Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy

2011

Dependencies:   mbed FastPWM

main.cpp@233:071785d74ad0, 2022-06-17 (annotated)

Committer:
Lightvalve
Date:
Fri Jun 17 09:28:54 2022 +0000
Revision:
233:071785d74ad0
Parent:
232:e9c5ec04e378
Child:
234:d5742551f432
220617_2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 231:30896263bd8b 1 //Hydraulic Control Board Rainbow
Lightvalve 212:985dba42f261 2 //distributed by Sungwoo Kim
Lightvalve 231:30896263bd8b 3 // 2022/05/31
Lightvalve 212:985dba42f261 4
GiJeongKim 0:51c43836c1d7 5 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 6 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 7 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 8 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 9 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 10 #include "setting.h"
Lightvalve 11:82d8768d7351 11 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 12 #include "stm32f4xx_flash.h"
Lightvalve 164:645207e160ca 13 #include "FlashWriter.h"
Lightvalve 165:42c938a40313 14 #include <string>
Lightvalve 165:42c938a40313 15 #include <iostream>
Lightvalve 174:d5377766d7ea 16 #include <cmath>
Lightvalve 59:bc8c8270f0ab 17
GiJeongKim 0:51c43836c1d7 18
Lightvalve 231:30896263bd8b 19 // DAC ///////////////////////////////////////////
jobuuu 218:2c3e5ecbe7e1 20 AnalogOut dac_1(PA_4); // 0.0f ~ 1.0f
jobuuu 218:2c3e5ecbe7e1 21 AnalogOut dac_2(PA_5); // 0.0f ~ 1.0f
Lightvalve 231:30896263bd8b 22
Lightvalve 231:30896263bd8b 23 // ADC ///////////////////////////////////////////
Lightvalve 232:e9c5ec04e378 24 ADC_HandleTypeDef hadc1;
Lightvalve 232:e9c5ec04e378 25 ADC_HandleTypeDef hadc2;
Lightvalve 232:e9c5ec04e378 26 ADC_HandleTypeDef hadc3;
Lightvalve 232:e9c5ec04e378 27
Lightvalve 232:e9c5ec04e378 28 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 232:e9c5ec04e378 29 AnalogIn adc2(PC_5); //pressure_2
Lightvalve 232:e9c5ec04e378 30 AnalogIn adc3(PC_1); //current
Lightvalve 232:e9c5ec04e378 31 AnalogIn adc4(PB_1); //V_EXI
Lightvalve 232:e9c5ec04e378 32 AnalogIn adc5(PA_1); //LVDT
GiJeongKim 0:51c43836c1d7 33
jobuuu 7:e9086c72bb22 34 // PWM ///////////////////////////////////////////
Lightvalve 232:e9c5ec04e378 35 float PWM_duty = 0.0f;
GiJeongKim 0:51c43836c1d7 36
jobuuu 7:e9086c72bb22 37 // SPI ///////////////////////////////////////////
Lightvalve 165:42c938a40313 38 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 165:42c938a40313 39 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 40 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 41 DigitalOut enc_cs(PD_2);
Lightvalve 231:30896263bd8b 42
Lightvalve 231:30896263bd8b 43 // LED ///////////////////////////////////////////
Lightvalve 11:82d8768d7351 44 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 45
Lightvalve 232:e9c5ec04e378 46 // LVDT ///////////////////////////////////////////
Lightvalve 232:e9c5ec04e378 47 DigitalOut LVDT_H(PB_6);
Lightvalve 232:e9c5ec04e378 48 DigitalOut LVDT_L(PB_7);
Lightvalve 232:e9c5ec04e378 49
Lightvalve 232:e9c5ec04e378 50 // MOTOR_ENA ///////////////////////////////////////////
Lightvalve 232:e9c5ec04e378 51 DigitalOut M_ENABLE(PA_2);
Lightvalve 232:e9c5ec04e378 52
jobuuu 7:e9086c72bb22 53 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 54 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 55 CANMessage msg;
Lightvalve 230:b235d67d25ba 56 //void onMsgReceived()
Lightvalve 230:b235d67d25ba 57 //{
Lightvalve 230:b235d67d25ba 58 // CAN_RX_HANDLER();
Lightvalve 230:b235d67d25ba 59 //}
jobuuu 2:a1c0a37df760 60
jobuuu 7:e9086c72bb22 61 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 62 State pos;
jobuuu 7:e9086c72bb22 63 State vel;
jobuuu 7:e9086c72bb22 64 State Vout;
jobuuu 218:2c3e5ecbe7e1 65 State force;
jobuuu 218:2c3e5ecbe7e1 66 State torq; // unit : N
Lightvalve 198:c70c5a9f17dd 67 State torq_dot;
jobuuu 218:2c3e5ecbe7e1 68 State pres_A; // unit : bar
jobuuu 7:e9086c72bb22 69 State pres_B;
jobuuu 218:2c3e5ecbe7e1 70 State cur; // unit : mA
Lightvalve 14:8e7590227d22 71 State valve_pos;
Lightvalve 226:4e660aa77eb7 72 State valve_pos_raw;
Lightvalve 14:8e7590227d22 73
Lightvalve 19:23b7c1ad8683 74 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 75 extern int CID_RX_REF_POSITION;
hyhoon 215:699c3e572283 76 extern int CID_RX_REF_OPENLOOP;
Lightvalve 44:35fa6884d0c6 77 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 78
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_INFO;
hyhoon 215:699c3e572283 80 extern int CID_TX_POS_VEL_TORQ;
hyhoon 215:699c3e572283 81 extern int CID_TX_PWM;
hyhoon 215:699c3e572283 82 extern int CID_TX_CURRENT;
Lightvalve 19:23b7c1ad8683 83 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 84 extern int CID_TX_VALVE_POSITION;
jeongyeseong 213:9c0becc196ba 85 extern int CID_TX_SOMETHING;
Lightvalve 19:23b7c1ad8683 86
Lightvalve 223:c831718303c9 87 inline float tanh_inv(float y)
Lightvalve 223:c831718303c9 88 {
Lightvalve 223:c831718303c9 89 if(y >= 1.0f - 0.000001f) y = 1.0f - 0.000001f;
Lightvalve 223:c831718303c9 90 if(y <= -1.0f + 0.000001f) y = -1.0f + 0.000001f;
jobuuu 218:2c3e5ecbe7e1 91 return log(sqrt((1.0f+y)/(1.0f-y)));
jobuuu 218:2c3e5ecbe7e1 92 }
jobuuu 218:2c3e5ecbe7e1 93
hyhoon 215:699c3e572283 94
Lightvalve 12:6f2531038ea4 95 /*******************************************************************************
Lightvalve 12:6f2531038ea4 96 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 97 ******************************************************************************/
Lightvalve 13:747daba9cf59 98 enum _REFERENCE_MODE {
Lightvalve 223:c831718303c9 99 MODE_REF_NO_ACT = 0,
Lightvalve 223:c831718303c9 100 MODE_REF_DIRECT,
Lightvalve 223:c831718303c9 101 MODE_REF_FINDHOME
Lightvalve 12:6f2531038ea4 102 };
Lightvalve 12:6f2531038ea4 103
Lightvalve 12:6f2531038ea4 104 /*******************************************************************************
Lightvalve 12:6f2531038ea4 105 * CONTROL MODE
Lightvalve 12:6f2531038ea4 106 ******************************************************************************/
Lightvalve 13:747daba9cf59 107 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 108 //control mode
Lightvalve 12:6f2531038ea4 109 MODE_NO_ACT = 0, //0
Lightvalve 46:fdcb8bd86fd6 110 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 46:fdcb8bd86fd6 111 MODE_JOINT_CONTROL, //2
Lightvalve 49:3c630b5eba9f 112
Lightvalve 46:fdcb8bd86fd6 113 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 136:a843f32ced33 114 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 166:bfc1fd2629d8 115 MODE_RL, //5
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 122 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 123
Lightvalve 14:8e7590227d22 124 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 125 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 126 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 212:985dba42f261 127 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 128
Lightvalve 12:6f2531038ea4 129 //utility
Lightvalve 12:6f2531038ea4 130 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 131 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 132 MODE_FIND_HOME, //22
Lightvalve 55:f4819de54e7a 133 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 134 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 135 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 136 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 137
Lightvalve 212:985dba42f261 138 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 139 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 140 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 55:f4819de54e7a 141 MODE_SYSTEM_ID, //33
Lightvalve 164:645207e160ca 142 MODE_FREQ_TEST, //34
Lightvalve 164:645207e160ca 143 MODE_SEND_BUFFER, //35
Lightvalve 164:645207e160ca 144 MODE_SEND_OVER, //36
Lightvalve 164:645207e160ca 145 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 146 };
Lightvalve 12:6f2531038ea4 147
Lightvalve 63:a2d7c63419c2 148 void SystemClock_Config(void)
Lightvalve 63:a2d7c63419c2 149 {
Lightvalve 164:645207e160ca 150 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 164:645207e160ca 151 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 63:a2d7c63419c2 152
Lightvalve 164:645207e160ca 153 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 164:645207e160ca 154 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 231:30896263bd8b 155
Lightvalve 228:fb5b57e3f157 156 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
Lightvalve 228:fb5b57e3f157 157 RCC_OscInitStruct.HSEState = RCC_HSE_ON;
Lightvalve 228:fb5b57e3f157 158 // RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 164:645207e160ca 159 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 228:fb5b57e3f157 160 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
Lightvalve 228:fb5b57e3f157 161 RCC_OscInitStruct.PLL.PLLM = 4;//4
Lightvalve 228:fb5b57e3f157 162 RCC_OscInitStruct.PLL.PLLN = 96; //96
Lightvalve 164:645207e160ca 163 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 164:645207e160ca 164 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 164:645207e160ca 165 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 164:645207e160ca 166 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 164:645207e160ca 167 //Error_Handler();
Lightvalve 164:645207e160ca 168 }
Lightvalve 164:645207e160ca 169 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 164:645207e160ca 170 //Error_Handler();
Lightvalve 164:645207e160ca 171 }
Lightvalve 164:645207e160ca 172 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 164:645207e160ca 173 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 164:645207e160ca 174 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 164:645207e160ca 175 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 164:645207e160ca 176 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 164:645207e160ca 177 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 63:a2d7c63419c2 178 }
Lightvalve 63:a2d7c63419c2 179
Lightvalve 165:42c938a40313 180
Lightvalve 231:30896263bd8b 181
GiJeongKim 0:51c43836c1d7 182 int main()
GiJeongKim 0:51c43836c1d7 183 {
Lightvalve 232:e9c5ec04e378 184
Lightvalve 212:985dba42f261 185 HAL_Init();
Lightvalve 212:985dba42f261 186 SystemClock_Config();
hyhoon 214:82a3ca333004 187
Lightvalve 67:3995ffeaa786 188 LED = 0;
Lightvalve 21:e5f1a43ea6f9 189
Lightvalve 231:30896263bd8b 190 // SPI INIT
hyhoon 215:699c3e572283 191 eeprom_cs = 1;
Lightvalve 165:42c938a40313 192 eeprom.format(8,3);
Lightvalve 165:42c938a40313 193 eeprom.frequency(5000000); //5M
hyhoon 215:699c3e572283 194 eeprom_cs = 0;
hyhoon 215:699c3e572283 195 make_delay();
hyhoon 215:699c3e572283 196
Lightvalve 232:e9c5ec04e378 197 enc_cs = 1;
GiJeongKim 0:51c43836c1d7 198 enc.format(8,0);
hyhoon 215:699c3e572283 199 enc.frequency(5000000); //10M
Lightvalve 231:30896263bd8b 200 enc_cs = 0;
hyhoon 215:699c3e572283 201
Lightvalve 11:82d8768d7351 202 make_delay();
Lightvalve 21:e5f1a43ea6f9 203
hyhoon 214:82a3ca333004 204 // spi _ enc
hyhoon 214:82a3ca333004 205 spi_enc_set_init();
hyhoon 214:82a3ca333004 206 make_delay();
hyhoon 214:82a3ca333004 207
Lightvalve 231:30896263bd8b 208 // bno rom
Lightvalve 228:fb5b57e3f157 209 spi_eeprom_write(RID_BNO, (int16_t) 0);
Lightvalve 226:4e660aa77eb7 210 make_delay();
hyhoon 214:82a3ca333004 211 ////////
hyhoon 214:82a3ca333004 212
Lightvalve 212:985dba42f261 213 // rom
Lightvalve 19:23b7c1ad8683 214 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 215 make_delay();
Lightvalve 13:747daba9cf59 216
Lightvalve 232:e9c5ec04e378 217
Lightvalve 232:e9c5ec04e378 218
GiJeongKim 0:51c43836c1d7 219 // ADC init
Lightvalve 232:e9c5ec04e378 220 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC3
Lightvalve 232:e9c5ec04e378 221 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
Lightvalve 232:e9c5ec04e378 222 RCC->APB2ENR |= RCC_APB2ENR_ADC3EN; // clock for ADC1
jobuuu 2:a1c0a37df760 223
Lightvalve 232:e9c5ec04e378 224 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; // Enable clock for GPIOC
Lightvalve 232:e9c5ec04e378 225 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; // Enable clock for GPIOB
Lightvalve 232:e9c5ec04e378 226 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // Enable clock for GPIOB
Lightvalve 232:e9c5ec04e378 227
Lightvalve 232:e9c5ec04e378 228 Init_ADC1();
Lightvalve 232:e9c5ec04e378 229 Init_ADC2();
Lightvalve 232:e9c5ec04e378 230 Init_ADC3();
Lightvalve 11:82d8768d7351 231 make_delay();
Lightvalve 13:747daba9cf59 232
GiJeongKim 0:51c43836c1d7 233 // CAN
jobuuu 2:a1c0a37df760 234 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 235 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 236 make_delay();
Lightvalve 34:bb2ca2fc2a8e 237
hyhoon 214:82a3ca333004 238 //can.reset();
Lightvalve 231:30896263bd8b 239 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 231:30896263bd8b 240 // can.filter(0b100000000, 0b100000010, CANStandard); //CAN ID 100~400번대 통과하게
hyhoon 214:82a3ca333004 241
Lightvalve 232:e9c5ec04e378 242 // TMR1 init (PWM)
Lightvalve 231:30896263bd8b 243 Init_TMR1();
Lightvalve 231:30896263bd8b 244 TIM1->CR1 ^= TIM_CR1_UDIS;
Lightvalve 231:30896263bd8b 245 make_delay();
Lightvalve 231:30896263bd8b 246
Lightvalve 232:e9c5ec04e378 247 // TMR2 init (Control)
Lightvalve 232:e9c5ec04e378 248 Init_TMR2();
Lightvalve 232:e9c5ec04e378 249 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 232:e9c5ec04e378 250 make_delay();
Lightvalve 232:e9c5ec04e378 251
Lightvalve 232:e9c5ec04e378 252 // TMR3 init (Sensors)
Lightvalve 232:e9c5ec04e378 253 Init_TMR3();
Lightvalve 232:e9c5ec04e378 254 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 232:e9c5ec04e378 255 make_delay();
Lightvalve 34:bb2ca2fc2a8e 256
Lightvalve 232:e9c5ec04e378 257 // TIM4 init (LVDT)
Lightvalve 232:e9c5ec04e378 258 Init_TIM4();
Lightvalve 232:e9c5ec04e378 259 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 232:e9c5ec04e378 260 make_delay();
Lightvalve 231:30896263bd8b 261
Lightvalve 232:e9c5ec04e378 262 //Timer priority
Lightvalve 232:e9c5ec04e378 263 NVIC_SetPriority(TIM3_IRQn, 3);
Lightvalve 232:e9c5ec04e378 264 NVIC_SetPriority(TIM2_IRQn, 4);
Lightvalve 232:e9c5ec04e378 265 NVIC_SetPriority(TIM4_IRQn, 2);
Lightvalve 232:e9c5ec04e378 266 HAL_NVIC_SetPriority(CAN1_RX0_IRQn, 14, 0);
hyhoon 214:82a3ca333004 267
Lightvalve 11:82d8768d7351 268 //DAC init
Lightvalve 56:2eade98630e2 269 if (SENSING_MODE == 0) {
jobuuu 218:2c3e5ecbe7e1 270 dac_1 = FORCE_VREF / 3.3f;
Lightvalve 56:2eade98630e2 271 dac_2 = 0.0f;
Lightvalve 56:2eade98630e2 272 } else if (SENSING_MODE == 1) {
Lightvalve 228:fb5b57e3f157 273 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 228:fb5b57e3f157 274 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 56:2eade98630e2 275 }
Lightvalve 232:e9c5ec04e378 276
Lightvalve 11:82d8768d7351 277 make_delay();
Lightvalve 13:747daba9cf59 278
Lightvalve 19:23b7c1ad8683 279 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 280 if(i%2==0)
Lightvalve 38:118df027d851 281 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 282 else
Lightvalve 38:118df027d851 283 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 284 }
Lightvalve 164:645207e160ca 285
Lightvalve 232:e9c5ec04e378 286 M_ENABLE = 1;
Lightvalve 232:e9c5ec04e378 287
jobuuu 6:df07d3491e3a 288 /************************************
jobuuu 1:e04e563be5ce 289 *** Program is operating!
jobuuu 6:df07d3491e3a 290 *************************************/
GiJeongKim 0:51c43836c1d7 291 while(1) {
Lightvalve 164:645207e160ca 292
Lightvalve 232:e9c5ec04e378 293 // if (LED > 0) LED = 0;
Lightvalve 232:e9c5ec04e378 294 // else LED = 1;
GiJeongKim 0:51c43836c1d7 295 }
jobuuu 1:e04e563be5ce 296 }
jobuuu 1:e04e563be5ce 297
Lightvalve 212:985dba42f261 298
Lightvalve 212:985dba42f261 299 // Velocity feedforward for SW valve
Lightvalve 33:91b17819ec30 300 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 301 {
Lightvalve 13:747daba9cf59 302 int i = 0;
Lightvalve 47:889798ff9329 303 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 304 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 305 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 306 if(i==0) {
Lightvalve 49:3c630b5eba9f 307 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 55:f4819de54e7a 308 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 309 } else {
Lightvalve 55:f4819de54e7a 310 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 311 }
Lightvalve 14:8e7590227d22 312 } else {
Lightvalve 49:3c630b5eba9f 313 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 55:f4819de54e7a 314 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 315 } else {
Lightvalve 55:f4819de54e7a 316 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 317 }
Lightvalve 13:747daba9cf59 318 }
Lightvalve 13:747daba9cf59 319 break;
Lightvalve 13:747daba9cf59 320 }
Lightvalve 13:747daba9cf59 321 }
Lightvalve 14:8e7590227d22 322 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 323 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 324 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 325 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 326 }
Lightvalve 36:a46e63505ed8 327
Lightvalve 212:985dba42f261 328 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve 13:747daba9cf59 329 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 330 }
jobuuu 6:df07d3491e3a 331
Lightvalve 212:985dba42f261 332 // Valve feedforward for SW valve
Lightvalve 30:8d561f16383b 333 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 334 {
Lightvalve 13:747daba9cf59 335 int i = 0;
Lightvalve 13:747daba9cf59 336
Lightvalve 38:118df027d851 337 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 338 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 339 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 340 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 341 }
Lightvalve 231:30896263bd8b 342 valve_pos_err = (float) (REF_VALVE_POS - valve_pos.sen);
Lightvalve 13:747daba9cf59 343 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 344 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 345 valve_pos_err_sum += valve_pos_err;
Lightvalve 87:a7b45368ea0f 346 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 87:a7b45368ea0f 347 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 348
Lightvalve 13:747daba9cf59 349 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 350
Lightvalve 18:b8adf1582ea3 351 for(i=0; i<24; i++) {
Lightvalve 87:a7b45368ea0f 352 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 353 if(i==0) {
Lightvalve 47:889798ff9329 354 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 355 } else {
Lightvalve 47:889798ff9329 356 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 357 }
Lightvalve 13:747daba9cf59 358 break;
Lightvalve 13:747daba9cf59 359 }
Lightvalve 13:747daba9cf59 360 }
Lightvalve 57:f308b1656d9c 361 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 362 }
Lightvalve 13:747daba9cf59 363
Lightvalve 226:4e660aa77eb7 364 // Valve feedforward for SW valve
Lightvalve 226:4e660aa77eb7 365 void VALVE_POS_CONTROL_DZ(float REF_VALVE_POS_10000)
Lightvalve 226:4e660aa77eb7 366 {
Lightvalve 226:4e660aa77eb7 367 int i = 0;
Lightvalve 226:4e660aa77eb7 368 float valve_pos_ref_dz = 0.0f;
Lightvalve 226:4e660aa77eb7 369 if(REF_VALVE_POS_10000 > 10000.0f) {
Lightvalve 226:4e660aa77eb7 370 REF_VALVE_POS_10000 = 10000.0f;
Lightvalve 226:4e660aa77eb7 371 } else if(REF_VALVE_POS_10000 < -10000.0f) {
Lightvalve 226:4e660aa77eb7 372 REF_VALVE_POS_10000 = -10000.0f;
Lightvalve 226:4e660aa77eb7 373 }
Lightvalve 226:4e660aa77eb7 374 if (REF_VALVE_POS_10000 >= 0) {
Lightvalve 230:b235d67d25ba 375 // valve_pos_ref_dz = REF_VALVE_POS_10000/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 230:b235d67d25ba 376 valve_pos_ref_dz = REF_VALVE_POS_10000;
Lightvalve 226:4e660aa77eb7 377 } else {
Lightvalve 230:b235d67d25ba 378 // valve_pos_ref_dz = -REF_VALVE_POS_10000/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 230:b235d67d25ba 379 valve_pos_ref_dz = REF_VALVE_POS_10000;
Lightvalve 226:4e660aa77eb7 380 }
Lightvalve 230:b235d67d25ba 381 valve_pos_err = (float) (valve_pos_ref_dz - valve_pos.sen);
Lightvalve 226:4e660aa77eb7 382 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 226:4e660aa77eb7 383 valve_pos_err_old = valve_pos_err;
Lightvalve 226:4e660aa77eb7 384 valve_pos_err_sum += valve_pos_err;
Lightvalve 226:4e660aa77eb7 385 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 226:4e660aa77eb7 386 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 226:4e660aa77eb7 387
Lightvalve 226:4e660aa77eb7 388 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 226:4e660aa77eb7 389
Lightvalve 226:4e660aa77eb7 390 for(i=0; i<24; i++) {
Lightvalve 226:4e660aa77eb7 391 if(valve_pos_ref_dz >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) valve_pos_ref_dz <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 226:4e660aa77eb7 392 if(i==0) {
Lightvalve 226:4e660aa77eb7 393 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) valve_pos_ref_dz - VALVE_POS_VS_PWM[i]);
Lightvalve 226:4e660aa77eb7 394 } else {
Lightvalve 226:4e660aa77eb7 395 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) valve_pos_ref_dz - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 226:4e660aa77eb7 396 }
Lightvalve 226:4e660aa77eb7 397 break;
Lightvalve 226:4e660aa77eb7 398 }
Lightvalve 226:4e660aa77eb7 399 }
Lightvalve 226:4e660aa77eb7 400 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 226:4e660aa77eb7 401 }
Lightvalve 226:4e660aa77eb7 402
Lightvalve 212:985dba42f261 403 // PWM duty vs. voltage output of L6205 in STM board
Lightvalve 14:8e7590227d22 404 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 405 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 406 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 407 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 408 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 409 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 410 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 411 }; // duty
Lightvalve 65:c2812cf26c38 412 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 65:c2812cf26c38 413 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 65:c2812cf26c38 414 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 65:c2812cf26c38 415 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 65:c2812cf26c38 416 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 65:c2812cf26c38 417 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 418 }; // mV
Lightvalve 13:747daba9cf59 419
Lightvalve 30:8d561f16383b 420 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 421 {
Lightvalve 30:8d561f16383b 422 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 423 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 424 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 425 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 426 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 427 } else {
Lightvalve 13:747daba9cf59 428 int idx = 0;
Lightvalve 13:747daba9cf59 429 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 430 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 431 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 432 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 433 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 434 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 435 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 436 break;
Lightvalve 13:747daba9cf59 437 }
Lightvalve 13:747daba9cf59 438 }
Lightvalve 13:747daba9cf59 439 }
Lightvalve 13:747daba9cf59 440 return PWM_duty;
Lightvalve 13:747daba9cf59 441 }
jobuuu 6:df07d3491e3a 442
Lightvalve 55:f4819de54e7a 443
Lightvalve 55:f4819de54e7a 444
jobuuu 2:a1c0a37df760 445 /*******************************************************************************
jobuuu 2:a1c0a37df760 446 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 447 *******************************************************************************/
jobuuu 2:a1c0a37df760 448
Lightvalve 231:30896263bd8b 449
Lightvalve 231:30896263bd8b 450 //------------------------------------------------
Lightvalve 232:e9c5ec04e378 451 // TMR3 : PWM, Sensor 20kHz
Lightvalve 232:e9c5ec04e378 452 //------------------------------------------------
Lightvalve 228:fb5b57e3f157 453 float LVDT_new = 0.0f;
Lightvalve 228:fb5b57e3f157 454 float LVDT_old = 0.0f;
Lightvalve 228:fb5b57e3f157 455 float LVDT_f_cut = 1000.0f;
Lightvalve 228:fb5b57e3f157 456 float LVDT_LPF = 0.0f;
Lightvalve 228:fb5b57e3f157 457 float LVDT_sum = 0.0f;
Lightvalve 228:fb5b57e3f157 458
Lightvalve 232:e9c5ec04e378 459 float FREQ_TMR3 = (float)FREQ_20k;
Lightvalve 232:e9c5ec04e378 460 long CNT_TMR3 = 0;
Lightvalve 232:e9c5ec04e378 461 float DT_TMR3 = (float)DT_20k;
Lightvalve 228:fb5b57e3f157 462 extern "C" void TIM3_IRQHandler(void)
Lightvalve 228:fb5b57e3f157 463 {
Lightvalve 228:fb5b57e3f157 464 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 228:fb5b57e3f157 465
Lightvalve 233:071785d74ad0 466 // if (LED > 0) LED = 0;
Lightvalve 233:071785d74ad0 467 // else LED = 1;
Lightvalve 232:e9c5ec04e378 468
Lightvalve 232:e9c5ec04e378 469 float PSEN1 = 0.0f;
Lightvalve 232:e9c5ec04e378 470 float PSEN2 = 0.0f;
Lightvalve 232:e9c5ec04e378 471 float CURRENT_SEN = 0.0f;
Lightvalve 232:e9c5ec04e378 472
Lightvalve 232:e9c5ec04e378 473 /////////////////////////Current////////////////////////////////////////////////////////////////////////////
Lightvalve 232:e9c5ec04e378 474 HAL_ADC_Start(&hadc2);
Lightvalve 232:e9c5ec04e378 475 HAL_ADC_PollForConversion(&hadc2, 1);
Lightvalve 232:e9c5ec04e378 476 CURRENT_SEN = (float) HAL_ADC_GetValue(&hadc2);
Lightvalve 232:e9c5ec04e378 477 cur.UpdateSen(((float)CURRENT_SEN-2047.5f)/2047.5f*10.0f, FREQ_TMR3, 500.0f); // unit : mA
Lightvalve 232:e9c5ec04e378 478
Lightvalve 232:e9c5ec04e378 479 /////////////////////////V_EXI////////////////////////////////////////////////////////////////////////////
Lightvalve 232:e9c5ec04e378 480 HAL_ADC_Start(&hadc2);
Lightvalve 232:e9c5ec04e378 481 HAL_ADC_PollForConversion(&hadc2, 1);
Lightvalve 232:e9c5ec04e378 482 V_EXI = (float) HAL_ADC_GetValue(&hadc2);
Lightvalve 232:e9c5ec04e378 483
Lightvalve 232:e9c5ec04e378 484 /////////////////////////Encoder////////////////////////////////////////////////////////////////////////////
Lightvalve 232:e9c5ec04e378 485 // if (CNT_TMR1 % 2) == 0) {
Lightvalve 232:e9c5ec04e378 486 ENC_UPDATE();
Lightvalve 231:30896263bd8b 487 // }
Lightvalve 228:fb5b57e3f157 488
Lightvalve 232:e9c5ec04e378 489 /////////////////////////Force or Pressure//////////////////////////////////////////////////////////////////
Lightvalve 232:e9c5ec04e378 490 if (SENSING_MODE == 0) { // Force sensing
Lightvalve 233:071785d74ad0 491
Lightvalve 232:e9c5ec04e378 492 HAL_ADC_Start(&hadc1);
Lightvalve 232:e9c5ec04e378 493 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 232:e9c5ec04e378 494 PSEN1 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 233:071785d74ad0 495
Lightvalve 233:071785d74ad0 496 HAL_ADC_Start(&hadc1);
Lightvalve 233:071785d74ad0 497 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 233:071785d74ad0 498 PSEN2 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 233:071785d74ad0 499
Lightvalve 232:e9c5ec04e378 500 force.UpdateSen((((float)PSEN1) - 2047.5f)/TORQUE_SENSOR_PULSE_PER_TORQUE, FREQ_TMR3, 100.0f); // unit : N
Lightvalve 231:30896263bd8b 501
Lightvalve 232:e9c5ec04e378 502 } else if (SENSING_MODE == 1) { // Pressure sensing
Lightvalve 228:fb5b57e3f157 503
Lightvalve 232:e9c5ec04e378 504 HAL_ADC_Start(&hadc1);
Lightvalve 232:e9c5ec04e378 505 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 232:e9c5ec04e378 506 PSEN1 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 231:30896263bd8b 507
Lightvalve 232:e9c5ec04e378 508 HAL_ADC_Start(&hadc1);
Lightvalve 232:e9c5ec04e378 509 HAL_ADC_PollForConversion(&hadc1, 1);
Lightvalve 232:e9c5ec04e378 510 PSEN2 = (float) HAL_ADC_GetValue(&hadc1);
Lightvalve 231:30896263bd8b 511
Lightvalve 232:e9c5ec04e378 512 float pres_A_new, pres_B_new;
Lightvalve 232:e9c5ec04e378 513 pres_A_new = (((float)PSEN1) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 232:e9c5ec04e378 514 pres_B_new = (((float)PSEN2) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 228:fb5b57e3f157 515
Lightvalve 232:e9c5ec04e378 516 pres_A.UpdateSen(pres_A_new,FREQ_TMR3,200.0f);
Lightvalve 232:e9c5ec04e378 517 pres_B.UpdateSen(pres_B_new,FREQ_TMR3,200.0f);
Lightvalve 228:fb5b57e3f157 518
Lightvalve 232:e9c5ec04e378 519 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 232:e9c5ec04e378 520 float torq_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 232:e9c5ec04e378 521 torq.UpdateSen(torq_new,FREQ_TMR3,1000.0f); // unit : Nm
Lightvalve 232:e9c5ec04e378 522 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 232:e9c5ec04e378 523 float force_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.1f; // mm^2*bar >> N
Lightvalve 232:e9c5ec04e378 524 force.UpdateSen(force_new,FREQ_TMR3,1000.0f); // unit : N
Lightvalve 232:e9c5ec04e378 525 }
Lightvalve 232:e9c5ec04e378 526 }
Lightvalve 232:e9c5ec04e378 527 CNT_TMR3++;
Lightvalve 228:fb5b57e3f157 528 }
Lightvalve 228:fb5b57e3f157 529 TIM3->SR = 0x0; // reset the status register
Lightvalve 228:fb5b57e3f157 530 }
Lightvalve 228:fb5b57e3f157 531
Lightvalve 228:fb5b57e3f157 532
Lightvalve 228:fb5b57e3f157 533
jobuuu 218:2c3e5ecbe7e1 534 //------------------------------------------------
Lightvalve 232:e9c5ec04e378 535 // TMR4 : LVDT 1kHz
Lightvalve 232:e9c5ec04e378 536 //------------------------------------------------
Lightvalve 50:b46bed7fec80 537 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 50:b46bed7fec80 538 float DT_TMR4 = (float)DT_20k;
Lightvalve 55:f4819de54e7a 539 long CNT_TMR4 = 0;
Lightvalve 55:f4819de54e7a 540 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 541 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 542 {
Lightvalve 19:23b7c1ad8683 543 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 13:747daba9cf59 544
Lightvalve 232:e9c5ec04e378 545 float LVDT_OUT = 0.0f;
Lightvalve 232:e9c5ec04e378 546 LVDT_sum = 0.0f;
Lightvalve 232:e9c5ec04e378 547
Lightvalve 232:e9c5ec04e378 548 LVDT_L = 0;
Lightvalve 232:e9c5ec04e378 549 LVDT_H = 1;
Lightvalve 223:c831718303c9 550
Lightvalve 232:e9c5ec04e378 551 for (int ij = 0; ij<150; ij++) {
jobuuu 218:2c3e5ecbe7e1 552
Lightvalve 232:e9c5ec04e378 553 ADC3->CR2 |= 0x40000000;
Lightvalve 232:e9c5ec04e378 554 LVDT_new = ((float)ADC3->DR) - 2047.5f;
Lightvalve 232:e9c5ec04e378 555 LVDT_sum = LVDT_sum + LVDT_new;
Lightvalve 55:f4819de54e7a 556 }
Lightvalve 59:bc8c8270f0ab 557
Lightvalve 232:e9c5ec04e378 558 LVDT_H = 0;
Lightvalve 232:e9c5ec04e378 559 LVDT_L = 1;
Lightvalve 49:3c630b5eba9f 560
Lightvalve 232:e9c5ec04e378 561 LVDT_new = LVDT_sum * 0.01f*2.0f;
Lightvalve 59:bc8c8270f0ab 562
Lightvalve 232:e9c5ec04e378 563 float alpha_LVDT = 1.0f/(1.0f+TMR_FREQ_1k/(2.0f*PI*300.0f));
Lightvalve 232:e9c5ec04e378 564 LVDT_LPF = (1.0f-alpha_LVDT) * LVDT_LPF + alpha_LVDT * LVDT_new;
Lightvalve 232:e9c5ec04e378 565 valve_pos.sen = LVDT_LPF;
Lightvalve 232:e9c5ec04e378 566 if(DIR_VALVE_ENC < 0) valve_pos.sen = 0.0f - valve_pos.sen;
Lightvalve 231:30896263bd8b 567
Lightvalve 55:f4819de54e7a 568 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 569 }
Lightvalve 11:82d8768d7351 570 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 571 }
Lightvalve 19:23b7c1ad8683 572
Lightvalve 232:e9c5ec04e378 573 //------------------------------------------------
Lightvalve 232:e9c5ec04e378 574 // TMR2 : Control 5kHz
Lightvalve 232:e9c5ec04e378 575 //------------------------------------------------
Lightvalve 232:e9c5ec04e378 576 float FREQ_TMR2 = (float)FREQ_5k;
Lightvalve 232:e9c5ec04e378 577 float DT_TMR2 = (float)DT_5k;
Lightvalve 44:35fa6884d0c6 578 int cnt_trans = 0;
Lightvalve 233:071785d74ad0 579 float nulling_test = 0.0f;
Lightvalve 228:fb5b57e3f157 580 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 581 {
Lightvalve 228:fb5b57e3f157 582 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 228:fb5b57e3f157 583
Lightvalve 49:3c630b5eba9f 584 if(MODE_POS_FT_TRANS == 1) {
jobuuu 218:2c3e5ecbe7e1 585 if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
Lightvalve 232:e9c5ec04e378 586 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR2 /3.0f))/2.0f;
Lightvalve 44:35fa6884d0c6 587 cnt_trans++;
Lightvalve 221:2ec0de8590d3 588 torq.err_int = 0.0f;
Lightvalve 221:2ec0de8590d3 589 force.err_int = 0.0f;
Lightvalve 232:e9c5ec04e378 590 if((float)cnt_trans * DT_TMR2 > 3.0f)
Lightvalve 44:35fa6884d0c6 591 MODE_POS_FT_TRANS = 2;
Lightvalve 49:3c630b5eba9f 592 } else if(MODE_POS_FT_TRANS == 3) {
jobuuu 218:2c3e5ecbe7e1 593 if (alpha_trans == 0.0f) MODE_POS_FT_TRANS = 0;
Lightvalve 232:e9c5ec04e378 594 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR2 /3.0f))/2.0f;
Lightvalve 44:35fa6884d0c6 595 cnt_trans++;
Lightvalve 221:2ec0de8590d3 596 torq.err_int = 0.0f;
Lightvalve 221:2ec0de8590d3 597 force.err_int = 0.0f;
Lightvalve 232:e9c5ec04e378 598 if((float) cnt_trans * DT_TMR2 > 3.0f )
Lightvalve 44:35fa6884d0c6 599 MODE_POS_FT_TRANS = 0;
Lightvalve 49:3c630b5eba9f 600 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 56:2eade98630e2 601 alpha_trans = 1.0f;
Lightvalve 44:35fa6884d0c6 602 cnt_trans = 0;
Lightvalve 49:3c630b5eba9f 603 } else {
Lightvalve 56:2eade98630e2 604 alpha_trans = 0.0f;
Lightvalve 44:35fa6884d0c6 605 cnt_trans = 0;
Lightvalve 44:35fa6884d0c6 606 }
Lightvalve 44:35fa6884d0c6 607
Lightvalve 49:3c630b5eba9f 608
jobuuu 218:2c3e5ecbe7e1 609 // Reference Update ==========================================================
hyhoon 215:699c3e572283 610 switch (REFERENCE_MODE) {
hyhoon 215:699c3e572283 611 case MODE_REF_NO_ACT: {
hyhoon 215:699c3e572283 612 break;
hyhoon 215:699c3e572283 613 }
hyhoon 215:699c3e572283 614 case MODE_REF_DIRECT: {
hyhoon 215:699c3e572283 615 pos.ref = REF_POSITION;
hyhoon 215:699c3e572283 616 vel.ref = REF_VELOCITY;
hyhoon 215:699c3e572283 617 torq.ref = REF_TORQUE;
jobuuu 218:2c3e5ecbe7e1 618 force.ref = REF_FORCE;
jobuuu 218:2c3e5ecbe7e1 619 break;
jobuuu 218:2c3e5ecbe7e1 620 }
jobuuu 218:2c3e5ecbe7e1 621 case MODE_REF_FINDHOME: {
jobuuu 218:2c3e5ecbe7e1 622 pos.ref = REF_POSITION_FINDHOME;
jobuuu 218:2c3e5ecbe7e1 623 vel.ref = 0.0f;
jobuuu 218:2c3e5ecbe7e1 624 torq.ref = 0.0f;
jobuuu 218:2c3e5ecbe7e1 625 force.ref = 0.0f;
hyhoon 215:699c3e572283 626 break;
hyhoon 215:699c3e572283 627 }
hyhoon 215:699c3e572283 628 default:
hyhoon 215:699c3e572283 629 break;
hyhoon 215:699c3e572283 630 }
hyhoon 215:699c3e572283 631
Lightvalve 225:c2cfe349f5c1 632 if (((OPERATING_MODE&0b110)>>1) == 0) {
jobuuu 218:2c3e5ecbe7e1 633 K_v = 1.03f; // Q = K_v*sqrt(deltaP)*tanh(C_d*Xv);
Lightvalve 223:c831718303c9 634 C_d = 0.16f;
jobuuu 218:2c3e5ecbe7e1 635 mV_PER_mA = 500.0f; // 5000mV/10mA
jobuuu 218:2c3e5ecbe7e1 636 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 218:2c3e5ecbe7e1 637 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 225:c2cfe349f5c1 638 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
jobuuu 218:2c3e5ecbe7e1 639 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
jobuuu 218:2c3e5ecbe7e1 640 mV_PER_mA = 166.6666f; // 5000mV/30mA
jobuuu 218:2c3e5ecbe7e1 641 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 218:2c3e5ecbe7e1 642 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 225:c2cfe349f5c1 643 } else if (((OPERATING_MODE&0b110)>>1) == 2) {
Lightvalve 225:c2cfe349f5c1 644 C_d = 0.0000845f; // Q = C_d * Valve_pos * sqrt(deltaP*alpha/(1+alpha)) : Valve_pos = 10000, deltaP = 70, alpha = 1 -> Q = 5
jobuuu 218:2c3e5ecbe7e1 645 }
Lightvalve 223:c831718303c9 646
jobuuu 218:2c3e5ecbe7e1 647 // =====================================================================
jobuuu 218:2c3e5ecbe7e1 648 // CONTROL LOOP --------------------------------------------------------
jobuuu 218:2c3e5ecbe7e1 649 // =====================================================================
Lightvalve 55:f4819de54e7a 650 int UTILITY_MODE = 0;
Lightvalve 55:f4819de54e7a 651 int CONTROL_MODE = 0;
Lightvalve 56:2eade98630e2 652
Lightvalve 55:f4819de54e7a 653 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 55:f4819de54e7a 654 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 55:f4819de54e7a 655 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 656 } else {
Lightvalve 55:f4819de54e7a 657 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 55:f4819de54e7a 658 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 659 }
Lightvalve 55:f4819de54e7a 660 // UTILITY MODE ------------------------------------------------------------
Lightvalve 55:f4819de54e7a 661 switch (UTILITY_MODE) {
Lightvalve 55:f4819de54e7a 662 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 663 break;
Lightvalve 13:747daba9cf59 664 }
Lightvalve 14:8e7590227d22 665
Lightvalve 223:c831718303c9 666 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 233:071785d74ad0 667 static float FORCE_pulse_sum = 0.0f;
Lightvalve 233:071785d74ad0 668 static float PresA_pulse_sum = 0.0f;
Lightvalve 233:071785d74ad0 669 static float PresB_pulse_sum = 0.0f;
Lightvalve 223:c831718303c9 670
Lightvalve 13:747daba9cf59 671 // DAC Voltage reference set
Lightvalve 220:2976cf1b4252 672 float VREF_TuningGain = -0.000003f;
jobuuu 218:2c3e5ecbe7e1 673 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
jobuuu 218:2c3e5ecbe7e1 674 LED = 1;
jobuuu 218:2c3e5ecbe7e1 675 if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
jobuuu 218:2c3e5ecbe7e1 676 FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 218:2c3e5ecbe7e1 677 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 218:2c3e5ecbe7e1 678 float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
jobuuu 218:2c3e5ecbe7e1 679 FORCE_pulse_sum = 0.0f;
jobuuu 218:2c3e5ecbe7e1 680 FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
Lightvalve 233:071785d74ad0 681 nulling_test = FORCE_VREF;
jobuuu 218:2c3e5ecbe7e1 682 if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
jobuuu 218:2c3e5ecbe7e1 683 if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
jobuuu 218:2c3e5ecbe7e1 684 dac_1 = FORCE_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 685 }
Lightvalve 223:c831718303c9 686 } else if (SENSING_MODE == 1) { // Pressure Sensor
jobuuu 218:2c3e5ecbe7e1 687 PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
jobuuu 218:2c3e5ecbe7e1 688 PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
jobuuu 218:2c3e5ecbe7e1 689 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 218:2c3e5ecbe7e1 690 float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
jobuuu 218:2c3e5ecbe7e1 691 float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
jobuuu 218:2c3e5ecbe7e1 692 PresA_pulse_sum = 0.0f;
jobuuu 218:2c3e5ecbe7e1 693 PresB_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 694
jobuuu 218:2c3e5ecbe7e1 695 PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
jobuuu 218:2c3e5ecbe7e1 696 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
jobuuu 218:2c3e5ecbe7e1 697 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
jobuuu 218:2c3e5ecbe7e1 698 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 699 PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
jobuuu 218:2c3e5ecbe7e1 700 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 223:c831718303c9 701 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
jobuuu 218:2c3e5ecbe7e1 702 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 703 }
Lightvalve 13:747daba9cf59 704 }
jobuuu 218:2c3e5ecbe7e1 705 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 706 } else {
jobuuu 218:2c3e5ecbe7e1 707 if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
jobuuu 218:2c3e5ecbe7e1 708 FORCE_pulse_sum = 0.0f;
jobuuu 218:2c3e5ecbe7e1 709 dac_1 = FORCE_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 710 spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
jobuuu 218:2c3e5ecbe7e1 711 } else if (SENSING_MODE == 1) {
jobuuu 218:2c3e5ecbe7e1 712 PresA_pulse_sum = 0.0f;
jobuuu 218:2c3e5ecbe7e1 713 PresB_pulse_sum = 0.0f;
jobuuu 218:2c3e5ecbe7e1 714 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 715 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 716 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
jobuuu 218:2c3e5ecbe7e1 717 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
jobuuu 218:2c3e5ecbe7e1 718 }
Lightvalve 56:2eade98630e2 719 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 720 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 721 }
Lightvalve 13:747daba9cf59 722 break;
Lightvalve 19:23b7c1ad8683 723 }
Lightvalve 14:8e7590227d22 724
Lightvalve 223:c831718303c9 725 case MODE_FIND_HOME: {
jobuuu 218:2c3e5ecbe7e1 726 static int cnt_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 727 static int cnt_terminate_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 728 static float FINDHOME_POSITION_pulse = 0.0f;
jobuuu 218:2c3e5ecbe7e1 729 static float FINDHOME_POSITION_pulse_OLD = 0.0f;
jobuuu 218:2c3e5ecbe7e1 730 static float FINDHOME_VELOCITY_pulse = 0.0f;
Lightvalve 223:c831718303c9 731 static float REF_POSITION_FINDHOME_INIT = 0.0f;
jobuuu 218:2c3e5ecbe7e1 732
Lightvalve 29:69f3f5445d6d 733 if (FINDHOME_STAGE == FINDHOME_INIT) {
jobuuu 218:2c3e5ecbe7e1 734 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 14:8e7590227d22 735 cnt_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 736 cnt_terminate_findhome = 0;
Lightvalve 57:f308b1656d9c 737 pos.ref = pos.sen;
Lightvalve 57:f308b1656d9c 738 vel.ref = 0.0f;
jobuuu 218:2c3e5ecbe7e1 739 REF_POSITION_FINDHOME = pos.ref;
Lightvalve 29:69f3f5445d6d 740 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 741 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
jobuuu 218:2c3e5ecbe7e1 742 int cnt_check_enc = (TMR_FREQ_5k/20); // 5000/20 = 250tic = 50msec
Lightvalve 29:69f3f5445d6d 743 if(cnt_findhome%cnt_check_enc == 0) {
jobuuu 218:2c3e5ecbe7e1 744 FINDHOME_POSITION_pulse = pos.sen*ENC_PULSE_PER_POSITION;
jobuuu 218:2c3e5ecbe7e1 745 FINDHOME_VELOCITY_pulse = FINDHOME_POSITION_pulse - FINDHOME_POSITION_pulse_OLD;
jobuuu 218:2c3e5ecbe7e1 746 FINDHOME_POSITION_pulse_OLD = FINDHOME_POSITION_pulse;
Lightvalve 29:69f3f5445d6d 747 }
Lightvalve 29:69f3f5445d6d 748 cnt_findhome++;
Lightvalve 14:8e7590227d22 749
jobuuu 218:2c3e5ecbe7e1 750 if (fabs(FINDHOME_VELOCITY_pulse) <= 1) {
jobuuu 218:2c3e5ecbe7e1 751 cnt_terminate_findhome = cnt_terminate_findhome + 1;
Lightvalve 29:69f3f5445d6d 752 } else {
jobuuu 218:2c3e5ecbe7e1 753 cnt_terminate_findhome = 0;
Lightvalve 29:69f3f5445d6d 754 }
Lightvalve 19:23b7c1ad8683 755
jobuuu 218:2c3e5ecbe7e1 756 if ((cnt_terminate_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
jobuuu 218:2c3e5ecbe7e1 757 double GOTOHOME_SPEED = 10.0f; // 20mm/s or 20deg/s
hyhoon 214:82a3ca333004 758 if (HOMEPOS_OFFSET > 0) {
Lightvalve 223:c831718303c9 759 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME + GOTOHOME_SPEED*DT_5k;
hyhoon 214:82a3ca333004 760 } else {
jobuuu 218:2c3e5ecbe7e1 761 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME - GOTOHOME_SPEED*DT_5k;
hyhoon 214:82a3ca333004 762 }
Lightvalve 57:f308b1656d9c 763 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 57:f308b1656d9c 764 alpha_trans = 0.0f;
Lightvalve 29:69f3f5445d6d 765 } else {
jobuuu 218:2c3e5ecbe7e1 766 ENC_SET((long)((long)HOMEPOS_OFFSET*10));
jobuuu 218:2c3e5ecbe7e1 767 REF_POSITION_FINDHOME_INIT = (float)((long)HOMEPOS_OFFSET*10);
jobuuu 218:2c3e5ecbe7e1 768 FINDHOME_POSITION_pulse = 0;
jobuuu 218:2c3e5ecbe7e1 769 FINDHOME_POSITION_pulse_OLD = 0;
jobuuu 218:2c3e5ecbe7e1 770 FINDHOME_VELOCITY_pulse = 0;
Lightvalve 223:c831718303c9 771
Lightvalve 29:69f3f5445d6d 772 cnt_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 773 cnt_terminate_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 774 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 775 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 776 }
Lightvalve 29:69f3f5445d6d 777 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 223:c831718303c9 778
Lightvalve 220:2976cf1b4252 779 // int T_move = 2*TMR_FREQ_5k;
Lightvalve 220:2976cf1b4252 780 int T_move = 10000;
Lightvalve 220:2976cf1b4252 781 REF_POSITION_FINDHOME = ((0.0f - REF_POSITION_FINDHOME_INIT)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)REF_POSITION_FINDHOME_INIT)/ENC_PULSE_PER_POSITION;
Lightvalve 223:c831718303c9 782
Lightvalve 29:69f3f5445d6d 783 cnt_findhome++;
Lightvalve 223:c831718303c9 784
Lightvalve 220:2976cf1b4252 785 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 220:2976cf1b4252 786 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 220:2976cf1b4252 787 alpha_trans = 0.0f;
Lightvalve 223:c831718303c9 788
Lightvalve 29:69f3f5445d6d 789 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 790 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 791 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 792 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 55:f4819de54e7a 793 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
jobuuu 218:2c3e5ecbe7e1 794 REFERENCE_MODE = MODE_REF_DIRECT;
hyhoon 214:82a3ca333004 795 }
Lightvalve 13:747daba9cf59 796 }
Lightvalve 13:747daba9cf59 797 break;
Lightvalve 13:747daba9cf59 798 }
Lightvalve 225:c2cfe349f5c1 799
Lightvalve 225:c2cfe349f5c1 800 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 225:c2cfe349f5c1 801 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 225:c2cfe349f5c1 802 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 225:c2cfe349f5c1 803
Lightvalve 225:c2cfe349f5c1 804 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 225:c2cfe349f5c1 805 Vout.ref = 3000.0f * sin(2.0f*3.14159f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 225:c2cfe349f5c1 806 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 225:c2cfe349f5c1 807 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 225:c2cfe349f5c1 808 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 225:c2cfe349f5c1 809 VALVE_POS_TMP = 0;
Lightvalve 225:c2cfe349f5c1 810 data_num = 0;
Lightvalve 225:c2cfe349f5c1 811 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 225:c2cfe349f5c1 812 data_num = data_num + 1;
Lightvalve 230:b235d67d25ba 813 VALVE_POS_TMP = VALVE_POS_TMP + valve_pos.sen;
Lightvalve 225:c2cfe349f5c1 814 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 225:c2cfe349f5c1 815 Vout.ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 816 } else {
Lightvalve 225:c2cfe349f5c1 817 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 225:c2cfe349f5c1 818 VALVE_ID_timer = 0;
Lightvalve 225:c2cfe349f5c1 819 ID_index= ID_index +1;
Lightvalve 225:c2cfe349f5c1 820 }
Lightvalve 225:c2cfe349f5c1 821
Lightvalve 225:c2cfe349f5c1 822 if(ID_index>=25) {
Lightvalve 225:c2cfe349f5c1 823 int i;
Lightvalve 225:c2cfe349f5c1 824 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 225:c2cfe349f5c1 825 for(i=0; i<25; i++) {
Lightvalve 225:c2cfe349f5c1 826 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 225:c2cfe349f5c1 827 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 225:c2cfe349f5c1 828 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 225:c2cfe349f5c1 829 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 830 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 225:c2cfe349f5c1 831 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 225:c2cfe349f5c1 832 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 225:c2cfe349f5c1 833 }
Lightvalve 225:c2cfe349f5c1 834 }
Lightvalve 225:c2cfe349f5c1 835 VALVE_ELECTRIC_CENTER = VALVE_POS_VS_PWM[0];
Lightvalve 225:c2cfe349f5c1 836 spi_eeprom_write(RID_VALVE_ELECTRIC_CENTER, (int16_t) VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 837 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 225:c2cfe349f5c1 838 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 225:c2cfe349f5c1 839 for(int i=0; i<25; i++) {
Lightvalve 225:c2cfe349f5c1 840 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 225:c2cfe349f5c1 841 }
Lightvalve 225:c2cfe349f5c1 842 ID_index = 0;
Lightvalve 225:c2cfe349f5c1 843 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 844 }
Lightvalve 225:c2cfe349f5c1 845
Lightvalve 225:c2cfe349f5c1 846
Lightvalve 225:c2cfe349f5c1 847 break;
Lightvalve 225:c2cfe349f5c1 848 }
Lightvalve 225:c2cfe349f5c1 849 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 225:c2cfe349f5c1 850 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 225:c2cfe349f5c1 851 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 225:c2cfe349f5c1 852 if(first_check == 0) {
Lightvalve 225:c2cfe349f5c1 853 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 854 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 225:c2cfe349f5c1 855 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 856 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 225:c2cfe349f5c1 857 pos_plus_end = pos.sen;
Lightvalve 225:c2cfe349f5c1 858 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 859 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 225:c2cfe349f5c1 860 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 861 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 225:c2cfe349f5c1 862 pos_minus_end = pos.sen;
Lightvalve 225:c2cfe349f5c1 863 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 864 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 865 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 866 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 867 data_num = data_num + 1;
Lightvalve 231:30896263bd8b 868 VALVE_POS_TMP = VALVE_POS_TMP + valve_pos.sen;
Lightvalve 225:c2cfe349f5c1 869 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 870 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 871 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 225:c2cfe349f5c1 872 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 873 VALVE_POS_TMP = 0;
Lightvalve 225:c2cfe349f5c1 874 data_num = 0;
Lightvalve 225:c2cfe349f5c1 875
Lightvalve 225:c2cfe349f5c1 876 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 877 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 226:4e660aa77eb7 878 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 879
Lightvalve 225:c2cfe349f5c1 880 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 881 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 226:4e660aa77eb7 882 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 883
Lightvalve 225:c2cfe349f5c1 884 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 885 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 226:4e660aa77eb7 886 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 887 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 888
Lightvalve 226:4e660aa77eb7 889 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 890 DZ_case = 1;
Lightvalve 226:4e660aa77eb7 891 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 892 DZ_case = -1;
Lightvalve 225:c2cfe349f5c1 893 } else {
Lightvalve 225:c2cfe349f5c1 894 DZ_case = 0;
Lightvalve 225:c2cfe349f5c1 895 }
Lightvalve 225:c2cfe349f5c1 896
Lightvalve 225:c2cfe349f5c1 897 first_check = 1;
Lightvalve 225:c2cfe349f5c1 898 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 899 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 900 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 225:c2cfe349f5c1 901 DZ_NUM = 1;
Lightvalve 225:c2cfe349f5c1 902 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 903
Lightvalve 225:c2cfe349f5c1 904 }
Lightvalve 225:c2cfe349f5c1 905 } else {
Lightvalve 225:c2cfe349f5c1 906 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 231:30896263bd8b 907 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 908 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 909 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 910 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 911 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 912 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 226:4e660aa77eb7 913 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 226:4e660aa77eb7 914 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 226:4e660aa77eb7 915 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 226:4e660aa77eb7 916 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 917 }
Lightvalve 226:4e660aa77eb7 918 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 919
Lightvalve 225:c2cfe349f5c1 920 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 921 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 922 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 923
Lightvalve 226:4e660aa77eb7 924 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 925 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 226:4e660aa77eb7 926 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 927 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 225:c2cfe349f5c1 928 } else {
Lightvalve 225:c2cfe349f5c1 929 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 225:c2cfe349f5c1 930 }
Lightvalve 225:c2cfe349f5c1 931
Lightvalve 225:c2cfe349f5c1 932 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 933 DZ_index= DZ_index *2;
Lightvalve 225:c2cfe349f5c1 934 if(DZ_index >= 128) {
Lightvalve 226:4e660aa77eb7 935 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 936 DZ_NUM = 2;
Lightvalve 225:c2cfe349f5c1 937 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 225:c2cfe349f5c1 938 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 939 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 940 }
Lightvalve 225:c2cfe349f5c1 941 }
Lightvalve 225:c2cfe349f5c1 942 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 225:c2cfe349f5c1 943 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 944 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 945 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 946 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 947 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 948 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 226:4e660aa77eb7 949 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 226:4e660aa77eb7 950 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 226:4e660aa77eb7 951 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 226:4e660aa77eb7 952 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 953 }
Lightvalve 226:4e660aa77eb7 954 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 955
Lightvalve 225:c2cfe349f5c1 956 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 957 Vout.ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 958 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 959 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 960 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 961
Lightvalve 226:4e660aa77eb7 962 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 963 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 226:4e660aa77eb7 964 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 965 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 225:c2cfe349f5c1 966 } else {
Lightvalve 225:c2cfe349f5c1 967 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 225:c2cfe349f5c1 968 }
Lightvalve 225:c2cfe349f5c1 969
Lightvalve 225:c2cfe349f5c1 970 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 971 DZ_index= DZ_index * 2;
Lightvalve 225:c2cfe349f5c1 972 if(DZ_index >= 128) {
Lightvalve 226:4e660aa77eb7 973 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 974 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 225:c2cfe349f5c1 975 first_check = 0;
Lightvalve 225:c2cfe349f5c1 976 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 225:c2cfe349f5c1 977 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 225:c2cfe349f5c1 978
Lightvalve 225:c2cfe349f5c1 979 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 225:c2cfe349f5c1 980 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 225:c2cfe349f5c1 981 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 225:c2cfe349f5c1 982
Lightvalve 225:c2cfe349f5c1 983 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 984 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 985 }
Lightvalve 225:c2cfe349f5c1 986 }
Lightvalve 225:c2cfe349f5c1 987 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 225:c2cfe349f5c1 988 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 989 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 990 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 991 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 992 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 993 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 226:4e660aa77eb7 994 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 226:4e660aa77eb7 995 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 226:4e660aa77eb7 996 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 226:4e660aa77eb7 997 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 998 }
Lightvalve 226:4e660aa77eb7 999 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 1000
Lightvalve 225:c2cfe349f5c1 1001 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 1002 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 1003 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 1004
Lightvalve 226:4e660aa77eb7 1005 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 1006 DZ_DIRECTION = 1;
Lightvalve 226:4e660aa77eb7 1007 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 1008 DZ_DIRECTION = -1;
Lightvalve 225:c2cfe349f5c1 1009 } else {
Lightvalve 225:c2cfe349f5c1 1010 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 1011 }
Lightvalve 225:c2cfe349f5c1 1012 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 1013 DZ_index= DZ_index *2;
Lightvalve 225:c2cfe349f5c1 1014 if(DZ_index >= 128) {
Lightvalve 226:4e660aa77eb7 1015 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 1016 DZ_NUM = 2;
Lightvalve 225:c2cfe349f5c1 1017 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 225:c2cfe349f5c1 1018 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 1019 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 1020 }
Lightvalve 225:c2cfe349f5c1 1021 }
Lightvalve 225:c2cfe349f5c1 1022 } else {
Lightvalve 225:c2cfe349f5c1 1023 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 1024 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 1025 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 1026 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 1027 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 1028 valve_pos_raw.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 226:4e660aa77eb7 1029 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 226:4e660aa77eb7 1030 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 226:4e660aa77eb7 1031 } else if(valve_pos_raw.ref > VALVE_MAX_POS) {
Lightvalve 226:4e660aa77eb7 1032 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 1033 }
Lightvalve 226:4e660aa77eb7 1034 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 1035
Lightvalve 225:c2cfe349f5c1 1036 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 1037 Vout.ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 1038 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 1039 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 1040 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 1041
Lightvalve 226:4e660aa77eb7 1042 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 1043 DZ_DIRECTION = -1;
Lightvalve 226:4e660aa77eb7 1044 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 1045 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 1046 } else {
Lightvalve 225:c2cfe349f5c1 1047 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 1048 }
Lightvalve 225:c2cfe349f5c1 1049
Lightvalve 225:c2cfe349f5c1 1050 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 1051 DZ_index= DZ_index *2;
Lightvalve 225:c2cfe349f5c1 1052 if(DZ_index >= 128) {
Lightvalve 226:4e660aa77eb7 1053 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 1054 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 225:c2cfe349f5c1 1055 first_check = 0;
Lightvalve 225:c2cfe349f5c1 1056 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 225:c2cfe349f5c1 1057 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 225:c2cfe349f5c1 1058
Lightvalve 225:c2cfe349f5c1 1059 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 225:c2cfe349f5c1 1060 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 225:c2cfe349f5c1 1061 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 225:c2cfe349f5c1 1062
Lightvalve 225:c2cfe349f5c1 1063 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1064 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 1065 }
Lightvalve 225:c2cfe349f5c1 1066 }
Lightvalve 225:c2cfe349f5c1 1067 }
Lightvalve 225:c2cfe349f5c1 1068 }
Lightvalve 225:c2cfe349f5c1 1069 break;
Lightvalve 225:c2cfe349f5c1 1070 }
Lightvalve 226:4e660aa77eb7 1071
Lightvalve 225:c2cfe349f5c1 1072 case MODE_STEP_TEST: {
Lightvalve 225:c2cfe349f5c1 1073 float valve_pos_ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 1074 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 1075 valve_pos_ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 1076 } else {
Lightvalve 225:c2cfe349f5c1 1077 valve_pos_ref = 10000.0f;
Lightvalve 225:c2cfe349f5c1 1078 }
Lightvalve 225:c2cfe349f5c1 1079 if(valve_pos_ref >= 0) {
Lightvalve 231:30896263bd8b 1080 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER + (float)valve_pos_ref * ((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 225:c2cfe349f5c1 1081 } else {
Lightvalve 231:30896263bd8b 1082 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER - (float)valve_pos_ref * ((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 225:c2cfe349f5c1 1083 }
Lightvalve 228:fb5b57e3f157 1084
Lightvalve 226:4e660aa77eb7 1085 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 228:fb5b57e3f157 1086
Lightvalve 225:c2cfe349f5c1 1087 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 232:e9c5ec04e378 1088 if(valve_pos.sen >= (float) VALVE_ELECTRIC_CENTER) {
Lightvalve 231:30896263bd8b 1089 pos_array[cnt_step_test] = 10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1090 } else {
Lightvalve 231:30896263bd8b 1091 pos_array[cnt_step_test] = -10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1092 }
Lightvalve 225:c2cfe349f5c1 1093
Lightvalve 226:4e660aa77eb7 1094 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 225:c2cfe349f5c1 1095 cnt_step_test++;
Lightvalve 225:c2cfe349f5c1 1096 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 1097 buffer_data_size = cnt_step_test;
Lightvalve 225:c2cfe349f5c1 1098 cnt_step_test = 0;
Lightvalve 225:c2cfe349f5c1 1099 cnt_send_buffer = 0;
Lightvalve 225:c2cfe349f5c1 1100 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 225:c2cfe349f5c1 1101 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1102 }
Lightvalve 225:c2cfe349f5c1 1103
Lightvalve 225:c2cfe349f5c1 1104 break;
Lightvalve 225:c2cfe349f5c1 1105 }
Lightvalve 225:c2cfe349f5c1 1106 case MODE_SEND_OVER: {
Lightvalve 225:c2cfe349f5c1 1107 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1108 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1109 break;
Lightvalve 225:c2cfe349f5c1 1110 }
Lightvalve 226:4e660aa77eb7 1111
Lightvalve 225:c2cfe349f5c1 1112 case MODE_FREQ_TEST: {
Lightvalve 232:e9c5ec04e378 1113 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR2);
Lightvalve 225:c2cfe349f5c1 1114 if(valve_pos_ref >= 0) {
Lightvalve 231:30896263bd8b 1115 valve_pos_raw.ref = (float)VALVE_ELECTRIC_CENTER + (float)valve_pos_ref * ((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 225:c2cfe349f5c1 1116 } else {
Lightvalve 231:30896263bd8b 1117 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (float)valve_pos_ref * ((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 225:c2cfe349f5c1 1118 }
Lightvalve 228:fb5b57e3f157 1119
Lightvalve 226:4e660aa77eb7 1120 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 228:fb5b57e3f157 1121
Lightvalve 225:c2cfe349f5c1 1122 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 231:30896263bd8b 1123 // if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 232:e9c5ec04e378 1124 if(valve_pos.sen>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 231:30896263bd8b 1125 // pos_array[cnt_freq_test] = 10000.0f*((float)value - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 231:30896263bd8b 1126 pos_array[cnt_freq_test] = 10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1127 } else {
Lightvalve 231:30896263bd8b 1128 // pos_array[cnt_freq_test] = -10000.0f*((float)value - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 231:30896263bd8b 1129 pos_array[cnt_freq_test] = -10000.0f*((float)valve_pos.sen - (float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS - (float)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1130 }
Lightvalve 225:c2cfe349f5c1 1131
Lightvalve 226:4e660aa77eb7 1132 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 225:c2cfe349f5c1 1133 cnt_freq_test++;
Lightvalve 232:e9c5ec04e378 1134 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR2 > 2) {
Lightvalve 225:c2cfe349f5c1 1135 buffer_data_size = cnt_freq_test;
Lightvalve 225:c2cfe349f5c1 1136 cnt_freq_test = 0;
Lightvalve 225:c2cfe349f5c1 1137 cnt_send_buffer = 0;
Lightvalve 225:c2cfe349f5c1 1138 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 225:c2cfe349f5c1 1139 if (freq_test_valve_ref >= 400) {
Lightvalve 225:c2cfe349f5c1 1140 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1141 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1142 }
Lightvalve 225:c2cfe349f5c1 1143 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1144 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 225:c2cfe349f5c1 1145
Lightvalve 225:c2cfe349f5c1 1146 }
Lightvalve 225:c2cfe349f5c1 1147 break;
Lightvalve 225:c2cfe349f5c1 1148 }
Lightvalve 225:c2cfe349f5c1 1149
Lightvalve 55:f4819de54e7a 1150 default:
Lightvalve 55:f4819de54e7a 1151 break;
Lightvalve 55:f4819de54e7a 1152 }
Lightvalve 55:f4819de54e7a 1153
Lightvalve 55:f4819de54e7a 1154 // CONTROL MODE ------------------------------------------------------------
Lightvalve 55:f4819de54e7a 1155 switch (CONTROL_MODE) {
Lightvalve 55:f4819de54e7a 1156 case MODE_NO_ACT: {
Lightvalve 55:f4819de54e7a 1157 V_out = 0.0f;
Lightvalve 55:f4819de54e7a 1158 break;
Lightvalve 55:f4819de54e7a 1159 }
Lightvalve 55:f4819de54e7a 1160
Lightvalve 55:f4819de54e7a 1161 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 65:c2812cf26c38 1162 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 226:4e660aa77eb7 1163 VALVE_POS_CONTROL_DZ(valve_pos.ref);
Lightvalve 57:f308b1656d9c 1164 V_out = Vout.ref;
Lightvalve 65:c2812cf26c38 1165 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 227:8ac5c6162bc1 1166 I_REF = valve_pos.ref;
Lightvalve 164:645207e160ca 1167 } else {
jobuuu 218:2c3e5ecbe7e1 1168 I_REF = valve_pos.ref * 0.001f; // Unit : pulse >> mA
jobuuu 218:2c3e5ecbe7e1 1169 float I_MAX = 10.0f; // Max : 10mA
jobuuu 218:2c3e5ecbe7e1 1170 if (I_REF > I_MAX) {
jobuuu 218:2c3e5ecbe7e1 1171 I_REF = I_MAX;
jobuuu 218:2c3e5ecbe7e1 1172 } else if (I_REF < -I_MAX) {
jobuuu 218:2c3e5ecbe7e1 1173 I_REF = -I_MAX;
jobuuu 218:2c3e5ecbe7e1 1174 }
Lightvalve 55:f4819de54e7a 1175 }
Lightvalve 55:f4819de54e7a 1176 break;
Lightvalve 55:f4819de54e7a 1177 }
Lightvalve 55:f4819de54e7a 1178
Lightvalve 223:c831718303c9 1179 case MODE_JOINT_CONTROL: {
Lightvalve 55:f4819de54e7a 1180
jobuuu 218:2c3e5ecbe7e1 1181 float temp_vel_pos = 0.0f; // desired velocity for position control
Lightvalve 223:c831718303c9 1182 float temp_vel_FT = 0.0f; // desired velocity for force/torque control
Lightvalve 223:c831718303c9 1183 float temp_vel_ff = 0.0f; // desired velocity for feedforward control
jobuuu 218:2c3e5ecbe7e1 1184 float temp_vel = 0.0f;
Lightvalve 56:2eade98630e2 1185
jobuuu 218:2c3e5ecbe7e1 1186 float wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 223:c831718303c9 1187
jobuuu 218:2c3e5ecbe7e1 1188 pos.err = pos.ref - pos.sen; // Unit : mm or deg
jobuuu 218:2c3e5ecbe7e1 1189 vel.err = vel.ref - vel.sen; // Unit : mm/s or deg/s
Lightvalve 223:c831718303c9 1190
jobuuu 218:2c3e5ecbe7e1 1191 // position control command ===============================================================================================================================================
Lightvalve 226:4e660aa77eb7 1192 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 223:c831718303c9 1193 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err) * PI / 180.0f; // rad/s
Lightvalve 223:c831718303c9 1194 // L when P-gain = 100, f_cut = 10Hz
jobuuu 218:2c3e5ecbe7e1 1195 } else {
Lightvalve 223:c831718303c9 1196 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 223:c831718303c9 1197 // L when P-gain = 100, f_cut = 10Hz
jobuuu 218:2c3e5ecbe7e1 1198 }
Lightvalve 55:f4819de54e7a 1199
jobuuu 218:2c3e5ecbe7e1 1200 // torque control command ===============================================================================================================================================
jobuuu 218:2c3e5ecbe7e1 1201 float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
Lightvalve 226:4e660aa77eb7 1202 K_LPF = (1.0f-alpha_SpringDamper) * K_LPF + alpha_SpringDamper * K_SPRING;
Lightvalve 226:4e660aa77eb7 1203 D_LPF = (1.0f-alpha_SpringDamper) * D_LPF + alpha_SpringDamper * D_DAMPER;
Lightvalve 223:c831718303c9 1204
Lightvalve 226:4e660aa77eb7 1205 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 226:4e660aa77eb7 1206 float torq_ref_act = torq.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : Nm
jobuuu 218:2c3e5ecbe7e1 1207 torq.err = torq_ref_act - torq.sen;
jobuuu 218:2c3e5ecbe7e1 1208 torq.err_int += torq.err/((float)TMR_FREQ_5k);
Lightvalve 223:c831718303c9 1209 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * torq.err + I_GAIN_JOINT_TORQUE * torq.err_int); // Nm >> rad/s
Lightvalve 55:f4819de54e7a 1210 } else {
Lightvalve 226:4e660aa77eb7 1211 float force_ref_act = force.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : N
Lightvalve 227:8ac5c6162bc1 1212 //////////////////////////////////////////////////force_reference_filter////////////////////////////////////////////////////////////////////
Lightvalve 228:fb5b57e3f157 1213 // float alpha_torque_ref = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*1.0f));
Lightvalve 228:fb5b57e3f157 1214 // force_ref_filter = (1.0f-alpha_torque_ref) * force_ref_filter + alpha_torque_ref * force_ref_act;
Lightvalve 227:8ac5c6162bc1 1215 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
Lightvalve 228:fb5b57e3f157 1216 force.err = force_ref_act - force.sen;
jobuuu 218:2c3e5ecbe7e1 1217 force.err_int += force.err/((float)TMR_FREQ_5k);
Lightvalve 223:c831718303c9 1218 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * force.err + I_GAIN_JOINT_TORQUE * force.err_int); // N >> mm/s
jobuuu 218:2c3e5ecbe7e1 1219 }
Lightvalve 223:c831718303c9 1220
Lightvalve 223:c831718303c9 1221
Lightvalve 223:c831718303c9 1222 // velocity feedforward command ========================================================================================================================================
Lightvalve 226:4e660aa77eb7 1223 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
jobuuu 218:2c3e5ecbe7e1 1224 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref * PI / 180.0f; // rad/s
jobuuu 218:2c3e5ecbe7e1 1225 } else {
jobuuu 218:2c3e5ecbe7e1 1226 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref; // mm/s
jobuuu 218:2c3e5ecbe7e1 1227 }
Lightvalve 164:645207e160ca 1228
Lightvalve 223:c831718303c9 1229 // command integration =================================================================================================================================================
jobuuu 218:2c3e5ecbe7e1 1230 temp_vel = (1.0f - alpha_trans) * temp_vel_pos + alpha_trans * temp_vel_FT + temp_vel_ff; // Position Control + Torque Control + Velocity Feedforward
Lightvalve 225:c2cfe349f5c1 1231
Lightvalve 223:c831718303c9 1232 float Qact = 0.0f; // required flow rate
Lightvalve 225:c2cfe349f5c1 1233 float valve_pos_pulse = 0.0f;
jobuuu 218:2c3e5ecbe7e1 1234 if( temp_vel > 0.0f ) {
jobuuu 218:2c3e5ecbe7e1 1235 Qact = temp_vel * ((float)PISTON_AREA_A * 0.00006f); // mm^3/sec >> LPM
Lightvalve 225:c2cfe349f5c1 1236 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 225:c2cfe349f5c1 1237 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f))))/C_d;
Lightvalve 226:4e660aa77eb7 1238 // I_REF = Qact*2.0f;
Lightvalve 225:c2cfe349f5c1 1239 } else { // SW valve
Lightvalve 225:c2cfe349f5c1 1240 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)));
Lightvalve 225:c2cfe349f5c1 1241 }
jobuuu 218:2c3e5ecbe7e1 1242 } else {
jobuuu 218:2c3e5ecbe7e1 1243 Qact = temp_vel * ((float)PISTON_AREA_B * 0.00006f); // mm^3/sec >> LPM
Lightvalve 225:c2cfe349f5c1 1244 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 225:c2cfe349f5c1 1245 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f))))/C_d;
Lightvalve 226:4e660aa77eb7 1246 // I_REF = Qact*2.0f;
Lightvalve 225:c2cfe349f5c1 1247 } else { // SW valve
Lightvalve 225:c2cfe349f5c1 1248 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)));
Lightvalve 225:c2cfe349f5c1 1249 }
jobuuu 218:2c3e5ecbe7e1 1250 }
Lightvalve 225:c2cfe349f5c1 1251
Lightvalve 225:c2cfe349f5c1 1252 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 225:c2cfe349f5c1 1253
Lightvalve 225:c2cfe349f5c1 1254 float I_MAX = 10.0f; // Maximum Current : 10mA
Lightvalve 225:c2cfe349f5c1 1255 // Anti-windup for FT
Lightvalve 225:c2cfe349f5c1 1256 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 225:c2cfe349f5c1 1257 float Ka = 2.0f;
Lightvalve 225:c2cfe349f5c1 1258 if (I_REF > I_MAX) {
Lightvalve 225:c2cfe349f5c1 1259 float I_rem = I_REF - I_MAX;
Lightvalve 225:c2cfe349f5c1 1260 I_REF = I_MAX;
Lightvalve 225:c2cfe349f5c1 1261 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 225:c2cfe349f5c1 1262 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 225:c2cfe349f5c1 1263 } else if (I_REF < -I_MAX) {
Lightvalve 225:c2cfe349f5c1 1264 double I_rem = I_REF - (-I_MAX);
Lightvalve 225:c2cfe349f5c1 1265 I_REF = -I_MAX;
Lightvalve 225:c2cfe349f5c1 1266 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 225:c2cfe349f5c1 1267 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 225:c2cfe349f5c1 1268 }
Lightvalve 225:c2cfe349f5c1 1269 } else {
Lightvalve 225:c2cfe349f5c1 1270 if(I_REF > I_MAX) {
Lightvalve 225:c2cfe349f5c1 1271 I_REF = I_MAX;
Lightvalve 225:c2cfe349f5c1 1272 } else if (I_REF < -I_MAX) {
Lightvalve 225:c2cfe349f5c1 1273 I_REF = -I_MAX;
Lightvalve 225:c2cfe349f5c1 1274 }
Lightvalve 55:f4819de54e7a 1275 }
Lightvalve 225:c2cfe349f5c1 1276 } else { //SW valve
Lightvalve 225:c2cfe349f5c1 1277 float Valve_pos_MAX = 10000.0f; // Maximum Valve Pos : 10000
Lightvalve 225:c2cfe349f5c1 1278 // Anti-windup for FT
Lightvalve 225:c2cfe349f5c1 1279 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 225:c2cfe349f5c1 1280 float Ka = 2.0f;
Lightvalve 225:c2cfe349f5c1 1281 if (valve_pos_pulse > Valve_pos_MAX) {
Lightvalve 225:c2cfe349f5c1 1282 float valve_pos_rem = valve_pos_pulse - Valve_pos_MAX;
Lightvalve 225:c2cfe349f5c1 1283 valve_pos_pulse = Valve_pos_MAX;
Lightvalve 225:c2cfe349f5c1 1284 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 225:c2cfe349f5c1 1285 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 225:c2cfe349f5c1 1286 } else if (valve_pos_pulse < -Valve_pos_MAX) {
Lightvalve 225:c2cfe349f5c1 1287 double valve_pos_rem = valve_pos_pulse - (-Valve_pos_MAX);
Lightvalve 225:c2cfe349f5c1 1288 valve_pos_pulse = -Valve_pos_MAX;
Lightvalve 225:c2cfe349f5c1 1289 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 225:c2cfe349f5c1 1290 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 225:c2cfe349f5c1 1291 }
Lightvalve 225:c2cfe349f5c1 1292 } else {
Lightvalve 225:c2cfe349f5c1 1293 if(valve_pos_pulse > 10000.0f) {
Lightvalve 225:c2cfe349f5c1 1294 valve_pos_pulse = 10000.0f;
Lightvalve 225:c2cfe349f5c1 1295 } else if(valve_pos_pulse < -10000.0f) {
Lightvalve 225:c2cfe349f5c1 1296 valve_pos_pulse = -10000.0f;
Lightvalve 225:c2cfe349f5c1 1297 }
Lightvalve 223:c831718303c9 1298 }
Lightvalve 226:4e660aa77eb7 1299 // if (valve_pos_pulse >= 0) {
Lightvalve 226:4e660aa77eb7 1300 // valve_pos.ref = valve_pos_pulse/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 226:4e660aa77eb7 1301 // } else {
Lightvalve 226:4e660aa77eb7 1302 // valve_pos.ref = -valve_pos_pulse/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 226:4e660aa77eb7 1303 // }
Lightvalve 226:4e660aa77eb7 1304 VALVE_POS_CONTROL_DZ(valve_pos_pulse);
Lightvalve 225:c2cfe349f5c1 1305 V_out = Vout.ref;
Lightvalve 55:f4819de54e7a 1306 }
Lightvalve 55:f4819de54e7a 1307 break;
Lightvalve 55:f4819de54e7a 1308 }
Lightvalve 56:2eade98630e2 1309
Lightvalve 55:f4819de54e7a 1310 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 55:f4819de54e7a 1311 V_out = (float) Vout.ref;
Lightvalve 55:f4819de54e7a 1312 break;
Lightvalve 55:f4819de54e7a 1313 }
Lightvalve 164:645207e160ca 1314
Lightvalve 12:6f2531038ea4 1315 default:
Lightvalve 12:6f2531038ea4 1316 break;
Lightvalve 12:6f2531038ea4 1317 }
Lightvalve 14:8e7590227d22 1318
Lightvalve 55:f4819de54e7a 1319
Lightvalve 55:f4819de54e7a 1320 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 56:2eade98630e2 1321
Lightvalve 55:f4819de54e7a 1322 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1323 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 55:f4819de54e7a 1324 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1325 if (CURRENT_CONTROL_MODE) {
Lightvalve 65:c2812cf26c38 1326 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 55:f4819de54e7a 1327 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 55:f4819de54e7a 1328
jobuuu 218:2c3e5ecbe7e1 1329 if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
jobuuu 218:2c3e5ecbe7e1 1330 else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
jobuuu 218:2c3e5ecbe7e1 1331 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
Lightvalve 223:c831718303c9 1332
hyhoon 214:82a3ca333004 1333 I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve 65:c2812cf26c38 1334 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 55:f4819de54e7a 1335
Lightvalve 55:f4819de54e7a 1336 // Moog Valve Current Control Gain
Lightvalve 65:c2812cf26c38 1337 double R_model = 500.0f; // ohm
Lightvalve 55:f4819de54e7a 1338 double L_model = 1.2f;
Lightvalve 227:8ac5c6162bc1 1339 double w0 = 2.0f * 3.14f * 100.0f;
Lightvalve 55:f4819de54e7a 1340 double KP_I = 0.1f * L_model*w0;
Lightvalve 55:f4819de54e7a 1341 double KI_I = 0.1f * R_model*w0;
Lightvalve 55:f4819de54e7a 1342
Lightvalve 55:f4819de54e7a 1343 // KNR Valve Current Control Gain
Lightvalve 55:f4819de54e7a 1344 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 55:f4819de54e7a 1345 R_model = 163.0f; // ohm
Lightvalve 55:f4819de54e7a 1346 L_model = 1.0f;
Lightvalve 55:f4819de54e7a 1347 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 55:f4819de54e7a 1348 KP_I = 1.0f * L_model*w0;
Lightvalve 55:f4819de54e7a 1349 KI_I = 0.08f * R_model*w0;
Lightvalve 55:f4819de54e7a 1350 }
Lightvalve 55:f4819de54e7a 1351
Lightvalve 55:f4819de54e7a 1352 double FF_gain = 1.0f;
Lightvalve 65:c2812cf26c38 1353 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon 214:82a3ca333004 1354 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon 214:82a3ca333004 1355 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 65:c2812cf26c38 1356 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
hyhoon 214:82a3ca333004 1357 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 226:4e660aa77eb7 1358 double V_MAX = VALVE_VOLTAGE_LIMIT*1000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 55:f4819de54e7a 1359
Lightvalve 55:f4819de54e7a 1360 double Ka = 3.0f / KP_I;
Lightvalve 55:f4819de54e7a 1361 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 55:f4819de54e7a 1362 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 55:f4819de54e7a 1363 V_rem = Ka*V_rem;
Lightvalve 55:f4819de54e7a 1364 VALVE_PWM_RAW = V_MAX;
Lightvalve 222:bd00f763acb1 1365 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 222:bd00f763acb1 1366 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 55:f4819de54e7a 1367 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 55:f4819de54e7a 1368 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 55:f4819de54e7a 1369 V_rem = Ka*V_rem;
Lightvalve 55:f4819de54e7a 1370 VALVE_PWM_RAW = -V_MAX;
Lightvalve 222:bd00f763acb1 1371 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 222:bd00f763acb1 1372 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 55:f4819de54e7a 1373 }
Lightvalve 55:f4819de54e7a 1374 } else {
Lightvalve 55:f4819de54e7a 1375 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 55:f4819de54e7a 1376 }
Lightvalve 55:f4819de54e7a 1377
Lightvalve 55:f4819de54e7a 1378 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1379 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 55:f4819de54e7a 1380 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1381
Lightvalve 55:f4819de54e7a 1382 // Output Voltage Linearization
hyhoon 214:82a3ca333004 1383 double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve 65:c2812cf26c38 1384 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 55:f4819de54e7a 1385
Lightvalve 55:f4819de54e7a 1386 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 65:c2812cf26c38 1387 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 65:c2812cf26c38 1388 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 65:c2812cf26c38 1389 else V_out = (float) (CUR_PWM_lin);
Lightvalve 223:c831718303c9 1390
Lightvalve 164:645207e160ca 1391 } else { //////////////////////////sw valve
Lightvalve 212:985dba42f261 1392 // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve 133:79885a39c161 1393 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 133:79885a39c161 1394 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 133:79885a39c161 1395 else V_out = 0.0f;
Lightvalve 87:a7b45368ea0f 1396 }
Lightvalve 164:645207e160ca 1397
jobuuu 218:2c3e5ecbe7e1 1398 ////////////////////////////////////////////////////////////////////
jobuuu 218:2c3e5ecbe7e1 1399 /////////////////// PWM Command ///////////////////////////////////
jobuuu 218:2c3e5ecbe7e1 1400 ////////////////////////////////////////////////////////////////////
Lightvalve 164:645207e160ca 1401 if(DIR_VALVE<0) {
Lightvalve 65:c2812cf26c38 1402 V_out = -V_out;
Lightvalve 65:c2812cf26c38 1403 }
Lightvalve 164:645207e160ca 1404
Lightvalve 48:e7bcfc244d40 1405 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 48:e7bcfc244d40 1406 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 48:e7bcfc244d40 1407 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 48:e7bcfc244d40 1408 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1409 }
Lightvalve 212:985dba42f261 1410 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve 13:747daba9cf59 1411
Lightvalve 212:985dba42f261 1412 // Saturation of output voltage
Lightvalve 30:8d561f16383b 1413 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1414 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1415
Lightvalve 30:8d561f16383b 1416 if (PWM_out>0.0f) {
Lightvalve 232:e9c5ec04e378 1417 TIM1->CCR1 = (TMR1_COUNT)*(PWM_out);
Lightvalve 232:e9c5ec04e378 1418 TIM1->CCR2 = (TMR1_COUNT)*(0.0f);
jobuuu 1:e04e563be5ce 1419 } else {
Lightvalve 232:e9c5ec04e378 1420 TIM1->CCR1 = (TMR1_COUNT)*(0.0f);
Lightvalve 232:e9c5ec04e378 1421 TIM1->CCR2 = 0.0f -(TMR1_COUNT)*(PWM_out);
jobuuu 1:e04e563be5ce 1422 }
Lightvalve 13:747daba9cf59 1423
jobuuu 218:2c3e5ecbe7e1 1424 ////////////////////////////////////////////////////////////////////////////
jobuuu 218:2c3e5ecbe7e1 1425 ////////////////////// Data transmission through CAN //////////////////////
Lightvalve 223:c831718303c9 1426 ////////////////////////////////////////////////////////////////////////////
Lightvalve 233:071785d74ad0 1427
Lightvalve 231:30896263bd8b 1428 // if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 231:30896263bd8b 1429 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/500) == 0) {
hyhoon 214:82a3ca333004 1430 // Position, Velocity, and Torque (ID:1200)
Lightvalve 225:c2cfe349f5c1 1431
Lightvalve 233:071785d74ad0 1432 if (flag_data_request[0] == HIGH) {
Lightvalve 233:071785d74ad0 1433 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 233:071785d74ad0 1434 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 233:071785d74ad0 1435 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 233:071785d74ad0 1436 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 233:071785d74ad0 1437 }
Lightvalve 231:30896263bd8b 1438 }
hyhoon 214:82a3ca333004 1439
jobuuu 218:2c3e5ecbe7e1 1440 // Valve Position (ID:1300)
Lightvalve 54:6f50d9d3bfee 1441 if (flag_data_request[1] == HIGH) {
Lightvalve 231:30896263bd8b 1442 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 231:30896263bd8b 1443 CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
Lightvalve 231:30896263bd8b 1444 } else {
Lightvalve 233:071785d74ad0 1445 // CAN_TX_PWM((int16_t)(valve_pos.sen));
Lightvalve 233:071785d74ad0 1446 CAN_TX_PWM((int16_t)(nulling_test));
Lightvalve 231:30896263bd8b 1447 }
Lightvalve 52:647072f5307a 1448 }
Lightvalve 56:2eade98630e2 1449
Lightvalve 231:30896263bd8b 1450 // Others : SW (ID:1400)
Lightvalve 166:bfc1fd2629d8 1451 if (flag_data_request[2] == HIGH) {
Lightvalve 231:30896263bd8b 1452 CAN_TX_CURRENT((int16_t) valve_pos.sen, (int16_t) valve_pos.ref);
Lightvalve 52:647072f5307a 1453 }
Lightvalve 20:806196fda269 1454
Lightvalve 52:647072f5307a 1455 TMR2_COUNT_CAN_TX = 0;
Lightvalve 52:647072f5307a 1456 }
Lightvalve 52:647072f5307a 1457 TMR2_COUNT_CAN_TX++;
Lightvalve 20:806196fda269 1458 }
Lightvalve 228:fb5b57e3f157 1459 TIM2->SR = 0x0; // reset the status register
Lightvalve 231:30896263bd8b 1460 }