1/sqrt(200.))
+ else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (double) VELOCITY_COMP_GAIN * 0.001 * VALVE_FF_VOLTAGE * sqrt((double) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707;
+
+ VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE;
+ break;
+ }
+
+ case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION:
+ {
+ joint_pos_err = Ref_Joint_Pos - (double) CUR_POSITION;
+ joint_pos_err_diff = joint_pos_err - joint_pos_err_old;
+ joint_pos_err_old = joint_pos_err;
+ joint_pos_err_sum += joint_pos_err;
+ if (joint_pos_err_sum > 1000) joint_pos_err_sum = 1000;
+ if (joint_pos_err_sum<-1000) joint_pos_err_sum = -1000;
+ VALVE_PWM_RAW_POS = ((double) P_GAIN_JOINT_POSITION * joint_pos_err + (double) I_GAIN_JOINT_POSITION * joint_pos_err_sum + (double) D_GAIN_JOINT_POSITION * joint_pos_err_diff) * 0.01;
+
+ joint_torq_err = Ref_Joint_Torq - CUR_TORQUE_NM;
+ joint_torq_err_diff = joint_torq_err - joint_torq_err_old;
+ joint_torq_err_old = joint_torq_err;
+ joint_torq_err_sum += joint_torq_err;
+ if (joint_torq_err_sum > 1000) joint_torq_err_sum = 1000;
+ if (joint_torq_err_sum<-1000) joint_torq_err_sum = -1000;
+ VALVE_PWM_RAW_TORQ = (double) P_GAIN_JOINT_TORQUE * joint_torq_err + (double) I_GAIN_JOINT_TORQUE * joint_torq_err_sum + (double) D_GAIN_JOINT_TORQUE * joint_torq_err_diff;
+
+ Ref_Valve_Pos = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
+
+ valve_pos_err = Ref_Valve_Pos - value;
+ valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
+ valve_pos_err_old = valve_pos_err;
+ valve_pos_err_sum += valve_pos_err;
+ if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
+ if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
+
+ VALVE_PWM_RAW = (double) P_GAIN_VALVE_POSITION * valve_pos_err + (double) I_GAIN_VALVE_POSITION * valve_pos_err_sum + (double) D_GAIN_VALVE_POSITION * valve_pos_err_diff;
+
+ break;
+ }
+
+ case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING:
+ {
+
+ break;
+ }
+
+ case MODE_TORQUE_SENSOR_NULLING:
+ {
+ // DAC Voltage reference set
+ if (TMR2_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
+ CUR_TORQUE_sum += CUR_TORQUE;
+
+ if (TMR2_COUNT_TORQUE_NULL % 10 == 0) {
+ CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0;
+ CUR_TORQUE_sum = 0;
+
+ TORQUE_VREF += 0.0001 * (TORQUE_NULL - CUR_TORQUE_mean);
+
+ // TORQUE_VREF = 0;
+ if (TORQUE_VREF > 3.3) TORQUE_VREF = 3.3;
+ if (TORQUE_VREF < 0) TORQUE_VREF = 0;
+
+ spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
+ spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
+ }
+ } else {
+ CONTROL_MODE = MODE_NO_ACT;
+ TMR2_COUNT_TORQUE_NULL = 0;
+ CUR_TORQUE_sum = 0;
+ CUR_TORQUE_mean = 0;
+ spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
+
+ }
+ TMR2_COUNT_TORQUE_NULL++;
+ break;
+ }
+
+ case MODE_VALVE_NULLING_AND_DEADZONE_SETTING:
+ {
+ if (TMR2_COUNT_DEADZONE == 0) {
+ if (pos_plus_end == pos_minus_end) need_enc_init = true;
+ else temp_time = 0;
+ }
+ if (need_enc_init) {
+ if (TMR2_COUNT_DEADZONE < (int) (0.5 * (double) TMR_FREQ_5k)) {
+ VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_plus_end = CUR_POSITION;
+ } else if (TMR2_COUNT_DEADZONE < TMR_FREQ_5k) {
+ VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_minus_end = CUR_POSITION;
+ } else if (TMR2_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
+ temp_time = TMR_FREQ_5k;
+ }
+
+ if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
+
+ } else if (temp_time <= TMR2_COUNT_DEADZONE && TMR2_COUNT_DEADZONE < (temp_time + (int) (1.9 * (double) TMR_FREQ_5k))) {
+ VALVE_PWM_RAW = 0;
+ CUR_VELOCITY_sum += CUR_VELOCITY;
+ } else if (TMR2_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
+ if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
+ else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
+ else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
+ else DZ_temp_cnt2 = DZ_end;
+ CUR_VELOCITY_sum = 0;
+ } else if (TMR2_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
+ if (TMR2_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
+
+ // Position of Dead Zone
+ // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
+ // | / | / |/
+ // | ______/ ___|___/ ______/|
+ // |/ / | / |
+ // /| / | / |
+ // 0V 0V 0V
+
+ if (DZ_temp_cnt2 < DZ_end) {
+ if (TMR2_COUNT_DEADZONE % 20 != 0) {
+ CUR_VELOCITY_sum += CUR_VELOCITY;
+ } else {
+ VALVE_PWM_RAW -= DZ_dir;
+ if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
+ CUR_VELOCITY_sum = 0;
+ }
+ if (DZ_temp_cnt == 5) {
+ if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) VALVE_PWM_RAW;
+ else VALVE_DEADZONE_PLUS = (int16_t) VALVE_PWM_RAW;
+ DZ_dir = -DZ_dir;
+ DZ_temp_cnt = 0;
+ DZ_temp_cnt2++;
+ }
+ } else {
+ TMR2_COUNT_DEADZONE = -1;
+ VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
+ if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
+ VALVE_DEADZONE_PLUS = VALVE_CENTER;
+ VALVE_DEADZONE_MINUS = VALVE_CENTER;
+ }
+ VALVE_PWM_RAW = 0;
+ spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
+ spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
+
+ CONTROL_MODE = MODE_NO_ACT;
+ DZ_temp_cnt2 = 0;
+ }
+ }
+ TMR2_COUNT_DEADZONE++;
+ break;
+ }
+
+ case MODE_FIND_HOME:
+ {
+ if (FLAG_FIND_HOME == true) {
+ cnt_findhome = 0;
+ cnt_vel_findhome = 0;
+ REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
+ Ref_Joint_Pos = CUR_POSITION;
+ FLAG_FIND_HOME = false;
+ }
+
+ int check_enc = (TMR_FREQ_5k/10);
+ if(cnt_findhome%check_enc == 0){
+ FINDHOME_POSITION = CUR_POSITION;
+ FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
+ FINDHOME_POSITION_OLD = FINDHOME_POSITION;
+ } cnt_findhome++;
+ if(cnt_findhome == 10000) cnt_findhome = 0;
+
+ if (abs(FINDHOME_VELOCITY) <= 1) {
+ cnt_vel_findhome = cnt_vel_findhome + 1;
+ } else {
+ cnt_vel_findhome = 0;
+ }
+
+ if (cnt_vel_findhome < 2*TMR_FREQ_5k) {
+ REFERENCE_MODE = MODE_REF_NO_ACT;
+ if (HOMEPOS_OFFSET > 0) Ref_Joint_Pos = Ref_Joint_Pos + 1.0;
+ else Ref_Joint_Pos = Ref_Joint_Pos - 1.0;
+ joint_pos_err = Ref_Joint_Pos - CUR_POSITION;
+ VALVE_PWM_RAW = ((double) P_GAIN_JOINT_POSITION * joint_pos_err) * 0.01;
+ // if (HOMEPOS_OFFSET > 0) VALVE_PWM_RAW = 100;
+ // else VALVE_PWM_RAW = -100;
+ } else {
+ ENC_SET(HOMEPOS_OFFSET);
+ FLAG_REFERENCE_JOINT_POSITION = 1;
+ INIT_REF_POS = HOMEPOS_OFFSET;
+ REF_MOVE_TIME_5k = 2 * TMR_FREQ_5k;
+ TMR2_COUNT_REFERENCE = 0;
+ Ref_Joint_Vel = 0.0;
+ REFERENCE_MODE = MODE_REF_COS_INC;
+ CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_PWM;
+
+ FINDHOME_POSITION = 0;
+ FINDHOME_POSITION_OLD = 0;
+ FINDHOME_VELOCITY = 0;
+ cnt_findhome = 0;
+ cnt_vel_findhome = 0;
+ }
+ break;
+ }
+
+ case MODE_VALVE_GAIN_SETTING:
+ {
+ if (TMR2_COUNT_FLOWRATE == 0) {
+ if (pos_plus_end == pos_minus_end) need_enc_init = true;
+ else {
+ VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ temp_time = (int) (0.5 * (double) TMR_FREQ_5k);
+ }
+ }
+ if (need_enc_init) {
+ if (TMR2_COUNT_FLOWRATE < (int) (0.5 * (double) TMR_FREQ_5k)) {
+ VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_plus_end = CUR_POSITION;
+ } else if (TMR2_COUNT_FLOWRATE < TMR_FREQ_5k) {
+ VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_minus_end = CUR_POSITION;
+ } else if (TMR2_COUNT_FLOWRATE == TMR_FREQ_5k) {
+ need_enc_init = false;
+ check_vel_pos_init = (int) (0.9 * (double) (pos_plus_end - pos_minus_end));
+ check_vel_pos_fin = (int) (0.95 * (double) (pos_plus_end - pos_minus_end));
+ check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
+ }
+ temp_time = TMR_FREQ_5k;
+ }
+ TMR2_COUNT_FLOWRATE++;
+ if (TMR2_COUNT_FLOWRATE > temp_time) {
+ if (flag_flowrate % 2 == 0) { // (+)
+ VALVE_VOLTAGE = 1. * (double) (flag_flowrate / 2 + 1);
+ VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
+ if (CUR_POSITION > (pos_minus_end + check_vel_pos_init) && CUR_POSITION < (pos_minus_end + check_vel_pos_fin)) {
+ fl_temp_cnt++;
+ } else if (CUR_POSITION >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
+ VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
+ // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
+ fl_temp_cnt2++;
+ }
+ } else if (flag_flowrate % 2 == 1) { // (-)
+ VALVE_VOLTAGE = -1. * (double) (flag_flowrate / 2 + 1);
+ VALVE_PWM_RAW = VALVE_VOLTAGE / SUPPLY_VOLTAGE*PWM_RESOL;
+ if (CUR_POSITION < (pos_plus_end - check_vel_pos_init) && CUR_POSITION > (pos_plus_end - check_vel_pos_fin)) {
+ fl_temp_cnt++;
+ } else if (CUR_POSITION <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
+ VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873 * 0.5757 * (double) TMR_FREQ_5k / 10000.0 * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE);
+ // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (double) TMR_FREQ_10k * (double) check_vel_pos_interv / (double) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
+ fl_temp_cnt2++;
+ }
+ }
+ if (fl_temp_cnt2 == 100) {
+ spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0));
+ cur_vel_sum = 0;
+ fl_temp_cnt = 0;
+ fl_temp_cnt2 = 0;
+ flag_flowrate++;
+ }
+ if (flag_flowrate == 10) {
+ VALVE_PWM_RAW = 0;
+ flag_flowrate = 0;
+ TMR2_COUNT_FLOWRATE = 0;
+ valve_gain_repeat_cnt++;
+ if (valve_gain_repeat_cnt >= 1) {
+ CONTROL_MODE = MODE_NO_ACT;
+ valve_gain_repeat_cnt = 0;
+ }
+
+ }
+ break;
+ }
+
+ }
+
+ case MODE_PRESSURE_SENSOR_NULLING:
+ {
+ // DAC Voltage reference set
+ if (TMR2_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
+ CUR_PRES_A_sum += CUR_PRES_A;
+ CUR_PRES_B_sum += CUR_PRES_B;
+
+ if (TMR2_COUNT_PRES_NULL % 10 == 0) {
+ CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0;
+ CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0;
+ CUR_PRES_A_sum = 0;
+ CUR_PRES_B_sum = 0;
+
+ double VREF_NullingGain = 0.0003;
+ PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
+ PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
+
+ if (PRES_A_VREF > 3.3) PRES_A_VREF = 3.3;
+ if (PRES_A_VREF < 0) PRES_A_VREF = 0;
+ if (PRES_B_VREF > 3.3) PRES_B_VREF = 3.3;
+ if (PRES_B_VREF < 0) PRES_B_VREF = 0;
+
+ spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
+ spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
+ }
+ } else {
+ CONTROL_MODE = MODE_NO_ACT;
+ TMR2_COUNT_PRES_NULL = 0;
+ CUR_PRES_A_sum = 0;
+ CUR_PRES_B_sum = 0;
+ CUR_PRES_A_mean = 0;
+ CUR_PRES_B_mean = 0;
+
+ spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t) (PRES_A_VREF * 1000.0));
+ spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t) (PRES_B_VREF * 1000.0));
+ }
+ TMR2_COUNT_PRES_NULL++;
+ break;
+ }
+
+ case MODE_PRESSURE_SENSOR_CALIB:
+ {
+ if (TMR2_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
+ VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
+ if (TMR2_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
+ CUR_PRES_A_sum += CUR_PRES_A;
+ }
+ } else if (TMR2_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
+ VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL / 5.;
+ if (TMR2_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
+ CUR_PRES_B_sum += CUR_PRES_B;
+ }
+ } else {
+ CONTROL_MODE = MODE_NO_ACT;
+ TMR2_COUNT_PRES_CALIB = 0;
+ VALVE_PWM_RAW = 0;
+ PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((double) TMR_FREQ_5k - 1.) - PRES_A_NULL;
+ PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
+ PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((double) TMR_FREQ_5k - 1.) - PRES_B_NULL;
+ PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((double) PRES_SUPPLY - 1.);
+ CUR_PRES_A_sum = 0;
+ CUR_PRES_B_sum = 0;
+ CUR_PRES_A_mean = 0;
+ CUR_PRES_B_mean = 0;
+
+ spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0));
+ spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0));
+ }
+ TMR2_COUNT_PRES_CALIB++;
+ break;
+ }
+
+ case MODE_ROTARY_FRICTION_TUNING:
+ {
+ if (TMR2_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4 + 3. * sin(2 * 3.14159 * 0.5 * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001 * 0.05);
+ VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL * sin(2 * 3.14159 * freq_fric_tune * TMR2_COUNT_ROTARY_FRIC_TUNE * 0.0001);
+ if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE * PWM_RESOL;
+ else VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ TMR2_COUNT_ROTARY_FRIC_TUNE++;
+ if (TMR2_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
+ TMR2_COUNT_ROTARY_FRIC_TUNE = 0;
+ VALVE_PWM_RAW = 0;
+ CONTROL_MODE = MODE_NO_ACT;
+ }
+ break;
+ }
+
+ case MODE_DDV_POS_VS_PWM_ID:
+ {
+ VALVE_ID_timer = VALVE_ID_timer + 1;
+
+ if(VALVE_ID_timer < TMR_FREQ_5k*1)
+ {
+ VALVE_PWM_RAW = 3000 * sin(2*3.14*VALVE_ID_timer/TMR_FREQ_5k * 100);
+ }
+ else if(VALVE_ID_timer < TMR_FREQ_5k*2)
+ {
+ VALVE_PWM_RAW = 1000*(ID_index_array[ID_index]);
+ }
+ else if(VALVE_ID_timer == TMR_FREQ_5k*2)
+ {
+ VALVE_POS_TMP = 0;
+ data_num = 0;
+ }
+ else if(VALVE_ID_timer < TMR_FREQ_5k*3)
+ {
+ data_num = data_num + 1;
+ VALVE_POS_TMP = VALVE_POS_TMP + value;
+ }
+ else if(VALVE_ID_timer == TMR_FREQ_5k*3)
+ {
+ VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
+ VALVE_ID_timer = 0;
+ ID_index= ID_index +1;
+ }
+
+ if(ID_index>=18)
+ {
+ int i;
+ VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
+ for(i=0;i<18;i++)
+ {
+ VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
+ spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) (VALVE_POS_AVG[i]));
+ if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD)
+ {
+ VALVE_MAX_POS = VALVE_POS_AVG[i];
+ VALVE_POS_AVG_OLD = VALVE_MAX_POS;
+ }
+ else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD)
+ {
+ VALVE_MIN_POS = VALVE_POS_AVG[i];
+ VALVE_POS_AVG_OLD = VALVE_MIN_POS;
+ }
+ }
+ spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) (VALVE_MAX_POS));
+ spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) (VALVE_MIN_POS));
+ CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
+ ID_index = 0;
+ CONTROL_MODE = MODE_NO_ACT;
+ }
+
+
+ break;
+ }
+
+ case MODE_DDV_DEADZONE_AND_CENTER:
+ {
+
+ VALVE_DZ_timer = VALVE_DZ_timer + 1;
+ if(first_check == 0)
+ {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ }
+ else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_plus_end = CUR_POSITION;
+ }
+ else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ }
+ else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_minus_end = CUR_POSITION;
+ }
+ else if(VALVE_DZ_timer < (int) (3.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ }
+ else if(VALVE_DZ_timer < (int) (4.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ data_num = data_num + 1;
+ VALVE_POS_TMP = VALVE_POS_TMP + value;
+ }
+ else if(VALVE_DZ_timer == (int) (4.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ DDV_POS_AVG = VALVE_POS_TMP / data_num;
+ START_POS = CUR_POSITION;
+ CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
+ VALVE_POS_TMP = 0;
+ data_num = 0;
+
+ }
+ else if(VALVE_DZ_timer < (int) (5.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos = DDV_POS_AVG;
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
+
+ }
+ else if(VALVE_DZ_timer < (int) (6.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos = DDV_POS_AVG;
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ if(CUR_VELOCITY >= 0)
+ VEL_POINT = VEL_POINT + 1;
+ else
+ VEL_POINT = VEL_POINT - 1;
+ }
+ else if(VALVE_DZ_timer == (int) (6.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos = DDV_POS_AVG;
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ FINAL_POS = CUR_POSITION;
+ // if(VEL_POINT >= 0)
+ // {
+ // DZ_case = 1;
+ // }
+ // else
+ // {
+ // DZ_case = -1;
+ // }
+ // if(abs(FINAL_POS - START_POS) < 100)
+ // {
+ // DZ_case = 0;
+ // }
+
+ if((FINAL_POS - START_POS)>100)
+ {
+ DZ_case = 1;
+ }
+ else if((FINAL_POS - START_POS)<-100)
+ {
+ DZ_case = -1;
+ }
+ else
+ {
+ DZ_case = 0;
+ }
+
+ VEL_POINT = 0;
+ first_check = 1;
+ DZ_DIRECTION = 1;
+ VALVE_DZ_timer = 0;
+ Ref_Valve_Pos_Old = DDV_POS_AVG;
+ DZ_NUM = 1;
+ DZ_index = 1;
+ CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
+
+ }
+ }
+ else
+ {
+ if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1))
+ {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ }
+ else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ START_POS = CUR_POSITION;
+ }
+ else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
+ if(Ref_Valve_Pos <= VALVE_MIN_POS)
+ {
+ Ref_Valve_Pos = VALVE_MIN_POS;
+ }
+ else if(Ref_Valve_Pos >= VALVE_MAX_POS)
+ {
+ Ref_Valve_Pos = VALVE_MAX_POS;
+ }
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ if(CUR_VELOCITY >= 0)
+ VEL_POINT = VEL_POINT + 1;
+ else
+ VEL_POINT = VEL_POINT - 1;
+ }
+ else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos_Old = Ref_Valve_Pos;
+ FINAL_POS = CUR_POSITION;
+ // if(VEL_POINT >= 0)
+ // DZ_DIRECTION = 1 * DZ_case;
+ // else
+ // DZ_DIRECTION = -1 * DZ_case;
+ // if(abs(FINAL_POS - START_POS) < 100)
+ // DZ_DIRECTION = 1 * DZ_case;
+
+ if((FINAL_POS - START_POS)>100)
+ {
+ DZ_DIRECTION = 1 * DZ_case;
+ }
+ else if((FINAL_POS - START_POS)<-100)
+ {
+ DZ_DIRECTION = -1 * DZ_case;
+ }
+ else
+ {
+ DZ_DIRECTION = 1 * DZ_case;
+ }
+
+ VEL_POINT = 0;
+
+ VALVE_DZ_timer = 0;
+ DZ_index= DZ_index *2;
+ if(DZ_index >= 128)
+ {
+ FIRST_DZ = Ref_Valve_Pos;
+ DZ_NUM = 2;
+ Ref_Valve_Pos_Old = FIRST_DZ;
+ DZ_index = 1;
+ DZ_DIRECTION = 1;
+ }
+
+ //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
+ }
+ }
+ else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2))
+ {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01 * (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ }
+ else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ START_POS = CUR_POSITION;
+ }
+ else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION + 64 / DZ_index;
+ if(Ref_Valve_Pos <= VALVE_MIN_POS)
+ {
+ Ref_Valve_Pos = VALVE_MIN_POS;
+ }
+ else if(Ref_Valve_Pos >= VALVE_MAX_POS)
+ {
+ Ref_Valve_Pos = VALVE_MAX_POS;
+ }
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ if(CUR_VELOCITY >= 0)
+ VEL_POINT = VEL_POINT + 1;
+ else
+ VEL_POINT = VEL_POINT - 1;
+ }
+ else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos_Old = Ref_Valve_Pos;
+ FINAL_POS = CUR_POSITION;
+ // if(VEL_POINT >= 0)
+ // DZ_DIRECTION = 1 * DZ_case;
+ // else
+ // DZ_DIRECTION = -1 * DZ_case;
+ // if(abs(FINAL_POS - START_POS) < 100)
+ // DZ_DIRECTION = -1 * DZ_case;
+
+ if((FINAL_POS - START_POS)>100)
+ {
+ DZ_DIRECTION = -1;
+ }
+ else if((FINAL_POS - START_POS)<-100)
+ {
+ DZ_DIRECTION = 1;
+ }
+ else
+ {
+ DZ_DIRECTION = 1;
+ }
+
+ VEL_POINT = 0;
+
+
+ VALVE_DZ_timer = 0;
+ DZ_index= DZ_index *2;
+ if(DZ_index >= 128)
+ {
+ SECOND_DZ = Ref_Valve_Pos;
+ DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
+ first_check = 0;
+ spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
+ spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
+ spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
+ //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
+ CONTROL_MODE = MODE_NO_ACT;
+ DZ_index = 1;
+ }
+
+ CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
+ }
+ }
+ else if(DZ_case == 0 && DZ_NUM ==1)
+ {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ }
+ else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ START_POS = CUR_POSITION;
+ }
+ else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
+ if(Ref_Valve_Pos <= VALVE_MIN_POS)
+ {
+ Ref_Valve_Pos = VALVE_MIN_POS;
+ }
+ else if(Ref_Valve_Pos >= VALVE_MAX_POS)
+ {
+ Ref_Valve_Pos = VALVE_MAX_POS;
+ }
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ if(CUR_VELOCITY >= 0)
+ VEL_POINT = VEL_POINT + 1;
+ else
+ VEL_POINT = VEL_POINT - 1;
+ }
+ else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos_Old = Ref_Valve_Pos;
+ FINAL_POS = CUR_POSITION;
+ // if(VEL_POINT >= 0)
+ // DZ_DIRECTION = 1;
+ // else
+ // DZ_DIRECTION = -1;
+ // if(abs(FINAL_POS - START_POS) < 100)
+ // DZ_DIRECTION = 1;
+
+ if((FINAL_POS - START_POS)>100)
+ {
+ DZ_DIRECTION = 1;
+ }
+ else if((FINAL_POS - START_POS)<-100)
+ {
+ DZ_DIRECTION = -1;
+ }
+ else
+ {
+ DZ_DIRECTION = 1;
+ }
+
+ VEL_POINT = 0;
+ //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
+ VALVE_DZ_timer = 0;
+ DZ_index= DZ_index *2;
+ if(DZ_index >= 128)
+ {
+ FIRST_DZ = Ref_Valve_Pos;
+ DZ_NUM = 2;
+ Ref_Valve_Pos_Old = FIRST_DZ;
+ DZ_index = 1;
+ DZ_DIRECTION = 1;
+ }
+ }
+ }
+ else
+ {
+ if(VALVE_DZ_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ }
+ else if(VALVE_DZ_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ START_POS = CUR_POSITION;
+ }
+ else if(VALVE_DZ_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
+ if(Ref_Valve_Pos <= VALVE_MIN_POS)
+ {
+ Ref_Valve_Pos = VALVE_MIN_POS;
+ }
+ else if(Ref_Valve_Pos > VALVE_MAX_POS)
+ {
+ Ref_Valve_Pos = VALVE_MAX_POS - 1;
+ }
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ if(CUR_VELOCITY >= 0)
+ VEL_POINT = VEL_POINT + 1;
+ else
+ VEL_POINT = VEL_POINT - 1;
+ }
+ else if(VALVE_DZ_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos_Old = Ref_Valve_Pos;
+ FINAL_POS = CUR_POSITION;
+ if(VEL_POINT >= 0)
+ DZ_DIRECTION = -1;
+ else
+ DZ_DIRECTION = 1;
+ if(abs(FINAL_POS - START_POS) < 100)
+ DZ_DIRECTION = 1;
+
+ VEL_POINT = 0;
+
+
+ VALVE_DZ_timer = 0;
+ //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
+ DZ_index= DZ_index *2;
+ if(DZ_index >= 128)
+ {
+ SECOND_DZ = Ref_Valve_Pos;
+ DDV_CENTER = (int) (0.5 * (double) (FIRST_DZ) + 0.5 * (double) (SECOND_DZ));
+ first_check = 0;
+ VALVE_DEADZONE_MINUS = FIRST_DZ;
+ spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
+ VALVE_DEADZONE_PLUS = SECOND_DZ;
+ spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
+ spi_eeprom_write(RID_DDV_CNETER, DDV_CENTER);
+ CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
+ CONTROL_MODE = MODE_NO_ACT;
+ DZ_index = 1;
+ }
+
+ //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
+ }
+ }
+ }
+ break;
+ }
+
+ case MODE_DDV_POS_VS_FLOWRATE:
+ {
+ VALVE_FR_timer = VALVE_FR_timer + 1;
+ if(first_check == 0)
+ {
+ if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
+ }
+ else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_plus_end = CUR_POSITION;
+ // CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (7));
+ }
+ else if(VALVE_FR_timer < (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ }
+ else if(VALVE_FR_timer == (int) (2.0 * (double) TMR_FREQ_5k))
+ {
+ // CAN_TX_PRES((int16_t) (VALVE_PWM_RAW), (int16_t) (8));
+ VALVE_PWM_RAW = -VALVE_VOLTAGE_LIMIT / SUPPLY_VOLTAGE*PWM_RESOL;
+ pos_minus_end = CUR_POSITION;
+ first_check = 1;
+ VALVE_FR_timer = 0;
+ Ref_Valve_Pos = DDV_CENTER;
+ ID_index = 0;
+ max_check = 0;
+ min_check = 0;
+ }
+ }
+ else
+ {
+ if(VALVE_FR_timer < (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ VALVE_PWM_RAW = (double) P_GAIN_JOINT_POSITION * 0.01* (0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION);
+ }
+ else if(VALVE_FR_timer == (int) (1.0 * (double) TMR_FREQ_5k))
+ {
+ data_num = 0;
+ Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER;
+
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ START_POS = CUR_POSITION;
+ }
+ else if(VALVE_FR_timer < (int) (5.0 * (double) TMR_FREQ_5k))
+ {
+ Ref_Valve_Pos = 50*(ID_index_array[ID_index]) + DDV_CENTER;
+ VALVE_POS_CONTROL(Ref_Valve_Pos);
+ data_num = data_num + 1;
+ if(abs(0.5 * (double) pos_plus_end + 0.5 * (double) pos_minus_end - (double) CUR_POSITION) > 20000)
+ {
+ FINAL_POS = CUR_POSITION;
+ one_period_end = 1;
+ }
+ }
+ else if(VALVE_FR_timer == (int) (5.0 * (double) TMR_FREQ_5k))
+ {
+ FINAL_POS = CUR_POSITION;
+ one_period_end = 1;
+ }
+
+ if(one_period_end == 1){
+ if(Ref_Valve_Pos > VALVE_MAX_POS)
+ {
+ max_check = 1;
+ }
+ else if(Ref_Valve_Pos < VALVE_MIN_POS)
+ {
+ min_check = 1;
+ }
+ JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
+ spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
+ spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
+ VALVE_FR_timer = 0;
+ one_period_end = 0;
+ ID_index= ID_index +1;
+ // CAN_TX_PRES((int16_t) (Ref_Valve_Pos), (int16_t) (ID_index));
+ }
+
+ if(max_check == 1 && min_check == 1)
+ {
+ spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
+ VALVE_POS_NUM = ID_index;
+ ID_index = 0;
+ first_check = 0;
+ VALVE_FR_timer = 0;
+ // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
+ CONTROL_MODE = MODE_NO_ACT;
+ }
+ }
+ break;
+ }
default:
break;
}
+ if (FLAG_VALVE_OUTPUT_CALIB) {
+ // Valve Dead Zone (Mechanical dead-zone canceling)
+ // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
+ // if (VALVE_PWM_RAW > 0.) {
+ // VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_PLUS;
+ // } else if (VALVE_PWM_RAW < 0.) {
+ // VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_DEADZONE_MINUS;
+ // } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW + VALVE_CENTER;
+ // } else VALVE_PWM_VALVE_DZ = (int) VALVE_PWM_RAW;
+
+ if(VALVE_PWM_RAW>0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS;
+ else if(VALVE_PWM_RAW<0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS;
+
+ VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + VALVE_CENTER;
+ // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
+ double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/PWM_RESOL*SUPPLY_VOLTAGE*1000.0; // convert PWM duty to mV
+ double CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
+
+ if (CUR_PWM_DZ > 0) CUR_PWM = (int)CUR_PWM_DZ + 143;
+ else if (CUR_PWM_DZ < 0) CUR_PWM = (int)CUR_PWM_DZ - 138;
+ else CUR_PWM = CUR_PWM_DZ;
+ } else {
+ CUR_PWM = VALVE_PWM_RAW;
+ }
+
+ VALVE_PWM(CUR_PWM, VALVE_VOLTAGE_LIMIT, SUPPLY_VOLTAGE);
+ //CAN ----------------------------------------------------------------------
+ if (TMR3_COUNT_CAN_TX % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
+
+ if (flag_data_request[0] == HIGH) {
+ //position+velocity
+ CAN_TX_POSITION((long) CUR_POSITION, (long) CUR_VELOCITY);
+ // CAN_TX_POSITION((int) (PRES_A_VREF * 100.), (int) (PRES_B_VREF * 100.));
+ // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
+ }
+
+ if (flag_data_request[1] == HIGH) {
+ //torque
+ //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
+ CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
+ // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
+ }
+
+ if (flag_data_request[2] == HIGH) {
+ //pressure A and B
+ CAN_TX_PRES((int16_t) (CUR_PRES_A), (int16_t) (CUR_PRES_B)); // CUR_PRES_X : 0(0bar)~4096(210bar)
+ // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
+ // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
+ // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
+
+ }
+
+ if (flag_data_request[3] == HIGH) {
+ //PWM
+ CAN_TX_PWM((int16_t) CUR_PWM);
+ // CAN_TX_PWM((int16_t) (CONTROL_MODE));
+ // CAN_TX_PWM((int16_t) cnt_vel_findhome);
+ // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
+ // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
+
+ }
+
+ if (flag_data_request[4] == HIGH) {
+ //valve position
+ CAN_TX_VALVE_POSITION((int16_t) (I2C_val));
+ //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
+ //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
+
+
+ //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
+ // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE * PWM_RESOL / SUPPLY_VOLTAGE));
+ // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
+ // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
+ // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
+ }
+
+ TMR3_COUNT_CAN_TX = 0;
+
+ }
+ TMR3_COUNT_CAN_TX++;
+
/*******************************************************
- *** Valve Control
+ *** Valve Control
********************************************************/
ValveControl(CONTROL_MODE);
-
+
double t = (double)CNT_TMR4*DT_TMR4;
- double T = 5.0;
+ double T = 5.0;
V_out = 1000.0*sin(2.0*PI*t/T); // V_out : -5000.0mV~5000.0mV(full duty)
// if(V_out > 0.0) V_out = 1000.0;
-// else if(V_out < 0.0) V_out = -1000.0;
+// else if(V_out < 0.0) V_out = -1000.0;
/*******************************************************
*** PWM
********************************************************/
PWM_out= V_out/12000.0; // Full duty : 12000.0mV
-
+
// Saturation of output voltage to 5.0V
if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
else if (PWM_out < -0.41667) PWM_out=-0.41667;
-
+
if (PWM_out>0.0) {
dtc_v=0.0;
dtc_w=PWM_out;
@@ -413,11 +1626,11 @@
dtc_v=-PWM_out;
dtc_w=0.0;
}
-
+
//pwm
TIM4->CCR2 = (PWM_ARR)*(1.0-dtc_v);
TIM4->CCR1 = (PWM_ARR)*(1.0-dtc_w);
-
+
/*******************************************************
*** Data Send (CAN) & Print out (UART)
********************************************************/
@@ -433,12 +1646,10 @@
// can.write(msg);
// }
- if((CNT_TMR3%5000)==0){
- if(LED==1)
- {
+ if((CNT_TMR3%5000)==0) {
+ if(LED==1) {
LED=0;
- }
- else
+ } else
LED = 1;
// LED != LED;
}
@@ -446,7 +1657,7 @@
/*******************************************************
*** Timer Counting & etc.
********************************************************/
- CNT_TMR3++;
+ CNT_TMR3++;
}
TIM3->SR = 0x0; // reset the status register
}
@@ -459,17 +1670,17 @@
break;
case MODE_VALVE_OPEN_LOOP: // 1
V_out = Vout.ref;
- break;
+ break;
case MODE_VALVE_POSITION_CONTROL: // 2
CurrentControl();
- break;
+ break;
case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: // 3
V_out = 0.0;
- break;
+ break;
case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: // 4
double I_REF_POS_FB = 0.0; // I_REF by Position Feedback
double I_REF_POS_FF = 0.0; // I_REF by Position Feedforward
-
+
// feedback input for position control
pos.err = pos.ref - pos.sen;
double alpha_update_vel = 1.0/(1.0+(double)FREQ_TMR4/(2.0*3.1415*50.0)); // f_cutoff : 50Hz
@@ -477,34 +1688,35 @@
pos.err_diff = (1.0-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
pos.err_old = pos.err;
I_REF_POS_FB = 0.001*((double)P_GAIN_JOINT_POSITION * pos.err + (double)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1);
-
+
// feedforward input for position control
- double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
+ double Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
double K_ff = 1.3;
double K_v = 0.0;
if(Vel_Act_Ref > 0) K_v = 1.0/100.0; // open, tuning. (deg/s >> mA)
- if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
+ if(Vel_Act_Ref < 0) K_v = 1.0/100.0; // close, tuning. (deg/s >> mA)
I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
-
+
cur.ref = I_REF_POS_FF + I_REF_POS_FB;
- break;
+ break;
case MODE_TEST_CURRENT_CONTROL: // 9
V_out = 0.0;
- break;
+ break;
case MODE_TEST_PWM_CONTROL: // 10
V_out = 0.0;
- break;
+ break;
case MODE_FIND_HOME: // 22
V_out = 0.0;
- break;
+ break;
default:
V_out = 0.0;
break;
-
+
}
}
-void CurrentControl() {
+void CurrentControl()
+{
cur.err = cur.ref - cur.sen;
cur.err_int = cur.err_int + cur.err*DT_TMR4;
cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
@@ -521,8 +1733,8 @@
V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
// V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
-
- double Ka = 5.0/KP_I;
+
+ double Ka = 5.0/KP_I;
if(V_out > V_MAX) {
V_rem = V_out-V_MAX;
V_rem = Ka*V_rem;
@@ -530,8 +1742,8 @@
cur.err_int = cur.err_int - V_rem*DT_5k;
} else if(V_out < -V_MAX) {
V_rem = V_out-(-V_MAX);
- V_rem = Ka*V_rem;
+ V_rem = Ka*V_rem;
V_out = -V_MAX;
cur.err_int = cur.err_int - V_rem*DT_5k;
- }
+ }
}
\ No newline at end of file