HydraulicControlBoard_Rainbow_v1_2_copy - 2011

Users » Lightvalve » Code » HydraulicControlBoard_Rainbow_v1_2_copy

Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy

2011

main.cpp@152:1f45755a3fc7, 2020-10-11 (annotated)

Committer:: Lightvalve
Date:: Sun Oct 11 09:56:20 2020 +0000
Revision:: 152:1f45755a3fc7
Parent:: 151:6430e3f23871
Child:: 153:27dcc28caf98

201011-3

Who changed what in which revision?

User	Revision	Line number	New contents of line
Lightvalve	152:1f45755a3fc7	1	//201011-3
GiJeongKim	0:51c43836c1d7	2	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	3	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	4	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	5	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	6	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	7	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	8	#include "setting.h"
Lightvalve	11:82d8768d7351	9	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	10	#include "stm32f4xx_flash.h"
Lightvalve	63:a2d7c63419c2	11	#include "FlashWriter.h"
Lightvalve	59:bc8c8270f0ab	12
Lightvalve	59:bc8c8270f0ab	13	using namespace std;
Lightvalve	59:bc8c8270f0ab	14	Timer t;
GiJeongKim	0:51c43836c1d7	15
Lightvalve	31:66738bfecec5	16	///191008////
Lightvalve	31:66738bfecec5	17
jobuuu	7:e9086c72bb22	18	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	19	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	20	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	21	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	22	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	23	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	24	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	25	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	26
Lightvalve	24:ef6e1092e9e6	27
jobuuu	7:e9086c72bb22	28	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	29	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	30	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	31
jobuuu	7:e9086c72bb22	32	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	33	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	34	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	35	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	36
jobuuu	7:e9086c72bb22	37	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	38	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	39	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	40	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	41	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	42	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	43	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	44
jobuuu	7:e9086c72bb22	45	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	46	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	47
jobuuu	7:e9086c72bb22	48	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	49	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	50	CANMessage msg;
Lightvalve	11:82d8768d7351	51	void onMsgReceived()
Lightvalve	11:82d8768d7351	52	{
Lightvalve	11:82d8768d7351	53	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	54	}
jobuuu	2:a1c0a37df760	55
jobuuu	7:e9086c72bb22	56	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	57	State pos;
jobuuu	7:e9086c72bb22	58	State vel;
jobuuu	7:e9086c72bb22	59	State Vout;
jobuuu	7:e9086c72bb22	60	State torq;
jobuuu	7:e9086c72bb22	61	State pres_A;
jobuuu	7:e9086c72bb22	62	State pres_B;
jobuuu	7:e9086c72bb22	63	State cur;
Lightvalve	14:8e7590227d22	64	State valve_pos;
Lightvalve	14:8e7590227d22	65
Lightvalve	14:8e7590227d22	66	State INIT_Vout;
Lightvalve	14:8e7590227d22	67	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	68	State INIT_Pos;
Lightvalve	14:8e7590227d22	69	State INIT_torq;
jobuuu	5:a4319f79457b	70
Lightvalve	19:23b7c1ad8683	71	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	72	extern int CID_RX_REF_POSITION;
Lightvalve	48:e7bcfc244d40	73	extern int CID_RX_REF_VALVE_POS;
Lightvalve	44:35fa6884d0c6	74	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	75
Lightvalve	19:23b7c1ad8683	76	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	77	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	78	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	79	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	80	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	81	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	82
Lightvalve	59:bc8c8270f0ab	83
Lightvalve	59:bc8c8270f0ab	84
Lightvalve	59:bc8c8270f0ab	85
jobuuu	7:e9086c72bb22	86	// =============================================================================
jobuuu	7:e9086c72bb22	87	// =============================================================================
jobuuu	7:e9086c72bb22	88	// =============================================================================
jobuuu	7:e9086c72bb22	89
Lightvalve	12:6f2531038ea4	90	/*******************************************************************************
Lightvalve	12:6f2531038ea4	91	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	92	******************************************************************************/
Lightvalve	13:747daba9cf59	93	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	94	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	95	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	96	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	97	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	98	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	99	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	100	};
Lightvalve	12:6f2531038ea4	101
Lightvalve	12:6f2531038ea4	102	/*******************************************************************************
Lightvalve	12:6f2531038ea4	103	* CONTROL MODE
Lightvalve	12:6f2531038ea4	104	******************************************************************************/
Lightvalve	13:747daba9cf59	105	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	106	//control mode
Lightvalve	12:6f2531038ea4	107	MODE_NO_ACT = 0, //0
Lightvalve	46:fdcb8bd86fd6	108	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	46:fdcb8bd86fd6	109	MODE_JOINT_CONTROL, //2
Lightvalve	49:3c630b5eba9f	110
Lightvalve	46:fdcb8bd86fd6	111	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	136:a843f32ced33	112	MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve	12:6f2531038ea4	113	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	114
Lightvalve	12:6f2531038ea4	115	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	116	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	117	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	120	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	121
Lightvalve	14:8e7590227d22	122	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	123	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	124	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	125
Lightvalve	12:6f2531038ea4	126	//utility
Lightvalve	12:6f2531038ea4	127	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	128	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	129	MODE_FIND_HOME, //22
Lightvalve	55:f4819de54e7a	130	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	131	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	132	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	133	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	134
Lightvalve	12:6f2531038ea4	135	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	136	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	137	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	55:f4819de54e7a	138	MODE_SYSTEM_ID, //33
Lightvalve	12:6f2531038ea4	139	};
Lightvalve	12:6f2531038ea4	140
Lightvalve	63:a2d7c63419c2	141	void SystemClock_Config(void)
Lightvalve	63:a2d7c63419c2	142	{
Lightvalve	63:a2d7c63419c2	143	RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve	63:a2d7c63419c2	144	RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve	63:a2d7c63419c2	145
Lightvalve	63:a2d7c63419c2	146	/** Configure the main internal regulator output voltage
Lightvalve	63:a2d7c63419c2	147	*/
Lightvalve	63:a2d7c63419c2	148	__HAL_RCC_PWR_CLK_ENABLE();
Lightvalve	63:a2d7c63419c2	149	__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve	63:a2d7c63419c2	150	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	63:a2d7c63419c2	151	*/
Lightvalve	63:a2d7c63419c2	152	RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve	63:a2d7c63419c2	153	RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve	63:a2d7c63419c2	154	RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve	63:a2d7c63419c2	155	RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve	63:a2d7c63419c2	156	RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve	63:a2d7c63419c2	157	RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve	63:a2d7c63419c2	158	RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve	63:a2d7c63419c2	159	RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve	63:a2d7c63419c2	160	RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve	63:a2d7c63419c2	161	RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve	63:a2d7c63419c2	162	if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve	63:a2d7c63419c2	163	{
Lightvalve	63:a2d7c63419c2	164	//Error_Handler();
Lightvalve	63:a2d7c63419c2	165	}
Lightvalve	63:a2d7c63419c2	166	/** Activate the Over-Drive mode
Lightvalve	63:a2d7c63419c2	167	*/
Lightvalve	63:a2d7c63419c2	168	if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve	63:a2d7c63419c2	169	{
Lightvalve	63:a2d7c63419c2	170	//Error_Handler();
Lightvalve	63:a2d7c63419c2	171	}
Lightvalve	63:a2d7c63419c2	172	/** Initializes the CPU, AHB and APB busses clocks
Lightvalve	63:a2d7c63419c2	173	*/
Lightvalve	63:a2d7c63419c2	174	RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK\|RCC_CLOCKTYPE_SYSCLK
Lightvalve	63:a2d7c63419c2	175	\|RCC_CLOCKTYPE_PCLK1\|RCC_CLOCKTYPE_PCLK2;
Lightvalve	63:a2d7c63419c2	176	RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve	63:a2d7c63419c2	177	RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve	63:a2d7c63419c2	178	RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve	63:a2d7c63419c2	179	RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve	63:a2d7c63419c2	180
Lightvalve	63:a2d7c63419c2	181	if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve	63:a2d7c63419c2	182	{
Lightvalve	63:a2d7c63419c2	183	//Error_Handler();
Lightvalve	63:a2d7c63419c2	184	}
Lightvalve	63:a2d7c63419c2	185	}
Lightvalve	63:a2d7c63419c2	186
Lightvalve	97:7bbcb3c0fb06	187	float u_past[num_array_u_past] = {0.0f};
Lightvalve	66:328e1be06f5d	188	float x_past[num_array_x_past] = {0.0f};
Lightvalve	83:a3b46118b5cd	189	float x_future[num_array_x_future] = {0.0f};
Lightvalve	66:328e1be06f5d	190	float f_past[num_array_f_past] = {0.0f};
Lightvalve	66:328e1be06f5d	191	float f_future[num_array_f_future] = {0.0f};
Lightvalve	64:a8e6799dbce3	192
Lightvalve	71:f80dc3970c99	193	float input_NN[num_input] = { 0.0f };
Lightvalve	63:a2d7c63419c2	194
Lightvalve	110:8dcb1600cb90	195	const float h1[num_input][16] = {
Lightvalve	151:6430e3f23871	196	{-0.44977179169654846f,0.3948260247707367f,0.12903714179992676f,1.43081533908844f,-0.6674360632896423f,0.4676388204097748f,-0.17472904920578003f,0.24950629472732544f,-1.3887760639190674f,-0.3396924138069153f,-0.23695291578769684f,0.3578493893146515f,-0.26791033148765564f,0.05157523602247238f,-0.2571594715118408f,-0.9520675539970398f},
Lightvalve	151:6430e3f23871	197	{-0.6527871489524841f,0.5235224366188049f,-0.3927857577800751f,0.5244521498680115f,-0.7207949161529541f,0.31605663895606995f,-0.4054011106491089f,0.17542748153209686f,-0.8479114770889282f,-0.11173147708177567f,-0.27345848083496094f,0.0016560390358790755f,0.2320159673690796f,-0.5408682823181152f,-0.20967772603034973f,-0.3848436176776886f},
Lightvalve	151:6430e3f23871	198	{-0.7848262786865234f,0.5918911695480347f,0.36391180753707886f,-0.6633606553077698f,-0.42500826716423035f,0.43542391061782837f,0.2872133255004883f,0.40289226174354553f,-0.36048445105552673f,-0.15625199675559998f,-0.34707531332969666f,-0.7878936529159546f,-0.005905864294618368f,-0.10855978727340698f,0.05590221285820007f,-0.15942269563674927f},
Lightvalve	151:6430e3f23871	199	{-0.6048231720924377f,0.24274709820747375f,0.39742106199264526f,-0.683943510055542f,-0.16210460662841797f,-0.16492298245429993f,-0.11584559082984924f,0.5424031019210815f,0.4515489637851715f,0.04131592437624931f,0.0970098152756691f,-0.9495071172714233f,-0.16767056286334991f,-0.09117209166288376f,-0.2961459457874298f,0.638372540473938f},
Lightvalve	151:6430e3f23871	200	{0.32700082659721375f,-0.062916100025177f,-0.0051451027393341064f,-0.6812958717346191f,0.38475701212882996f,-0.37981119751930237f,0.1294034719467163f,-0.28653666377067566f,0.8239156603813171f,0.20144544541835785f,0.3492494821548462f,-0.9118066430091858f,-0.07079752534627914f,0.4808136820793152f,-0.3865056037902832f,0.5329561233520508f},
Lightvalve	151:6430e3f23871	201	{1.467099666595459f,-1.6653549671173096f,0.21773302555084229f,0.5316344499588013f,1.5549033880233765f,-1.5732975006103516f,0.16514194011688232f,-1.5386000871658325f,0.7443991303443909f,0.9719954133033752f,-0.24597316980361938f,0.9738253355026245f,-0.2669322192668915f,1.5356324911117554f,-0.4132833778858185f,0.2991514503955841f},
Lightvalve	151:6430e3f23871	202	{0.1617552638053894f,0.04051293805241585f,-0.2501986622810364f,-0.8847792744636536f,-0.43541744351387024f,0.27110418677330017f,0.06014183163642883f,-0.26505136489868164f,0.41542136669158936f,-0.018214726820588112f,0.1484811156988144f,0.8086675405502319f,-0.17443329095840454f,0.3614708185195923f,-0.15618428587913513f,-0.7166149020195007f},
Lightvalve	151:6430e3f23871	203	{-0.21142926812171936f,-0.007899087853729725f,-0.26619744300842285f,-1.337540626525879f,-0.7465472221374512f,0.1029415875673294f,-0.17925891280174255f,-0.08739151805639267f,0.15512296557426453f,-0.09121953696012497f,0.10272832214832306f,-1.0196138620376587f,0.36979132890701294f,-0.0530819445848465f,0.04303058981895447f,0.21607784926891327f},
Lightvalve	151:6430e3f23871	204	{0.1552765816450119f,0.2528732419013977f,0.10248100757598877f,-0.7338165044784546f,-0.3478407561779022f,0.121219702064991f,-0.07246989011764526f,-0.4506078362464905f,-0.5250601768493652f,0.48282405734062195f,-0.29982221126556396f,0.7041445374488831f,0.22746257483959198f,0.32223498821258545f,-0.30555272102355957f,-0.13285504281520844f},
Lightvalve	151:6430e3f23871	205	{-0.05379708111286163f,-0.40932583808898926f,0.18462657928466797f,0.17004311084747314f,0.04318913072347641f,0.20598414540290833f,-0.2990540862083435f,-0.20673829317092896f,-0.46671581268310547f,-0.253440797328949f,-0.010777603834867477f,0.2800823152065277f,0.3705475926399231f,-0.057806868106126785f,0.3484981060028076f,-0.5112036466598511f},
Lightvalve	151:6430e3f23871	206	{0.35640189051628113f,-0.01821262761950493f,0.37182438373565674f,0.8101783394813538f,-0.12120635062456131f,0.05101041495800018f,-0.20339298248291016f,-0.030144330114126205f,-0.9193416833877563f,0.1326439529657364f,0.34590986371040344f,0.2722753882408142f,-0.06831599771976471f,0.056205954402685165f,0.26688337326049805f,-0.8217717409133911f},
Lightvalve	151:6430e3f23871	207	{-0.3712668716907501f,-0.5352869629859924f,-0.40320003032684326f,0.7486341595649719f,0.043638527393341064f,-0.07092852890491486f,0.1533789038658142f,0.3126770853996277f,-0.5642567276954651f,0.2918032705783844f,-0.4166058897972107f,0.6226259469985962f,0.14306935667991638f,0.07773298025131226f,0.10493969917297363f,-0.46420973539352417f},
Lightvalve	151:6430e3f23871	208	{-0.04521137475967407f,-0.32780611515045166f,0.19847965240478516f,0.9109510183334351f,0.2524767518043518f,0.12077868729829788f,-0.2404318004846573f,0.08125817030668259f,-0.4472121000289917f,-0.13385021686553955f,-0.11130273342132568f,0.09301190823316574f,0.09050361812114716f,0.11255117505788803f,-0.22268100082874298f,-0.6180054545402527f},
Lightvalve	151:6430e3f23871	209	{-0.1654268503189087f,-0.2047339826822281f,0.4127817749977112f,0.6474820375442505f,-0.32670924067497253f,-0.2599560022354126f,-0.32001304626464844f,-0.3465961515903473f,-0.27056780457496643f,-0.19953489303588867f,-0.19715598225593567f,0.019440047442913055f,-0.3142251670360565f,0.008192992769181728f,0.0479682981967926f,-0.06206239387392998f},
Lightvalve	151:6430e3f23871	210	{0.09528405219316483f,-0.04510411620140076f,0.20282304286956787f,0.7805988788604736f,0.22455720603466034f,-0.11059501767158508f,0.04202890396118164f,0.2753780782222748f,0.22769597172737122f,0.06734973192214966f,-0.2815541625022888f,-0.3869366943836212f,0.10210978984832764f,-0.05223644897341728f,0.0668090283870697f,0.020562348887324333f},
Lightvalve	151:6430e3f23871	211	{-0.1309649646282196f,-0.3696885108947754f,-0.40439701080322266f,0.604080080986023f,-0.2957131564617157f,0.03649333119392395f,-0.15568238496780396f,-0.022349195554852486f,0.23081500828266144f,0.025447389110922813f,-0.4759751260280609f,-0.21101711690425873f,-0.27259042859077454f,0.0041765933856368065f,-0.08245879411697388f,0.10532893985509872f},
Lightvalve	151:6430e3f23871	212	{-0.11047562211751938f,-0.2355261594057083f,0.16706281900405884f,0.8696852922439575f,-0.09686018526554108f,-0.28514382243156433f,-0.041414469480514526f,-0.08266289532184601f,0.08155593276023865f,0.282812237739563f,-0.35562533140182495f,0.17248709499835968f,0.11064065992832184f,0.4467257857322693f,0.29427415132522583f,-0.04208621755242348f},
Lightvalve	63:a2d7c63419c2	213	};
Lightvalve	63:a2d7c63419c2	214
Lightvalve	110:8dcb1600cb90	215	const float h2[16][16] = {
Lightvalve	151:6430e3f23871	216	{-1.7421740293502808f,0.1713748276233673f,-0.06966331601142883f,0.24026523530483246f,-0.21907491981983185f,1.5894222259521484f,0.19252325594425201f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,1.484993577003479f,-0.1661585122346878f,0.04025467112660408f,-1.1808747053146362f,-1.2809491157531738f,1.2215025424957275f},
Lightvalve	151:6430e3f23871	217	{0.857425332069397f,-0.7594625949859619f,0.057057321071624756f,-2.0878679752349854f,-0.35503754019737244f,-0.9062365293502808f,-0.4643614590167999f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.3635025918483734f,-0.617518961429596f,0.2550946772098541f,1.2984843254089355f,-0.9429086446762085f,-1.7327934503555298f},
Lightvalve	110:8dcb1600cb90	218	{-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve	151:6430e3f23871	219	{0.2607560455799103f,-0.792138934135437f,-0.2894435524940491f,1.1702380180358887f,0.08946844935417175f,0.5874935388565063f,-0.36271578073501587f,0.31858542561531067f,0.26211628317832947f,0.2953031361103058f,0.752203106880188f,0.017762484028935432f,-0.5025846362113953f,-0.5740835666656494f,0.5950527191162109f,-0.14014430344104767f},
Lightvalve	151:6430e3f23871	220	{-0.9972448348999023f,0.2791528105735779f,-0.25313520431518555f,-0.29517969489097595f,0.036378175020217896f,0.0928143560886383f,-0.2973571717739105f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-1.0648390054702759f,-0.8243517279624939f,-0.0033850334584712982f,0.026878701522946358f,-0.4269058406352997f,0.9963157773017883f},
Lightvalve	151:6430e3f23871	221	{0.7366743087768555f,0.6123780608177185f,-0.3519742488861084f,0.28013598918914795f,-0.3015052080154419f,-0.35189536213874817f,-0.6043102145195007f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.55316561460495f,-0.3961637020111084f,-0.29346275329589844f,-0.2561824917793274f,0.3981303870677948f,0.007490553893148899f},
Lightvalve	110:8dcb1600cb90	222	{-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve	151:6430e3f23871	223	{0.5576117634773254f,-0.9355349540710449f,0.33083590865135193f,-0.3920755088329315f,-0.14358049631118774f,-0.8502987623214722f,-0.12852808833122253f,-0.30961689352989197f,0.2600560486316681f,-0.37898191809654236f,-0.09120743721723557f,-0.6569194793701172f,-0.4350559711456299f,0.9276232123374939f,0.2482677549123764f,-0.04965251684188843f},
Lightvalve	151:6430e3f23871	224	{-0.11941440403461456f,0.37810465693473816f,-0.11379697918891907f,-0.6647520661354065f,0.041274964809417725f,-0.5056425333023071f,-0.1902914196252823f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,-0.32485315203666687f,-0.4081191122531891f,-0.4559963643550873f,-0.32923653721809387f,-0.6660771369934082f,-0.017045967280864716f},
Lightvalve	151:6430e3f23871	225	{0.04069463536143303f,0.3782881796360016f,-0.13502129912376404f,-0.11288852989673615f,0.12987366318702698f,0.09768243134021759f,0.04256229102611542f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.12023189663887024f,-0.04596751183271408f,0.2968336045742035f,-0.19284658133983612f,0.16387905180454254f,-0.09831118583679199f},
Lightvalve	151:6430e3f23871	226	{-0.27465108036994934f,0.008647247217595577f,0.0457797646522522f,-0.35257795453071594f,-0.03321319818496704f,-0.41501811146736145f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.19859719276428223f,0.3545852601528168f,-0.3647043704986572f,0.40349578857421875f,-0.41180309653282166f,-0.2683824300765991f},
Lightvalve	151:6430e3f23871	227	{0.04327499493956566f,0.10075994580984116f,0.3954955041408539f,0.19591128826141357f,0.0033026933670043945f,0.20049484074115753f,-0.21018977463245392f,-0.13112503290176392f,0.3487861454486847f,-0.32520344853401184f,-0.1362626850605011f,-0.5245667099952698f,-0.005255148746073246f,-1.0645811557769775f,0.3511461913585663f,0.4002055525779724f},
Lightvalve	151:6430e3f23871	228	{-0.2643706202507019f,-0.21335789561271667f,-0.15798500180244446f,0.3939317464828491f,-0.37393757700920105f,0.35832810401916504f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.11213085800409317f,-0.2837170362472534f,0.41839322447776794f,-0.01668616011738777f,-0.12655387818813324f,0.10970508307218552f},
Lightvalve	151:6430e3f23871	229	{-0.32822588086128235f,1.315905213356018f,-0.2018718123435974f,0.4196271002292633f,0.07545611262321472f,0.4944568872451782f,-0.3472641408443451f,-0.3016049265861511f,-0.24509364366531372f,0.19522181153297424f,0.7407870888710022f,-0.6814021468162537f,-0.24887967109680176f,-0.6205623149871826f,-0.43687203526496887f,-0.5705569982528687f},
Lightvalve	110:8dcb1600cb90	230	{0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve	151:6430e3f23871	231	{-0.099031463265419f,0.3659508526325226f,0.12081471085548401f,-0.4207998812198639f,0.29976895451545715f,-0.19216829538345337f,-0.12968924641609192f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-0.02444508485496044f,-0.19266875088214874f,-0.29692506790161133f,0.3329325020313263f,-0.2941545844078064f,-0.07771822810173035f},
Lightvalve	63:a2d7c63419c2	232	};
Lightvalve	63:a2d7c63419c2	233
Lightvalve	110:8dcb1600cb90	234	const float h3[16][16] = {
Lightvalve	151:6430e3f23871	235	{-0.36079341173171997f,-1.3084527254104614f,0.5434317588806152f,1.355085849761963f,-2.010239362716675f,-0.04856957867741585f,0.3332441747188568f,0.20815610885620117f,-0.5370637774467468f,0.04891335964202881f,-6.417731761932373f,0.4001283347606659f,1.3730638027191162f,2.3438804149627686f,-2.6908631324768066f,2.079465627670288f},
Lightvalve	151:6430e3f23871	236	{0.047732532024383545f,-0.38548144698143005f,-0.3783617913722992f,-3.7484841346740723f,-0.3077479600906372f,0.2624585032463074f,-0.3198729455471039f,-0.023093540221452713f,0.1612485647201538f,-0.3455143868923187f,0.08793120831251144f,-0.3994945287704468f,0.19052650034427643f,0.7763195633888245f,-0.1891421377658844f,-0.14869624376296997f},
Lightvalve	113:f41863b95e6f	237	{0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve	151:6430e3f23871	238	{-0.30922991037368774f,-1.1386542320251465f,0.15310965478420258f,-5.587754249572754f,0.9966161847114563f,0.4023297131061554f,0.20021501183509827f,-0.0648595467209816f,-0.6635656952857971f,-0.365601509809494f,0.5567904710769653f,0.25892922282218933f,-0.7228749990463257f,0.8913502097129822f,-0.07606134563684464f,-0.609064519405365f},
Lightvalve	128:26b416050376	239	{-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve	151:6430e3f23871	240	{-0.37449589371681213f,0.49094298481941223f,-0.7720645666122437f,-0.22311027348041534f,0.08316698670387268f,0.4534094035625458f,-0.18732719123363495f,0.08495388925075531f,-0.5803642272949219f,-0.2897982895374298f,0.2213614135980606f,0.035966310650110245f,-0.23094935715198517f,0.06322196125984192f,0.9918758273124695f,-0.6507288217544556f},
Lightvalve	151:6430e3f23871	241	{0.4110594093799591f,0.15068498253822327f,-0.17814822494983673f,0.3062925636768341f,0.2552657127380371f,-0.19869071245193481f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.34001025557518005f,-0.010343524627387524f,0.20681053400039673f,-0.17369183897972107f},
Lightvalve	151:6430e3f23871	242	{-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3860890567302704f,-0.017485486343503f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.0818515419960022f,-0.0003446042537689209f,-0.2742875814437866f,-0.33846423029899597f,0.12355650961399078f,0.005298197269439697f},
Lightvalve	113:f41863b95e6f	243	{0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve	148:a1aa20ae5332	244	{0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve	151:6430e3f23871	245	{0.15459725260734558f,0.6663669347763062f,0.15447743237018585f,-0.1494116336107254f,0.2162313312292099f,0.12406272441148758f,-0.08742031455039978f,-0.08877977728843689f,-0.22312171757221222f,-0.382569283246994f,1.0671898126602173f,-0.4559231698513031f,0.2793375253677368f,-0.43982332944869995f,0.6487590074539185f,0.5641830563545227f},
Lightvalve	151:6430e3f23871	246	{-0.408692330121994f,0.016371486708521843f,-0.015052502043545246f,0.0922636091709137f,-0.05427701026201248f,-0.07732619345188141f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4410666227340698f,-0.1862209588289261f,-0.058887600898742676f,0.26706549525260925f},
Lightvalve	151:6430e3f23871	247	{-0.2991822361946106f,0.30209603905677795f,-0.002302970737218857f,-0.05932474136352539f,0.16256305575370789f,0.1649704873561859f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.09261304140090942f,-0.21129697561264038f,0.27628564834594727f,-0.09113387018442154f},
Lightvalve	151:6430e3f23871	248	{-0.2675279378890991f,0.1802166849374771f,0.44620615243911743f,0.6806220412254333f,-0.752817690372467f,-0.5313717722892761f,-0.32875844836235046f,-0.4644158184528351f,-0.5614993572235107f,-0.670883297920227f,-0.1793588548898697f,-0.565235435962677f,0.4421580135822296f,-1.5255053043365479f,0.20377327501773834f,0.45882365107536316f},
Lightvalve	151:6430e3f23871	249	{-0.015470266342163086f,-0.8597638607025146f,-1.495126724243164f,1.5367354154586792f,-0.6179211139678955f,-0.15979065001010895f,0.05196094512939453f,-0.15702523291110992f,-0.7202073335647583f,-0.4808347225189209f,-0.9332324862480164f,-0.26201513409614563f,-0.312499463558197f,0.5990298390388489f,-0.6806394457817078f,-0.10784654319286346f},
Lightvalve	151:6430e3f23871	250	{0.1863725483417511f,0.17898286879062653f,-0.36986491084098816f,-1.683462142944336f,-1.82279372215271f,0.09500758349895477f,0.04860696196556091f,0.03369637951254845f,-0.10048359632492065f,-0.002528432058170438f,-4.221633434295654f,0.044136758893728256f,0.3565516173839569f,-0.03390869125723839f,0.5161722302436829f,0.16866546869277954f},
Lightvalve	64:a8e6799dbce3	251	};
Lightvalve	63:a2d7c63419c2	252
Lightvalve	151:6430e3f23871	253	const float hout[16] = { 0.45773375034332275f,0.13818097114562988f,-0.16457362473011017f,-0.3320411443710327f,0.8004054427146912f,0.2612323462963104f,0.0030125975608825684f,-0.0019201530376449227f,0.052954092621803284f,-0.0872618779540062f,0.5991276502609253f,-0.20054621994495392f,-0.13570716977119446f,0.24903325736522675f,0.3348066508769989f,-0.28674229979515076f };
Lightvalve	64:a8e6799dbce3	254
Lightvalve	151:6430e3f23871	255	const float b1[16] = { 0.8083637356758118f,0.980291485786438f,-1.7145336866378784f,-1.1434640884399414f,1.0065597295761108f,0.8613038063049316f,-0.058932315558195114f,0.9640621542930603f,0.9145992994308472f,-1.0353655815124512f,0.569646418094635f,0.6866811513900757f,-0.37313881516456604f,-0.8154466152191162f,-1.087764859199524f,1.2594672441482544f };
Lightvalve	85:471334725012	256
Lightvalve	151:6430e3f23871	257	const float b2[16] = { 0.09094645828008652f,-0.33251744508743286f,-1.4564176797866821f,-0.576445996761322f,-0.6939148902893066f,0.1210879310965538f,0.2700756788253784f,-0.38606661558151245f,-1.20063054561615f,-1.912178635597229f,-0.09240054339170456f,0.3205389678478241f,-0.16828812658786774f,1.7857381105422974f,0.1792900264263153f,1.1057268381118774f };
Lightvalve	63:a2d7c63419c2	258
Lightvalve	151:6430e3f23871	259	const float b3[16] = { -1.963319182395935f,-0.17125099897384644f,0.344965398311615f,0.003842052537947893f,-0.27836036682128906f,0.6057872176170349f,-0.45353031158447266f,-0.8039575219154358f,0.3511795103549957f,0.23721596598625183f,-0.24481096863746643f,-0.10274472832679749f,-0.5251089930534363f,-0.15920209884643555f,-1.0943777561187744f,-0.23026812076568604f };
Lightvalve	85:471334725012	260
Lightvalve	151:6430e3f23871	261	const float bout[1] = { -0.3709811866283417f };
Lightvalve	63:a2d7c63419c2	262
Lightvalve	64:a8e6799dbce3	263
Lightvalve	85:471334725012	264	float VALVE_POS_RAW_NN = 0.0f;
Lightvalve	85:471334725012	265	float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve	59:bc8c8270f0ab	266
GiJeongKim	0:51c43836c1d7	267	int main()
GiJeongKim	0:51c43836c1d7	268	{
Lightvalve	64:a8e6799dbce3	269
Lightvalve	63:a2d7c63419c2	270	HAL_Init();
Lightvalve	63:a2d7c63419c2	271	SystemClock_Config();
Lightvalve	63:a2d7c63419c2	272
jobuuu	6:df07d3491e3a	273	/*********************************
jobuuu	1:e04e563be5ce	274	*** Initialization
jobuuu	6:df07d3491e3a	275	*********************************/
Lightvalve	67:3995ffeaa786	276	LED = 0;
Lightvalve	59:bc8c8270f0ab	277	pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	278
GiJeongKim	0:51c43836c1d7	279	// i2c init
Lightvalve	8:5d2eebdad025	280	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	281	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	282	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	283	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	284	make_delay();
jobuuu	2:a1c0a37df760	285
GiJeongKim	0:51c43836c1d7	286	// // spi init
Lightvalve	16:903b5a4433b4	287	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	288	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	289	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	290	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	291	make_delay();
Lightvalve	21:e5f1a43ea6f9	292
Lightvalve	16:903b5a4433b4	293	//rom
Lightvalve	19:23b7c1ad8683	294	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	295	make_delay();
Lightvalve	13:747daba9cf59	296
GiJeongKim	0:51c43836c1d7	297	// ADC init
jobuuu	5:a4319f79457b	298	Init_ADC();
Lightvalve	11:82d8768d7351	299	make_delay();
jobuuu	2:a1c0a37df760	300
GiJeongKim	0:51c43836c1d7	301	// Pwm init
GiJeongKim	0:51c43836c1d7	302	Init_PWM();
GiJeongKim	0:51c43836c1d7	303	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	304	make_delay();
Lightvalve	13:747daba9cf59	305
Lightvalve	11:82d8768d7351	306	// TMR3 init
Lightvalve	11:82d8768d7351	307	Init_TMR3();
Lightvalve	11:82d8768d7351	308	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	309	make_delay();
Lightvalve	21:e5f1a43ea6f9	310
Lightvalve	49:3c630b5eba9f	311	// TMR2 init
Lightvalve	54:6f50d9d3bfee	312	// Init_TMR2();
Lightvalve	54:6f50d9d3bfee	313	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	54:6f50d9d3bfee	314	// make_delay();
Lightvalve	21:e5f1a43ea6f9	315
GiJeongKim	0:51c43836c1d7	316	// CAN
jobuuu	2:a1c0a37df760	317	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	318	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	319	make_delay();
Lightvalve	34:bb2ca2fc2a8e	320
Lightvalve	23:59218d4a256d	321	//Timer priority
Lightvalve	23:59218d4a256d	322	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	55:f4819de54e7a	323	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	52:647072f5307a	324	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	325
Lightvalve	23:59218d4a256d	326	//can.reset();
Lightvalve	19:23b7c1ad8683	327	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	328
GiJeongKim	0:51c43836c1d7	329	// spi _ enc
GiJeongKim	0:51c43836c1d7	330	spi_enc_set_init();
Lightvalve	11:82d8768d7351	331	make_delay();
Lightvalve	13:747daba9cf59	332
Lightvalve	11:82d8768d7351	333	//DAC init
Lightvalve	56:2eade98630e2	334	if (SENSING_MODE == 0) {
Lightvalve	56:2eade98630e2	335	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	56:2eade98630e2	336	dac_2 = 0.0f;
Lightvalve	56:2eade98630e2	337	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	338	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	56:2eade98630e2	339	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	56:2eade98630e2	340	}
Lightvalve	11:82d8768d7351	341	make_delay();
Lightvalve	13:747daba9cf59	342
Lightvalve	19:23b7c1ad8683	343	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	344	if(i%2==0)
Lightvalve	38:118df027d851	345	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	346	else
Lightvalve	38:118df027d851	347	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	348	}
Lightvalve	59:bc8c8270f0ab	349
Lightvalve	59:bc8c8270f0ab	350
jobuuu	6:df07d3491e3a	351	/************************************
jobuuu	1:e04e563be5ce	352	*** Program is operating!
jobuuu	6:df07d3491e3a	353	*************************************/
GiJeongKim	0:51c43836c1d7	354	while(1) {
Lightvalve	64:a8e6799dbce3	355	// if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve	64:a8e6799dbce3	356	//if(timer_while==1000) {
Lightvalve	63:a2d7c63419c2	357	//i2c
Lightvalve	64:a8e6799dbce3	358
Lightvalve	63:a2d7c63419c2	359	read_field(i2c_slave_addr1);
Lightvalve	63:a2d7c63419c2	360	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	63:a2d7c63419c2	361	// if(LED==1) {
Lightvalve	63:a2d7c63419c2	362	// LED=0;
Lightvalve	63:a2d7c63419c2	363	// } else
Lightvalve	63:a2d7c63419c2	364	// LED = 1;
Lightvalve	63:a2d7c63419c2	365	timer_while = 0;
Lightvalve	64:a8e6799dbce3	366	//}
Lightvalve	64:a8e6799dbce3	367
Lightvalve	64:a8e6799dbce3	368	timer_while ++;
Lightvalve	64:a8e6799dbce3	369
Lightvalve	85:471334725012	370	//LED = 0;
Lightvalve	85:471334725012	371
Lightvalve	71:f80dc3970c99	372	if(NN_Control_Flag == 0) {
Lightvalve	71:f80dc3970c99	373	LED = 0;
Lightvalve	71:f80dc3970c99	374	}
Lightvalve	64:a8e6799dbce3	375
Lightvalve	71:f80dc3970c99	376	else if(NN_Control_Flag == 1) {
Lightvalve	115:7141c0517b82	377
Lightvalve	145:b273ae9cec75	378	// int ind = 0;
Lightvalve	145:b273ae9cec75	379	// for(int i=0; i<numpast_u; i++) {
Lightvalve	145:b273ae9cec75	380	// input_NN[ind] = u_past[time_interval*i];
Lightvalve	145:b273ae9cec75	381	// ind = ind + 1;
Lightvalve	145:b273ae9cec75	382	// }
Lightvalve	145:b273ae9cec75	383	//
Lightvalve	145:b273ae9cec75	384	// for(int i=0; i<numpast_x; i++) {
Lightvalve	145:b273ae9cec75	385	// input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve	120:dcb3ce3056a0	386	// ind = ind + 1;
Lightvalve	120:dcb3ce3056a0	387	// }
Lightvalve	145:b273ae9cec75	388	// input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve	145:b273ae9cec75	389	// ind = ind + 1;
Lightvalve	145:b273ae9cec75	390	//
Lightvalve	145:b273ae9cec75	391	//// for(int i=0; i<numfuture_x; i++) {
Lightvalve	145:b273ae9cec75	392	//// input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve	145:b273ae9cec75	393	//// ind = ind + 1;
Lightvalve	145:b273ae9cec75	394	//// }
Lightvalve	145:b273ae9cec75	395	//
Lightvalve	145:b273ae9cec75	396	// for(int i=0; i<numpast_f; i++) {
Lightvalve	145:b273ae9cec75	397	// input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve	145:b273ae9cec75	398	// ind = ind + 1;
Lightvalve	145:b273ae9cec75	399	// }
Lightvalve	145:b273ae9cec75	400	// input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve	145:b273ae9cec75	401	// ind = ind + 1;
Lightvalve	145:b273ae9cec75	402	// for(int i=0; i<numfuture_f; i++) {
Lightvalve	145:b273ae9cec75	403	//// input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve	145:b273ae9cec75	404	// input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve	145:b273ae9cec75	405	// ind = ind + 1;
Lightvalve	145:b273ae9cec75	406	// }
Lightvalve	115:7141c0517b82	407
Lightvalve	110:8dcb1600cb90	408	float output1[16] = { 0.0f };
Lightvalve	110:8dcb1600cb90	409	float output2[16] = { 0.0f };
Lightvalve	110:8dcb1600cb90	410	float output3[16] = { 0.0f };
Lightvalve	64:a8e6799dbce3	411	float output = 0.0f;
Lightvalve	63:a2d7c63419c2	412
Lightvalve	110:8dcb1600cb90	413	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	66:328e1be06f5d	414	for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve	64:a8e6799dbce3	415	output1[index2] = output1[index2]
Lightvalve	71:f80dc3970c99	416	+ h1[index1][index2] * input_NN[index1];
Lightvalve	64:a8e6799dbce3	417	}
Lightvalve	64:a8e6799dbce3	418	output1[index2] = output1[index2] + b1[index2];
Lightvalve	64:a8e6799dbce3	419	if (output1[index2] < 0) {
Lightvalve	64:a8e6799dbce3	420	output1[index2] = 0;
Lightvalve	64:a8e6799dbce3	421	}
Lightvalve	64:a8e6799dbce3	422	}
Lightvalve	63:a2d7c63419c2	423
Lightvalve	110:8dcb1600cb90	424	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	110:8dcb1600cb90	425	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	64:a8e6799dbce3	426	output2[index2] = output2[index2]
Lightvalve	64:a8e6799dbce3	427	+ h2[index1][index2] * output1[index1];
Lightvalve	64:a8e6799dbce3	428	}
Lightvalve	64:a8e6799dbce3	429	output2[index2] = output2[index2] + b2[index2];
Lightvalve	64:a8e6799dbce3	430	if (output2[index2] < 0) {
Lightvalve	64:a8e6799dbce3	431	output2[index2] = 0;
Lightvalve	64:a8e6799dbce3	432	}
Lightvalve	64:a8e6799dbce3	433	}
Lightvalve	63:a2d7c63419c2	434
Lightvalve	110:8dcb1600cb90	435	for (int index2 = 0; index2 < 16; index2++) {
Lightvalve	110:8dcb1600cb90	436	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	64:a8e6799dbce3	437	output3[index2] = output3[index2]
Lightvalve	64:a8e6799dbce3	438	+ h3[index1][index2] * output2[index1];
Lightvalve	64:a8e6799dbce3	439	}
Lightvalve	64:a8e6799dbce3	440	output3[index2] = output3[index2] + b3[index2];
Lightvalve	64:a8e6799dbce3	441	if (output3[index2] < 0) {
Lightvalve	64:a8e6799dbce3	442	output3[index2] = 0;
Lightvalve	64:a8e6799dbce3	443	}
Lightvalve	63:a2d7c63419c2	444	}
Lightvalve	64:a8e6799dbce3	445
Lightvalve	64:a8e6799dbce3	446	for (int index2 = 0; index2 < 1; index2++) {
Lightvalve	110:8dcb1600cb90	447	for (int index1 = 0; index1 < 16; index1++) {
Lightvalve	71:f80dc3970c99	448	output = output + hout[index1] * output3[index1];
Lightvalve	64:a8e6799dbce3	449	}
Lightvalve	64:a8e6799dbce3	450	output = output + bout[index2];
Lightvalve	71:f80dc3970c99	451
Lightvalve	64:a8e6799dbce3	452	}
Lightvalve	71:f80dc3970c99	453	output = 1.0f/(1.0f+exp(-output));
Lightvalve	99:50159049a518	454	output_normalized = output;
Lightvalve	66:328e1be06f5d	455	output = output * 20000.0f - 10000.0f;
Lightvalve	99:50159049a518	456
Lightvalve	64:a8e6799dbce3	457	if(output>=0) {
Lightvalve	64:a8e6799dbce3	458	valve_pos.ref = output0.0001f((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	64:a8e6799dbce3	459	} else {
Lightvalve	64:a8e6799dbce3	460	valve_pos.ref = -output0.0001f((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve	63:a2d7c63419c2	461	}
Lightvalve	85:471334725012	462
Lightvalve	86:d6e591bece22	463	// // torque feedback
Lightvalve	86:d6e591bece22	464	// torq.err = f_past[0] - torq.sen; //[N]
Lightvalve	86:d6e591bece22	465	//// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	86:d6e591bece22	466	// torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve	86:d6e591bece22	467	//
Lightvalve	86:d6e591bece22	468	//
Lightvalve	86:d6e591bece22	469	// valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve	86:d6e591bece22	470	//
Lightvalve	86:d6e591bece22	471	// if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	86:d6e591bece22	472	// double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	86:d6e591bece22	473	// if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	86:d6e591bece22	474	// double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	86:d6e591bece22	475	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	86:d6e591bece22	476	// valve_pos.ref = VALVE_MAX_POS;
Lightvalve	86:d6e591bece22	477	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	86:d6e591bece22	478	// } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	86:d6e591bece22	479	// double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	86:d6e591bece22	480	// valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	86:d6e591bece22	481	// valve_pos.ref = VALVE_MIN_POS;
Lightvalve	86:d6e591bece22	482	// torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve	86:d6e591bece22	483	// }
Lightvalve	86:d6e591bece22	484	// }
Lightvalve	85:471334725012	485
Lightvalve	67:3995ffeaa786	486
Lightvalve	67:3995ffeaa786	487	if(LED==1) {
Lightvalve	67:3995ffeaa786	488	LED=0;
Lightvalve	67:3995ffeaa786	489	} else
Lightvalve	67:3995ffeaa786	490	LED = 1;
Lightvalve	67:3995ffeaa786	491
Lightvalve	63:a2d7c63419c2	492	}
Lightvalve	60:b5452adfb2cd	493
Lightvalve	85:471334725012	494	//LED = 1;
Lightvalve	67:3995ffeaa786	495
Lightvalve	64:a8e6799dbce3	496
GiJeongKim	0:51c43836c1d7	497	}
jobuuu	1:e04e563be5ce	498	}
jobuuu	1:e04e563be5ce	499
Lightvalve	33:91b17819ec30	500	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	501	{
Lightvalve	14:8e7590227d22	502
Lightvalve	13:747daba9cf59	503	int i = 0;
Lightvalve	47:889798ff9329	504	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	505	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	506	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	507	if(i==0) {
Lightvalve	49:3c630b5eba9f	508	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	55:f4819de54e7a	509	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	510	} else {
Lightvalve	55:f4819de54e7a	511	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	512	}
Lightvalve	14:8e7590227d22	513	} else {
Lightvalve	49:3c630b5eba9f	514	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	55:f4819de54e7a	515	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	516	} else {
Lightvalve	55:f4819de54e7a	517	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	518	}
Lightvalve	13:747daba9cf59	519	}
Lightvalve	13:747daba9cf59	520	break;
Lightvalve	13:747daba9cf59	521	}
Lightvalve	13:747daba9cf59	522	}
Lightvalve	14:8e7590227d22	523	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	524	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	525	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	526	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	527	}
Lightvalve	36:a46e63505ed8	528
Lightvalve	55:f4819de54e7a	529	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	530	return Ref_Valve_Pos_FF;
Lightvalve	49:3c630b5eba9f	531
Lightvalve	13:747daba9cf59	532	}
jobuuu	6:df07d3491e3a	533
jobuuu	6:df07d3491e3a	534
Lightvalve	30:8d561f16383b	535	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	536	{
Lightvalve	13:747daba9cf59	537	int i = 0;
Lightvalve	13:747daba9cf59	538
Lightvalve	38:118df027d851	539	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	540	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	541	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	542	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	543	}
Lightvalve	38:118df027d851	544
Lightvalve	87:a7b45368ea0f	545	valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve	13:747daba9cf59	546	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	547	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	548	valve_pos_err_sum += valve_pos_err;
Lightvalve	87:a7b45368ea0f	549	if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve	87:a7b45368ea0f	550	if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve	13:747daba9cf59	551
Lightvalve	13:747daba9cf59	552	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	553
Lightvalve	18:b8adf1582ea3	554	for(i=0; i<24; i++) {
Lightvalve	87:a7b45368ea0f	555	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	556	if(i==0) {
Lightvalve	47:889798ff9329	557	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	558	} else {
Lightvalve	47:889798ff9329	559	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	560	}
Lightvalve	13:747daba9cf59	561	break;
Lightvalve	13:747daba9cf59	562	}
Lightvalve	13:747daba9cf59	563	}
Lightvalve	57:f308b1656d9c	564	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	565	}
Lightvalve	13:747daba9cf59	566
Lightvalve	14:8e7590227d22	567	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	568	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	569	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	570	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	571	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	572	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	573	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	574	}; // duty
Lightvalve	65:c2812cf26c38	575	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	576	-150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve	65:c2812cf26c38	577	-115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve	65:c2812cf26c38	578	7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve	65:c2812cf26c38	579	105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve	65:c2812cf26c38	580	155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve	34:bb2ca2fc2a8e	581	}; // mV
Lightvalve	13:747daba9cf59	582
Lightvalve	30:8d561f16383b	583	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	584	{
Lightvalve	30:8d561f16383b	585	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	586	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	587	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	588	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	589	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	590	} else {
Lightvalve	13:747daba9cf59	591	int idx = 0;
Lightvalve	13:747daba9cf59	592	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	593	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	594	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	595	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	596	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	597	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	598	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	599	break;
Lightvalve	13:747daba9cf59	600	}
Lightvalve	13:747daba9cf59	601	}
Lightvalve	13:747daba9cf59	602	}
Lightvalve	14:8e7590227d22	603
Lightvalve	13:747daba9cf59	604	return PWM_duty;
Lightvalve	13:747daba9cf59	605	}
jobuuu	6:df07d3491e3a	606
Lightvalve	55:f4819de54e7a	607
Lightvalve	55:f4819de54e7a	608
Lightvalve	55:f4819de54e7a	609
Lightvalve	55:f4819de54e7a	610
jobuuu	2:a1c0a37df760	611	/*******************************************************************************
jobuuu	2:a1c0a37df760	612	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	613	*******************************************************************************/
jobuuu	2:a1c0a37df760	614
Lightvalve	50:b46bed7fec80	615	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	50:b46bed7fec80	616	float DT_TMR4 = (float)DT_20k;
Lightvalve	55:f4819de54e7a	617	long CNT_TMR4 = 0;
Lightvalve	55:f4819de54e7a	618	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	619	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	620	{
Lightvalve	19:23b7c1ad8683	621	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	622
Lightvalve	21:e5f1a43ea6f9	623	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	624	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	625	********************************************************/
Lightvalve	13:747daba9cf59	626
Lightvalve	55:f4819de54e7a	627	//Encoder
Lightvalve	55:f4819de54e7a	628	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	55:f4819de54e7a	629	ENC_UPDATE();
Lightvalve	55:f4819de54e7a	630	}
Lightvalve	59:bc8c8270f0ab	631
Lightvalve	59:bc8c8270f0ab	632	ADC1->CR2 \|= 0x40000000;
Lightvalve	56:2eade98630e2	633	if (SENSING_MODE == 0) {
Lightvalve	56:2eade98630e2	634	// Torque Sensing (0~210)bar =============================================
Lightvalve	56:2eade98630e2	635	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	56:2eade98630e2	636	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	56:2eade98630e2	637	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	65:c2812cf26c38	638	torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	65:c2812cf26c38	639
Lightvalve	65:c2812cf26c38	640
Lightvalve	65:c2812cf26c38	641	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	65:c2812cf26c38	642	//// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	65:c2812cf26c38	643	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	65:c2812cf26c38	644	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	65:c2812cf26c38	645	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve	65:c2812cf26c38	646
Lightvalve	17:1865016ca2e7	647
Lightvalve	56:2eade98630e2	648	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	649	// Pressure Sensing (0~210)bar =============================================
Lightvalve	56:2eade98630e2	650	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	56:2eade98630e2	651	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	56:2eade98630e2	652	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	56:2eade98630e2	653	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	56:2eade98630e2	654	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	56:2eade98630e2	655	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	56:2eade98630e2	656	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	49:3c630b5eba9f	657
Lightvalve	56:2eade98630e2	658	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	56:2eade98630e2	659	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve	56:2eade98630e2	660	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	56:2eade98630e2	661	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve	56:2eade98630e2	662	}
Lightvalve	56:2eade98630e2	663	}
Lightvalve	59:bc8c8270f0ab	664
Lightvalve	56:2eade98630e2	665	// //Pressure sensor A
Lightvalve	56:2eade98630e2	666	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	56:2eade98630e2	667	// //while((ADC1->SR & 0b10));
Lightvalve	56:2eade98630e2	668	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	56:2eade98630e2	669	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	56:2eade98630e2	670	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	56:2eade98630e2	671	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve	56:2eade98630e2	672	//
Lightvalve	56:2eade98630e2	673	//
Lightvalve	56:2eade98630e2	674	// //Pressure sensor B
Lightvalve	56:2eade98630e2	675	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	56:2eade98630e2	676	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	56:2eade98630e2	677	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	56:2eade98630e2	678	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	679
Lightvalve	17:1865016ca2e7	680
Lightvalve	21:e5f1a43ea6f9	681	//Current
Lightvalve	21:e5f1a43ea6f9	682	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	683	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	684	//while((ADC3->SR & 0b10));
Lightvalve	50:b46bed7fec80	685	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	686	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	687	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	688	//cur.sen = raw_cur;
Lightvalve	56:2eade98630e2	689
Lightvalve	55:f4819de54e7a	690	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	691	}
Lightvalve	11:82d8768d7351	692	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	693	}
Lightvalve	19:23b7c1ad8683	694
Lightvalve	19:23b7c1ad8683	695
Lightvalve	18:b8adf1582ea3	696	int j =0;
Lightvalve	52:647072f5307a	697	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	47:889798ff9329	698	float DT_TMR3 = (float)DT_5k;
Lightvalve	44:35fa6884d0c6	699	int cnt_trans = 0;
Lightvalve	47:889798ff9329	700	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	55:f4819de54e7a	701	int can_rest =0;
Lightvalve	47:889798ff9329	702
Lightvalve	11:82d8768d7351	703	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	704	{
Lightvalve	19:23b7c1ad8683	705	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	55:f4819de54e7a	706
Lightvalve	55:f4819de54e7a	707	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	55:f4819de54e7a	708	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	55:f4819de54e7a	709	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	55:f4819de54e7a	710	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	55:f4819de54e7a	711	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	55:f4819de54e7a	712	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	55:f4819de54e7a	713	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	55:f4819de54e7a	714	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	55:f4819de54e7a	715	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	55:f4819de54e7a	716	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	55:f4819de54e7a	717	}
Lightvalve	49:3c630b5eba9f	718
Lightvalve	49:3c630b5eba9f	719	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	47:889798ff9329	720	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	44:35fa6884d0c6	721	cnt_trans++;
Lightvalve	45:2694daea349b	722	torq.err_sum = 0;
Lightvalve	47:889798ff9329	723	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	44:35fa6884d0c6	724	MODE_POS_FT_TRANS = 2;
Lightvalve	49:3c630b5eba9f	725	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	47:889798ff9329	726	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	44:35fa6884d0c6	727	cnt_trans++;
Lightvalve	45:2694daea349b	728	torq.err_sum = 0;
Lightvalve	47:889798ff9329	729	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	44:35fa6884d0c6	730	MODE_POS_FT_TRANS = 0;
Lightvalve	49:3c630b5eba9f	731	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	56:2eade98630e2	732	alpha_trans = 1.0f;
Lightvalve	44:35fa6884d0c6	733	cnt_trans = 0;
Lightvalve	49:3c630b5eba9f	734	} else {
Lightvalve	56:2eade98630e2	735	alpha_trans = 0.0f;
Lightvalve	44:35fa6884d0c6	736	cnt_trans = 0;
Lightvalve	44:35fa6884d0c6	737	}
Lightvalve	44:35fa6884d0c6	738
Lightvalve	49:3c630b5eba9f	739
Lightvalve	55:f4819de54e7a	740	int UTILITY_MODE = 0;
Lightvalve	55:f4819de54e7a	741	int CONTROL_MODE = 0;
Lightvalve	56:2eade98630e2	742
Lightvalve	55:f4819de54e7a	743	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	55:f4819de54e7a	744	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	55:f4819de54e7a	745	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	55:f4819de54e7a	746	} else {
Lightvalve	55:f4819de54e7a	747	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	55:f4819de54e7a	748	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	55:f4819de54e7a	749	}
Lightvalve	54:6f50d9d3bfee	750
Lightvalve	54:6f50d9d3bfee	751
Lightvalve	54:6f50d9d3bfee	752
Lightvalve	55:f4819de54e7a	753	// UTILITY MODE ------------------------------------------------------------
Lightvalve	54:6f50d9d3bfee	754
Lightvalve	55:f4819de54e7a	755	switch (UTILITY_MODE) {
Lightvalve	55:f4819de54e7a	756	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	757	break;
Lightvalve	13:747daba9cf59	758	}
Lightvalve	14:8e7590227d22	759
Lightvalve	14:8e7590227d22	760	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	761	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	762	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	763	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	764
Lightvalve	14:8e7590227d22	765	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	766	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	767	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	768
Lightvalve	82:c355d3e52bf1	769	TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	770
Lightvalve	30:8d561f16383b	771	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	57:f308b1656d9c	772	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	49:3c630b5eba9f	773
Lightvalve	16:903b5a4433b4	774	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	775	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	776	}
Lightvalve	13:747daba9cf59	777	} else {
Lightvalve	56:2eade98630e2	778	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	779	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	780	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	781	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	782
Lightvalve	16:903b5a4433b4	783	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	784
Lightvalve	30:8d561f16383b	785	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	786
Lightvalve	13:747daba9cf59	787	}
Lightvalve	14:8e7590227d22	788	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	789	break;
Lightvalve	19:23b7c1ad8683	790	}
Lightvalve	14:8e7590227d22	791
Lightvalve	49:3c630b5eba9f	792	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	49:3c630b5eba9f	793	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	49:3c630b5eba9f	794	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	49:3c630b5eba9f	795	// else temp_time = 0;
Lightvalve	49:3c630b5eba9f	796	// }
Lightvalve	49:3c630b5eba9f	797	// if (need_enc_init) {
Lightvalve	49:3c630b5eba9f	798	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	799	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	800	// pos_plus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	801	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	802	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	803	// pos_minus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	804	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	49:3c630b5eba9f	805	// temp_time = TMR_FREQ_5k;
Lightvalve	49:3c630b5eba9f	806	// }
Lightvalve	49:3c630b5eba9f	807	//
Lightvalve	49:3c630b5eba9f	808	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	809	// V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	49:3c630b5eba9f	810	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	49:3c630b5eba9f	811	//
Lightvalve	49:3c630b5eba9f	812	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	49:3c630b5eba9f	813	// V_out = 0;
Lightvalve	49:3c630b5eba9f	814	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	49:3c630b5eba9f	815	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	816	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	49:3c630b5eba9f	817	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	49:3c630b5eba9f	818	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	49:3c630b5eba9f	819	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	49:3c630b5eba9f	820	// CUR_VELOCITY_sum = 0;
Lightvalve	49:3c630b5eba9f	821	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	822	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	49:3c630b5eba9f	823	//
Lightvalve	49:3c630b5eba9f	824	// // Position of Dead Zone
Lightvalve	49:3c630b5eba9f	825	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	49:3c630b5eba9f	826	// // \| / \| / \|/
Lightvalve	49:3c630b5eba9f	827	// // \| ______/ ___\|___/ ______/\|
Lightvalve	49:3c630b5eba9f	828	// // \|/ / \| / \|
Lightvalve	49:3c630b5eba9f	829	// // /\| / \| / \|
Lightvalve	49:3c630b5eba9f	830	// // 0V 0V 0V
Lightvalve	49:3c630b5eba9f	831	//
Lightvalve	49:3c630b5eba9f	832	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	49:3c630b5eba9f	833	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	49:3c630b5eba9f	834	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	49:3c630b5eba9f	835	// } else {
Lightvalve	49:3c630b5eba9f	836	// V_out -= DZ_dir;
Lightvalve	49:3c630b5eba9f	837	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	49:3c630b5eba9f	838	// CUR_VELOCITY_sum = 0;
Lightvalve	49:3c630b5eba9f	839	// }
Lightvalve	49:3c630b5eba9f	840	// if (DZ_temp_cnt == 5) {
Lightvalve	49:3c630b5eba9f	841	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	49:3c630b5eba9f	842	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	49:3c630b5eba9f	843	// DZ_dir = -DZ_dir;
Lightvalve	49:3c630b5eba9f	844	// DZ_temp_cnt = 0;
Lightvalve	49:3c630b5eba9f	845	// DZ_temp_cnt2++;
Lightvalve	49:3c630b5eba9f	846	// }
Lightvalve	49:3c630b5eba9f	847	// } else {
Lightvalve	49:3c630b5eba9f	848	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	49:3c630b5eba9f	849	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	49:3c630b5eba9f	850	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	49:3c630b5eba9f	851	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	852	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	853	// }
Lightvalve	49:3c630b5eba9f	854	// V_out = 0;
Lightvalve	49:3c630b5eba9f	855	//
Lightvalve	49:3c630b5eba9f	856	// ROM_RESET_DATA();
Lightvalve	49:3c630b5eba9f	857	//
Lightvalve	49:3c630b5eba9f	858	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	49:3c630b5eba9f	859	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	49:3c630b5eba9f	860	//
Lightvalve	49:3c630b5eba9f	861	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	862	// DZ_temp_cnt2 = 0;
Lightvalve	49:3c630b5eba9f	863	// }
Lightvalve	49:3c630b5eba9f	864	// }
Lightvalve	49:3c630b5eba9f	865	// TMR3_COUNT_DEADZONE++;
Lightvalve	49:3c630b5eba9f	866	// break;
Lightvalve	49:3c630b5eba9f	867	// }
Lightvalve	14:8e7590227d22	868
Lightvalve	14:8e7590227d22	869	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	870	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	871	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	872	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	873	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	57:f308b1656d9c	874	pos.ref = pos.sen;
Lightvalve	57:f308b1656d9c	875	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	876	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	877	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	65:c2812cf26c38	878	int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve	29:69f3f5445d6d	879	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	880	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	881	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	882	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	883	}
Lightvalve	29:69f3f5445d6d	884	cnt_findhome++;
Lightvalve	14:8e7590227d22	885
Lightvalve	29:69f3f5445d6d	886	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	887	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	888	} else {
Lightvalve	29:69f3f5445d6d	889	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	890	}
Lightvalve	19:23b7c1ad8683	891
Lightvalve	55:f4819de54e7a	892	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	893	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	65:c2812cf26c38	894	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve	65:c2812cf26c38	895	else pos.ref = pos.ref - 12.0f;
Lightvalve	59:bc8c8270f0ab	896
Lightvalve	57:f308b1656d9c	897	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	57:f308b1656d9c	898	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	57:f308b1656d9c	899	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	57:f308b1656d9c	900	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	57:f308b1656d9c	901	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:bc8c8270f0ab	902
Lightvalve	57:f308b1656d9c	903	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	57:f308b1656d9c	904	alpha_trans = 0.0f;
Lightvalve	59:bc8c8270f0ab	905
Lightvalve	34:bb2ca2fc2a8e	906
Lightvalve	29:69f3f5445d6d	907	} else {
Lightvalve	29:69f3f5445d6d	908	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	65:c2812cf26c38	909	// ENC_SET_ZERO();
Lightvalve	29:69f3f5445d6d	910	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	911	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	912	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	913	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	914	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	915	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	916	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	917	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	918	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	65:c2812cf26c38	919
Lightvalve	65:c2812cf26c38	920
Lightvalve	65:c2812cf26c38	921	cnt_findhome = 0;
Lightvalve	65:c2812cf26c38	922	pos.ref = 0.0f;
Lightvalve	65:c2812cf26c38	923	vel.ref = 0.0f;
Lightvalve	65:c2812cf26c38	924	pos.ref_home_pos = 0.0f;
Lightvalve	65:c2812cf26c38	925	vel.ref_home_pos = 0.0f;
Lightvalve	65:c2812cf26c38	926	//FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	65:c2812cf26c38	927	//CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	65:c2812cf26c38	928
Lightvalve	65:c2812cf26c38	929
Lightvalve	29:69f3f5445d6d	930	}
Lightvalve	29:69f3f5445d6d	931	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	932	int T_move = 2*TMR_FREQ_5k;
Lightvalve	57:f308b1656d9c	933	pos.ref = (0.0f - (float)INIT_REF_POS)0.5f(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve	65:c2812cf26c38	934	//pos.ref = 0.0f;
Lightvalve	57:f308b1656d9c	935	vel.ref = 0.0f;
Lightvalve	65:c2812cf26c38	936
Lightvalve	29:69f3f5445d6d	937	// input for position control
Lightvalve	65:c2812cf26c38	938
Lightvalve	65:c2812cf26c38	939	// CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	65:c2812cf26c38	940	alpha_trans = 0.0f;
Lightvalve	59:bc8c8270f0ab	941
Lightvalve	65:c2812cf26c38	942	double torq_ref = 0.0f;
Lightvalve	65:c2812cf26c38	943	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	65:c2812cf26c38	944	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	65:c2812cf26c38	945	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	65:c2812cf26c38	946
Lightvalve	65:c2812cf26c38	947	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	65:c2812cf26c38	948
Lightvalve	65:c2812cf26c38	949	double I_REF_POS = 0.0f;
Lightvalve	65:c2812cf26c38	950	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	65:c2812cf26c38	951	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	65:c2812cf26c38	952
Lightvalve	65:c2812cf26c38	953	double temp_vel_pos = 0.0f;
Lightvalve	65:c2812cf26c38	954	double temp_vel_torq = 0.0f;
Lightvalve	65:c2812cf26c38	955	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	65:c2812cf26c38	956
Lightvalve	67:3995ffeaa786	957	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	65:c2812cf26c38	958	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s
Lightvalve	65:c2812cf26c38	959	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:3995ffeaa786	960	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	65:c2812cf26c38	961	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	65:c2812cf26c38	962	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	65:c2812cf26c38	963	}
Lightvalve	65:c2812cf26c38	964	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	65:c2812cf26c38	965	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	65:c2812cf26c38	966
Lightvalve	65:c2812cf26c38	967	I_REF = I_REF_POS;
Lightvalve	65:c2812cf26c38	968
Lightvalve	65:c2812cf26c38	969
Lightvalve	65:c2812cf26c38	970
Lightvalve	65:c2812cf26c38	971	} else {
Lightvalve	65:c2812cf26c38	972	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	65:c2812cf26c38	973	VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	65:c2812cf26c38	974
Lightvalve	65:c2812cf26c38	975	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	65:c2812cf26c38	976	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	65:c2812cf26c38	977	} else {
Lightvalve	65:c2812cf26c38	978	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	65:c2812cf26c38	979	}
Lightvalve	65:c2812cf26c38	980
Lightvalve	65:c2812cf26c38	981	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	65:c2812cf26c38	982
Lightvalve	65:c2812cf26c38	983	V_out = (float) Vout.ref;
Lightvalve	65:c2812cf26c38	984
Lightvalve	65:c2812cf26c38	985	}
Lightvalve	65:c2812cf26c38	986
Lightvalve	65:c2812cf26c38	987
Lightvalve	65:c2812cf26c38	988
Lightvalve	65:c2812cf26c38	989
Lightvalve	57:f308b1656d9c	990	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	57:f308b1656d9c	991	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	57:f308b1656d9c	992	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	57:f308b1656d9c	993	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	57:f308b1656d9c	994	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	995
Lightvalve	29:69f3f5445d6d	996	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	997	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	998	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	999	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	1000	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	1001	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	1002	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	1003	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	1004	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	55:f4819de54e7a	1005	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	1006	}
Lightvalve	13:747daba9cf59	1007	}
Lightvalve	19:23b7c1ad8683	1008
Lightvalve	13:747daba9cf59	1009	break;
Lightvalve	13:747daba9cf59	1010	}
Lightvalve	14:8e7590227d22	1011
Lightvalve	49:3c630b5eba9f	1012	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	49:3c630b5eba9f	1013	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	49:3c630b5eba9f	1014	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	49:3c630b5eba9f	1015	// else {
Lightvalve	49:3c630b5eba9f	1016	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1017	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	49:3c630b5eba9f	1018	// }
Lightvalve	49:3c630b5eba9f	1019	// }
Lightvalve	49:3c630b5eba9f	1020	// if (need_enc_init) {
Lightvalve	49:3c630b5eba9f	1021	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	1022	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1023	// pos_plus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	1024	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1025	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1026	// pos_minus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	1027	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1028	// need_enc_init = false;
Lightvalve	49:3c630b5eba9f	1029	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	49:3c630b5eba9f	1030	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	49:3c630b5eba9f	1031	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	49:3c630b5eba9f	1032	// }
Lightvalve	49:3c630b5eba9f	1033	// temp_time = TMR_FREQ_5k;
Lightvalve	49:3c630b5eba9f	1034	// }
Lightvalve	49:3c630b5eba9f	1035	// TMR3_COUNT_FLOWRATE++;
Lightvalve	49:3c630b5eba9f	1036	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	49:3c630b5eba9f	1037	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	49:3c630b5eba9f	1038	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	49:3c630b5eba9f	1039	// V_out = VALVE_VOLTAGE;
Lightvalve	49:3c630b5eba9f	1040	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	49:3c630b5eba9f	1041	// fl_temp_cnt++;
Lightvalve	49:3c630b5eba9f	1042	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	49:3c630b5eba9f	1043	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	49:3c630b5eba9f	1044	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	49:3c630b5eba9f	1045	// fl_temp_cnt2++;
Lightvalve	49:3c630b5eba9f	1046	// }
Lightvalve	49:3c630b5eba9f	1047	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	49:3c630b5eba9f	1048	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	49:3c630b5eba9f	1049	// V_out = VALVE_VOLTAGE;
Lightvalve	49:3c630b5eba9f	1050	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	49:3c630b5eba9f	1051	// fl_temp_cnt++;
Lightvalve	49:3c630b5eba9f	1052	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	49:3c630b5eba9f	1053	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	49:3c630b5eba9f	1054	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	49:3c630b5eba9f	1055	// fl_temp_cnt2++;
Lightvalve	49:3c630b5eba9f	1056	// }
Lightvalve	49:3c630b5eba9f	1057	// }
Lightvalve	49:3c630b5eba9f	1058	// if (fl_temp_cnt2 == 100) {
Lightvalve	49:3c630b5eba9f	1059	//
Lightvalve	49:3c630b5eba9f	1060	// ROM_RESET_DATA();
Lightvalve	49:3c630b5eba9f	1061	//
Lightvalve	49:3c630b5eba9f	1062	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	49:3c630b5eba9f	1063	// cur_vel_sum = 0;
Lightvalve	49:3c630b5eba9f	1064	// fl_temp_cnt = 0;
Lightvalve	49:3c630b5eba9f	1065	// fl_temp_cnt2 = 0;
Lightvalve	49:3c630b5eba9f	1066	// flag_flowrate++;
Lightvalve	49:3c630b5eba9f	1067	// }
Lightvalve	49:3c630b5eba9f	1068	// if (flag_flowrate == 10) {
Lightvalve	49:3c630b5eba9f	1069	// V_out = 0;
Lightvalve	49:3c630b5eba9f	1070	// flag_flowrate = 0;
Lightvalve	49:3c630b5eba9f	1071	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	49:3c630b5eba9f	1072	// valve_gain_repeat_cnt++;
Lightvalve	49:3c630b5eba9f	1073	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	49:3c630b5eba9f	1074	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	1075	// valve_gain_repeat_cnt = 0;
Lightvalve	49:3c630b5eba9f	1076	// }
Lightvalve	49:3c630b5eba9f	1077	//
Lightvalve	49:3c630b5eba9f	1078	// }
Lightvalve	49:3c630b5eba9f	1079	// break;
Lightvalve	49:3c630b5eba9f	1080	// }
Lightvalve	49:3c630b5eba9f	1081	//
Lightvalve	49:3c630b5eba9f	1082	// }
Lightvalve	14:8e7590227d22	1083	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	1084	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	1085	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	1086	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	1087	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	1088
Lightvalve	14:8e7590227d22	1089	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	1090	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	1091	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	1092	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1093	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	1094
Lightvalve	38:118df027d851	1095	float VREF_NullingGain = 0.0003f;
Lightvalve	56:2eade98630e2	1096	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	56:2eade98630e2	1097	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	1098
Lightvalve	30:8d561f16383b	1099	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1100	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	1101	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	1102	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	1103
Lightvalve	30:8d561f16383b	1104	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1105	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	1106	}
Lightvalve	13:747daba9cf59	1107	} else {
Lightvalve	55:f4819de54e7a	1108	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	1109	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	1110	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	1111	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	1112	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	1113	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	1114
Lightvalve	16:903b5a4433b4	1115	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	1116
Lightvalve	30:8d561f16383b	1117	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	1118	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	1119	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	1120	}
Lightvalve	14:8e7590227d22	1121	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	1122	break;
Lightvalve	13:747daba9cf59	1123	}
Lightvalve	14:8e7590227d22	1124
Lightvalve	49:3c630b5eba9f	1125	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	49:3c630b5eba9f	1126	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1127	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1128	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1129	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	49:3c630b5eba9f	1130	// }
Lightvalve	49:3c630b5eba9f	1131	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1132	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1133	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1134	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	49:3c630b5eba9f	1135	// }
Lightvalve	49:3c630b5eba9f	1136	// } else {
Lightvalve	49:3c630b5eba9f	1137	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	1138	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	49:3c630b5eba9f	1139	// V_out = 0;
Lightvalve	49:3c630b5eba9f	1140	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	49:3c630b5eba9f	1141	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	49:3c630b5eba9f	1142	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	49:3c630b5eba9f	1143	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	49:3c630b5eba9f	1144	// CUR_PRES_A_sum = 0;
Lightvalve	49:3c630b5eba9f	1145	// CUR_PRES_B_sum = 0;
Lightvalve	49:3c630b5eba9f	1146	// CUR_PRES_A_mean = 0;
Lightvalve	49:3c630b5eba9f	1147	// CUR_PRES_B_mean = 0;
Lightvalve	49:3c630b5eba9f	1148	//
Lightvalve	49:3c630b5eba9f	1149	// ROM_RESET_DATA();
Lightvalve	49:3c630b5eba9f	1150	//
Lightvalve	49:3c630b5eba9f	1151	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	49:3c630b5eba9f	1152	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	49:3c630b5eba9f	1153	// }
Lightvalve	49:3c630b5eba9f	1154	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	49:3c630b5eba9f	1155	// break;
Lightvalve	49:3c630b5eba9f	1156	// }
Lightvalve	19:23b7c1ad8683	1157
Lightvalve	49:3c630b5eba9f	1158	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	49:3c630b5eba9f	1159	// if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve	49:3c630b5eba9f	1160	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	49:3c630b5eba9f	1161	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1162	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	1163	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	49:3c630b5eba9f	1164	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	1165	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	49:3c630b5eba9f	1166	// V_out = 0.0f;
Lightvalve	49:3c630b5eba9f	1167	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	1168	// }
Lightvalve	49:3c630b5eba9f	1169	// break;
Lightvalve	49:3c630b5eba9f	1170	// }
Lightvalve	14:8e7590227d22	1171
Lightvalve	14:8e7590227d22	1172	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	57:f308b1656d9c	1173	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1174	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	1175
Lightvalve	14:8e7590227d22	1176	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	58:64181f1d3e60	1177	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	1178	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	57:f308b1656d9c	1179	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	1180	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	1181	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1182	data_num = 0;
Lightvalve	14:8e7590227d22	1183	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	1184	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1185	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	1186	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	57:f308b1656d9c	1187	Vout.ref = 0.0f;
Lightvalve	57:f308b1656d9c	1188	} else {
Lightvalve	13:747daba9cf59	1189	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	1190	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	1191	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	1192	}
Lightvalve	14:8e7590227d22	1193
Lightvalve	17:1865016ca2e7	1194	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	1195	int i;
Lightvalve	13:747daba9cf59	1196	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	1197	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	1198	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	1199	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1200	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1201	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	1202	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	1203	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	1204	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	1205	}
Lightvalve	13:747daba9cf59	1206	}
Lightvalve	57:f308b1656d9c	1207	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1208	ID_index = 0;
Lightvalve	55:f4819de54e7a	1209	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1210	}
Lightvalve	14:8e7590227d22	1211
Lightvalve	14:8e7590227d22	1212
Lightvalve	13:747daba9cf59	1213	break;
Lightvalve	13:747daba9cf59	1214	}
Lightvalve	14:8e7590227d22	1215
Lightvalve	14:8e7590227d22	1216	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	57:f308b1656d9c	1217	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1218	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	1219	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1220	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1221	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1222	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1223	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1224	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	1225	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1226	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1227	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1228	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1229	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	1230	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1231	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	1232	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1233	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	1234	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	1235	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	1236	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1237	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	1238	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	1239	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	1240	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	1241	data_num = 0;
Lightvalve	14:8e7590227d22	1242
Lightvalve	30:8d561f16383b	1243	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1244	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1245	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1246
Lightvalve	30:8d561f16383b	1247	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1248	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1249	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	1250
Lightvalve	30:8d561f16383b	1251	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1252	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	1253	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1254	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1255
Lightvalve	58:64181f1d3e60	1256	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	1257	DZ_case = 1;
Lightvalve	58:64181f1d3e60	1258	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	1259	DZ_case = -1;
Lightvalve	14:8e7590227d22	1260	} else {
Lightvalve	13:747daba9cf59	1261	DZ_case = 0;
Lightvalve	13:747daba9cf59	1262	}
Lightvalve	59:bc8c8270f0ab	1263
Lightvalve	58:64181f1d3e60	1264	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	49:3c630b5eba9f	1265
Lightvalve	13:747daba9cf59	1266	first_check = 1;
Lightvalve	13:747daba9cf59	1267	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1268	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1269	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	1270	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	1271	DZ_index = 1;
Lightvalve	14:8e7590227d22	1272
Lightvalve	13:747daba9cf59	1273	}
Lightvalve	19:23b7c1ad8683	1274	} else {
Lightvalve	14:8e7590227d22	1275	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	1276	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	1277	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	58:64181f1d3e60	1278	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	1279	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1280	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1281	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1282	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1283	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1284	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1285	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1286	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1287	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1288	}
Lightvalve	14:8e7590227d22	1289	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	1290
Lightvalve	30:8d561f16383b	1291	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1292	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1293	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1294
Lightvalve	14:8e7590227d22	1295	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1296	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1297	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1298	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1299	} else {
Lightvalve	13:747daba9cf59	1300	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	1301	}
Lightvalve	14:8e7590227d22	1302
Lightvalve	13:747daba9cf59	1303	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1304	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1305	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1306	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1307	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1308	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1309	DZ_index = 1;
Lightvalve	13:747daba9cf59	1310	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1311	}
Lightvalve	13:747daba9cf59	1312	}
Lightvalve	14:8e7590227d22	1313	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	1314	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	1315	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	58:64181f1d3e60	1316	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	1317	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1318	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1319	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1320	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	1321	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1322	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1323	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1324	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1325	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1326	}
Lightvalve	14:8e7590227d22	1327	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:bc8c8270f0ab	1328
Lightvalve	30:8d561f16383b	1329	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1330	Vout.ref = 0.0f;
Lightvalve	57:f308b1656d9c	1331	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1332	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1333	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1334
Lightvalve	14:8e7590227d22	1335	if((FINAL_POS - START_POS)>100) {
Lightvalve	58:64181f1d3e60	1336	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	1337	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	58:64181f1d3e60	1338	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1339	} else {
Lightvalve	58:64181f1d3e60	1340	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1341	}
Lightvalve	14:8e7590227d22	1342
Lightvalve	13:747daba9cf59	1343	VALVE_DZ_timer = 0;
Lightvalve	58:64181f1d3e60	1344	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1345	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1346	SECOND_DZ = valve_pos.ref;
Lightvalve	55:f4819de54e7a	1347	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1348	first_check = 0;
Lightvalve	33:91b17819ec30	1349	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1350	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1351
Lightvalve	16:903b5a4433b4	1352	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1353
Lightvalve	58:64181f1d3e60	1354	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1355	DZ_index = 1;
Lightvalve	13:747daba9cf59	1356	}
Lightvalve	13:747daba9cf59	1357	}
Lightvalve	14:8e7590227d22	1358	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1359	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	1360	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	58:64181f1d3e60	1361	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	1362	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1363	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1364	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1365	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1366	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1367	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1368	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1369	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1370	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1371	}
Lightvalve	14:8e7590227d22	1372	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:bc8c8270f0ab	1373
Lightvalve	30:8d561f16383b	1374	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1375	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1376	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1377
Lightvalve	14:8e7590227d22	1378	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1379	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1380	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1381	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1382	} else {
Lightvalve	13:747daba9cf59	1383	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1384	}
Lightvalve	13:747daba9cf59	1385	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1386	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1387	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1388	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1389	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1390	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1391	DZ_index = 1;
Lightvalve	13:747daba9cf59	1392	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1393	}
Lightvalve	13:747daba9cf59	1394	}
Lightvalve	14:8e7590227d22	1395	} else {
Lightvalve	30:8d561f16383b	1396	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	1397	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	58:64181f1d3e60	1398	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	1399	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1400	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1401	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1402	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1403	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1404	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1405	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1406	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1407	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1408	}
Lightvalve	14:8e7590227d22	1409	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	1410
Lightvalve	30:8d561f16383b	1411	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1412	Vout.ref = 0.0f;
Lightvalve	57:f308b1656d9c	1413	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1414	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1415	FINAL_POS = pos.sen;
Lightvalve	59:bc8c8270f0ab	1416
Lightvalve	58:64181f1d3e60	1417	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1418	DZ_DIRECTION = 1;
Lightvalve	58:64181f1d3e60	1419	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	58:64181f1d3e60	1420	DZ_DIRECTION = -1;
Lightvalve	58:64181f1d3e60	1421	} else {
Lightvalve	13:747daba9cf59	1422	DZ_DIRECTION = 1;
Lightvalve	58:64181f1d3e60	1423	}
Lightvalve	14:8e7590227d22	1424
Lightvalve	13:747daba9cf59	1425	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1426	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1427	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1428	SECOND_DZ = valve_pos.ref;
Lightvalve	55:f4819de54e7a	1429	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1430	first_check = 0;
Lightvalve	33:91b17819ec30	1431	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1432	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	59:bc8c8270f0ab	1433
Lightvalve	57:f308b1656d9c	1434	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1435
Lightvalve	55:f4819de54e7a	1436	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1437	DZ_index = 1;
Lightvalve	13:747daba9cf59	1438	}
Lightvalve	13:747daba9cf59	1439	}
Lightvalve	13:747daba9cf59	1440	}
Lightvalve	14:8e7590227d22	1441	}
Lightvalve	13:747daba9cf59	1442	break;
Lightvalve	13:747daba9cf59	1443	}
Lightvalve	14:8e7590227d22	1444
Lightvalve	14:8e7590227d22	1445	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	57:f308b1656d9c	1446	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1447	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1448	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1449	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1450	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1451	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1452	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1453	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1454	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1455	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1456	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1457	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1458	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1459	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	57:f308b1656d9c	1460	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1461	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1462	first_check = 1;
Lightvalve	13:747daba9cf59	1463	VALVE_FR_timer = 0;
Lightvalve	55:f4819de54e7a	1464	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1465	ID_index = 0;
Lightvalve	13:747daba9cf59	1466	max_check = 0;
Lightvalve	13:747daba9cf59	1467	min_check = 0;
Lightvalve	13:747daba9cf59	1468	}
Lightvalve	14:8e7590227d22	1469	} else {
Lightvalve	30:8d561f16383b	1470	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1471	//V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	57:f308b1656d9c	1472	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	57:f308b1656d9c	1473	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1474	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1475	data_num = 0;
Lightvalve	55:f4819de54e7a	1476	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1477
Lightvalve	14:8e7590227d22	1478	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1479	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1480	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	55:f4819de54e7a	1481	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1482	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1483	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1484	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1485	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1486	one_period_end = 1;
Lightvalve	13:747daba9cf59	1487	}
Lightvalve	30:8d561f16383b	1488	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1489	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1490	one_period_end = 1;
Lightvalve	57:f308b1656d9c	1491	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1492	}
Lightvalve	14:8e7590227d22	1493
Lightvalve	14:8e7590227d22	1494	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1495	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1496	max_check = 1;
Lightvalve	14:8e7590227d22	1497	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1498	min_check = 1;
Lightvalve	13:747daba9cf59	1499	}
Lightvalve	13:747daba9cf59	1500	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1501
Lightvalve	13:747daba9cf59	1502	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1503	one_period_end = 0;
Lightvalve	13:747daba9cf59	1504	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1505	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1506	}
Lightvalve	14:8e7590227d22	1507
Lightvalve	14:8e7590227d22	1508	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1509
Lightvalve	13:747daba9cf59	1510	VALVE_POS_NUM = ID_index;
Lightvalve	57:f308b1656d9c	1511	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1512	ID_index = 0;
Lightvalve	13:747daba9cf59	1513	first_check = 0;
Lightvalve	13:747daba9cf59	1514	VALVE_FR_timer = 0;
Lightvalve	55:f4819de54e7a	1515	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	48:e7bcfc244d40	1516	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1517	}
Lightvalve	13:747daba9cf59	1518	}
Lightvalve	13:747daba9cf59	1519	break;
Lightvalve	13:747daba9cf59	1520	}
Lightvalve	56:2eade98630e2	1521
Lightvalve	55:f4819de54e7a	1522	case MODE_SYSTEM_ID: {
Lightvalve	55:f4819de54e7a	1523	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	55:f4819de54e7a	1524	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	55:f4819de54e7a	1525	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	55:f4819de54e7a	1526	cnt_sysid++;
Lightvalve	55:f4819de54e7a	1527	if (freq_sysid_Iref >= 300) {
Lightvalve	55:f4819de54e7a	1528	cnt_sysid = 0;
Lightvalve	55:f4819de54e7a	1529	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	55:f4819de54e7a	1530	}
Lightvalve	55:f4819de54e7a	1531	break;
Lightvalve	55:f4819de54e7a	1532	}
Lightvalve	56:2eade98630e2	1533
Lightvalve	56:2eade98630e2	1534
Lightvalve	55:f4819de54e7a	1535
Lightvalve	55:f4819de54e7a	1536	default:
Lightvalve	55:f4819de54e7a	1537	break;
Lightvalve	55:f4819de54e7a	1538	}
Lightvalve	55:f4819de54e7a	1539
Lightvalve	55:f4819de54e7a	1540	// CONTROL MODE ------------------------------------------------------------
Lightvalve	55:f4819de54e7a	1541
Lightvalve	55:f4819de54e7a	1542	switch (CONTROL_MODE) {
Lightvalve	55:f4819de54e7a	1543	case MODE_NO_ACT: {
Lightvalve	55:f4819de54e7a	1544	V_out = 0.0f;
Lightvalve	55:f4819de54e7a	1545	break;
Lightvalve	55:f4819de54e7a	1546	}
Lightvalve	55:f4819de54e7a	1547
Lightvalve	55:f4819de54e7a	1548	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	65:c2812cf26c38	1549	if (OPERATING_MODE == 5) { //SW Valve
Lightvalve	55:f4819de54e7a	1550	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	57:f308b1656d9c	1551	V_out = Vout.ref;
Lightvalve	65:c2812cf26c38	1552	} else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve	65:c2812cf26c38	1553	V_out = valve_pos.ref;
Lightvalve	65:c2812cf26c38	1554	} else {
Lightvalve	65:c2812cf26c38	1555	I_REF = valve_pos.ref * 0.001f;
Lightvalve	55:f4819de54e7a	1556	}
Lightvalve	56:2eade98630e2	1557
Lightvalve	55:f4819de54e7a	1558	break;
Lightvalve	55:f4819de54e7a	1559	}
Lightvalve	55:f4819de54e7a	1560
Lightvalve	55:f4819de54e7a	1561	case MODE_JOINT_CONTROL: {
Lightvalve	135:ccf70b9b1705	1562
Lightvalve	136:a843f32ced33	1563
Lightvalve	55:f4819de54e7a	1564	double torq_ref = 0.0f;
Lightvalve	55:f4819de54e7a	1565	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	65:c2812cf26c38	1566	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	55:f4819de54e7a	1567	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	65:c2812cf26c38	1568
Lightvalve	65:c2812cf26c38	1569	//K & D Low Pass Filter
Lightvalve	65:c2812cf26c38	1570	float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f3.14f30.0f)); // f_cutoff : 30Hz
Lightvalve	65:c2812cf26c38	1571	K_LPF = K_LPF(1.0f-alpha_K_D)+K_SPRING(alpha_K_D);
Lightvalve	65:c2812cf26c38	1572	D_LPF = D_LPF(1.0f-alpha_K_D)+D_DAMPER(alpha_K_D);
Lightvalve	65:c2812cf26c38	1573
Lightvalve	137:15621998925b	1574	// torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	137:15621998925b	1575	torq_ref = torq.ref;
Lightvalve	55:f4819de54e7a	1576
Lightvalve	55:f4819de54e7a	1577	// torque feedback
Lightvalve	65:c2812cf26c38	1578	torq.err = torq_ref - torq.sen; //[N]
Lightvalve	55:f4819de54e7a	1579	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	55:f4819de54e7a	1580
Lightvalve	55:f4819de54e7a	1581	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	56:2eade98630e2	1582
Lightvalve	55:f4819de54e7a	1583	double I_REF_POS = 0.0f;
Lightvalve	55:f4819de54e7a	1584	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	55:f4819de54e7a	1585	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	55:f4819de54e7a	1586
Lightvalve	55:f4819de54e7a	1587	double temp_vel_pos = 0.0f;
Lightvalve	55:f4819de54e7a	1588	double temp_vel_torq = 0.0f;
Lightvalve	55:f4819de54e7a	1589	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	56:2eade98630e2	1590
Lightvalve	67:3995ffeaa786	1591	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	55:f4819de54e7a	1592	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	55:f4819de54e7a	1593	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	67:3995ffeaa786	1594	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	55:f4819de54e7a	1595	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	55:f4819de54e7a	1596	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	55:f4819de54e7a	1597	}
Lightvalve	55:f4819de54e7a	1598	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	1599	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	1600
Lightvalve	55:f4819de54e7a	1601	// velocity compensation for torque control
Lightvalve	67:3995ffeaa786	1602	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve	55:f4819de54e7a	1603	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	55:f4819de54e7a	1604	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve	55:f4819de54e7a	1605	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	55:f4819de54e7a	1606	// L feedforward velocity
Lightvalve	67:3995ffeaa786	1607	} else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve	55:f4819de54e7a	1608	I_REF_FORCE_FB = 0.001f * 0.01f((double) P_GAIN_JOINT_TORQUE torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve	55:f4819de54e7a	1609	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	55:f4819de54e7a	1610	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	55:f4819de54e7a	1611	// L feedforward velocity
Lightvalve	55:f4819de54e7a	1612	}
Lightvalve	55:f4819de54e7a	1613	if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	1614	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	1615	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	55:f4819de54e7a	1616	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	55:f4819de54e7a	1617	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	55:f4819de54e7a	1618
Lightvalve	55:f4819de54e7a	1619	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	65:c2812cf26c38	1620
Lightvalve	65:c2812cf26c38	1621	// Anti-windup for FT
Lightvalve	65:c2812cf26c38	1622	if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	65:c2812cf26c38	1623	double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve	65:c2812cf26c38	1624	double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve	65:c2812cf26c38	1625	if (I_REF > I_MAX) {
Lightvalve	65:c2812cf26c38	1626	double I_rem = I_REF - I_MAX;
Lightvalve	65:c2812cf26c38	1627	I_rem = Ka*I_rem;
Lightvalve	65:c2812cf26c38	1628	I_REF = I_MAX;
Lightvalve	65:c2812cf26c38	1629	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	65:c2812cf26c38	1630	} else if (I_REF < -I_MAX) {
Lightvalve	65:c2812cf26c38	1631	double I_rem = I_REF - (-I_MAX);
Lightvalve	65:c2812cf26c38	1632	I_rem = Ka*I_rem;
Lightvalve	65:c2812cf26c38	1633	I_REF = -I_MAX;
Lightvalve	65:c2812cf26c38	1634	torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve	65:c2812cf26c38	1635	}
Lightvalve	65:c2812cf26c38	1636	}
Lightvalve	55:f4819de54e7a	1637
Lightvalve	55:f4819de54e7a	1638	} else {
Lightvalve	55:f4819de54e7a	1639	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	70:3436ce769b1e	1640	float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve	70:3436ce769b1e	1641	float VALVE_POS_RAW = 0.0f;
Lightvalve	70:3436ce769b1e	1642
Lightvalve	55:f4819de54e7a	1643	VALVE_POS_RAW_FORCE_FB = alpha_trans(((float) P_GAIN_JOINT_TORQUE torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve	55:f4819de54e7a	1644	+ DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	55:f4819de54e7a	1645
Lightvalve	70:3436ce769b1e	1646	VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f;
Lightvalve	70:3436ce769b1e	1647
Lightvalve	70:3436ce769b1e	1648	VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve	70:3436ce769b1e	1649
Lightvalve	70:3436ce769b1e	1650
Lightvalve	70:3436ce769b1e	1651	if (VALVE_POS_RAW >= 0) {
Lightvalve	70:3436ce769b1e	1652	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve	55:f4819de54e7a	1653	} else {
Lightvalve	70:3436ce769b1e	1654	valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve	55:f4819de54e7a	1655	}
Lightvalve	55:f4819de54e7a	1656
Lightvalve	55:f4819de54e7a	1657	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	137:15621998925b	1658	double Ka = 2.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	55:f4819de54e7a	1659	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	55:f4819de54e7a	1660	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	55:f4819de54e7a	1661	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	55:f4819de54e7a	1662	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	55:f4819de54e7a	1663	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	55:f4819de54e7a	1664	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	55:f4819de54e7a	1665	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	55:f4819de54e7a	1666	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	55:f4819de54e7a	1667	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	55:f4819de54e7a	1668	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	55:f4819de54e7a	1669	}
Lightvalve	55:f4819de54e7a	1670	}
Lightvalve	59:bc8c8270f0ab	1671
Lightvalve	55:f4819de54e7a	1672	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	59:bc8c8270f0ab	1673
Lightvalve	65:c2812cf26c38	1674	// Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	58:64181f1d3e60	1675	V_out = (float) Vout.ref;
Lightvalve	55:f4819de54e7a	1676
Lightvalve	55:f4819de54e7a	1677	}
Lightvalve	70:3436ce769b1e	1678
Lightvalve	70:3436ce769b1e	1679	torq_ref_past = torq_ref;
Lightvalve	56:2eade98630e2	1680
Lightvalve	131:22ab22818e01	1681
Lightvalve	55:f4819de54e7a	1682	break;
Lightvalve	55:f4819de54e7a	1683	}
Lightvalve	56:2eade98630e2	1684
Lightvalve	55:f4819de54e7a	1685	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	55:f4819de54e7a	1686	V_out = (float) Vout.ref;
Lightvalve	55:f4819de54e7a	1687	break;
Lightvalve	55:f4819de54e7a	1688	}
Lightvalve	136:a843f32ced33	1689
Lightvalve	136:a843f32ced33	1690	case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
Lightvalve	136:a843f32ced33	1691
Lightvalve	136:a843f32ced33	1692
Lightvalve	137:15621998925b	1693	float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve	137:15621998925b	1694	float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve	136:a843f32ced33	1695
Lightvalve	137:15621998925b	1696	// float Va = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
Lightvalve	137:15621998925b	1697	// float Vb = (1256.6f + Amm * 39.5f) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
Lightvalve	136:a843f32ced33	1698	V = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
Lightvalve	136:a843f32ced33	1699
Lightvalve	136:a843f32ced33	1700
Lightvalve	137:15621998925b	1701	float f3 = -AmmAmmbeta0.000001f0.000001f/V * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
Lightvalve	136:a843f32ced33	1702
Lightvalve	136:a843f32ced33	1703	float g3_prime = 0.0f;
Lightvalve	136:a843f32ced33	1704	if (torq.sen > Amm(Ps-Pt)0.000001f){
Lightvalve	136:a843f32ced33	1705	g3_prime = 1.0f;
Lightvalve	136:a843f32ced33	1706	} else if (torq.sen < -Amm(Ps-Pt)0.000001f) {
Lightvalve	136:a843f32ced33	1707	g3_prime = -1.0f;
Lightvalve	136:a843f32ced33	1708	} else {
Lightvalve	136:a843f32ced33	1709	if ((value-VALVE_CENTER) > 0) {
Lightvalve	136:a843f32ced33	1710	g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
Lightvalve	137:15621998925b	1711	// g3_prime = sqrt(Ps-Pt);
Lightvalve	136:a843f32ced33	1712	} else {
Lightvalve	136:a843f32ced33	1713	g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
Lightvalve	137:15621998925b	1714	// g3_prime = sqrt(Ps-Pt);
Lightvalve	136:a843f32ced33	1715	}
Lightvalve	136:a843f32ced33	1716	}
Lightvalve	136:a843f32ced33	1717	float tau = 0.01f;
Lightvalve	140:43026242815a	1718	float K_valve = 0.0004f;
Lightvalve	136:a843f32ced33	1719
Lightvalve	136:a843f32ced33	1720	float x_v = 0.0f; //x_v : -1~1
Lightvalve	136:a843f32ced33	1721	if(value>=VALVE_CENTER) {
Lightvalve	136:a843f32ced33	1722	x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	136:a843f32ced33	1723	} else {
Lightvalve	136:a843f32ced33	1724	x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	136:a843f32ced33	1725	}
Lightvalve	136:a843f32ced33	1726	float f4 = -x_v/tau;
Lightvalve	136:a843f32ced33	1727	float g4 = K_valve/tau;
Lightvalve	136:a843f32ced33	1728
Lightvalve	137:15621998925b	1729	float torq_ref_dot = torq.ref_diff * 500.0f;
Lightvalve	136:a843f32ced33	1730
Lightvalve	136:a843f32ced33	1731	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	136:a843f32ced33	1732	vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	136:a843f32ced33	1733	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	136:a843f32ced33	1734
Lightvalve	136:a843f32ced33	1735	torq.err = torq.ref - torq.sen; //[N]
Lightvalve	136:a843f32ced33	1736	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	136:a843f32ced33	1737
Lightvalve	140:43026242815a	1738	float k3 = 20000.0f; //2000
Lightvalve	140:43026242815a	1739	float k4 = 10.0f;
Lightvalve	140:43026242815a	1740	float rho3 = 3.2f;
Lightvalve	140:43026242815a	1741	float rho4 = 25000000.0f;
Lightvalve	137:15621998925b	1742	float x_4_des = (-f3 + torq_ref_dot - k3(-torq.err))/(gamma_hatg3_prime);
Lightvalve	136:a843f32ced33	1743	if (x_4_des > 1) x_4_des = 1;
Lightvalve	136:a843f32ced33	1744	else if (x_4_des < -1) x_4_des = -1;
Lightvalve	137:15621998925b	1745
Lightvalve	137:15621998925b	1746	if (x_4_des > 0) {
Lightvalve	137:15621998925b	1747	valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
Lightvalve	137:15621998925b	1748	} else {
Lightvalve	137:15621998925b	1749	valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
Lightvalve	137:15621998925b	1750	}
Lightvalve	137:15621998925b	1751
Lightvalve	137:15621998925b	1752
Lightvalve	136:a843f32ced33	1753	float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
Lightvalve	136:a843f32ced33	1754	x_4_des_old = x_4_des;
Lightvalve	136:a843f32ced33	1755
Lightvalve	137:15621998925b	1756	V_out = (-f4 + x_4_des_dot - k4(x_v-x_4_des)- rho3/rho4gamma_hatg3_prime(-torq.err))/g4;
Lightvalve	136:a843f32ced33	1757
Lightvalve	140:43026242815a	1758	float rho_gamma = 50000.0f;//5000
Lightvalve	137:15621998925b	1759	float gamma_hat_dot = rho3(-torq.err)/rho_gamma((-f3+torq_ref_dot-k3(-torq.err))/gamma_hat + g3_prime(x_v-x_4_des));
Lightvalve	136:a843f32ced33	1760	gamma_hat = gamma_hat + gamma_hat_dot / (float) TMR_FREQ_5k;
Lightvalve	136:a843f32ced33	1761	break;
Lightvalve	136:a843f32ced33	1762	}
Lightvalve	14:8e7590227d22	1763
Lightvalve	12:6f2531038ea4	1764	default:
Lightvalve	12:6f2531038ea4	1765	break;
Lightvalve	12:6f2531038ea4	1766	}
Lightvalve	14:8e7590227d22	1767
Lightvalve	55:f4819de54e7a	1768
Lightvalve	55:f4819de54e7a	1769	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	56:2eade98630e2	1770
Lightvalve	55:f4819de54e7a	1771	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	1772	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	55:f4819de54e7a	1773	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	1774	if (CURRENT_CONTROL_MODE) {
Lightvalve	65:c2812cf26c38	1775	double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	55:f4819de54e7a	1776	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	55:f4819de54e7a	1777
Lightvalve	55:f4819de54e7a	1778	I_ERR = I_REF_fil - cur.sen;
Lightvalve	65:c2812cf26c38	1779	I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve	55:f4819de54e7a	1780
Lightvalve	55:f4819de54e7a	1781
Lightvalve	55:f4819de54e7a	1782	// Moog Valve Current Control Gain
Lightvalve	65:c2812cf26c38	1783	double R_model = 500.0f; // ohm
Lightvalve	55:f4819de54e7a	1784	double L_model = 1.2f;
Lightvalve	55:f4819de54e7a	1785	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	55:f4819de54e7a	1786	double KP_I = 0.1f * L_model*w0;
Lightvalve	55:f4819de54e7a	1787	double KI_I = 0.1f * R_model*w0;
Lightvalve	55:f4819de54e7a	1788
Lightvalve	55:f4819de54e7a	1789	// KNR Valve Current Control Gain
Lightvalve	55:f4819de54e7a	1790	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	55:f4819de54e7a	1791	R_model = 163.0f; // ohm
Lightvalve	55:f4819de54e7a	1792	L_model = 1.0f;
Lightvalve	55:f4819de54e7a	1793	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	55:f4819de54e7a	1794	KP_I = 1.0f * L_model*w0;
Lightvalve	55:f4819de54e7a	1795	KI_I = 0.08f * R_model*w0;
Lightvalve	55:f4819de54e7a	1796	}
Lightvalve	55:f4819de54e7a	1797
Lightvalve	55:f4819de54e7a	1798	double FF_gain = 1.0f;
Lightvalve	55:f4819de54e7a	1799
Lightvalve	65:c2812cf26c38	1800	VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve	55:f4819de54e7a	1801	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	55:f4819de54e7a	1802	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	55:f4819de54e7a	1803	I_REF_fil_old = I_REF_fil;
Lightvalve	65:c2812cf26c38	1804	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
Lightvalve	65:c2812cf26c38	1805	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve	65:c2812cf26c38	1806	double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve	55:f4819de54e7a	1807
Lightvalve	55:f4819de54e7a	1808	double Ka = 3.0f / KP_I;
Lightvalve	55:f4819de54e7a	1809	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	55:f4819de54e7a	1810	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	55:f4819de54e7a	1811	V_rem = Ka*V_rem;
Lightvalve	55:f4819de54e7a	1812	VALVE_PWM_RAW = V_MAX;
Lightvalve	65:c2812cf26c38	1813	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	55:f4819de54e7a	1814	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	55:f4819de54e7a	1815	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	55:f4819de54e7a	1816	V_rem = Ka*V_rem;
Lightvalve	55:f4819de54e7a	1817	VALVE_PWM_RAW = -V_MAX;
Lightvalve	65:c2812cf26c38	1818	I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve	55:f4819de54e7a	1819	}
Lightvalve	55:f4819de54e7a	1820	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	55:f4819de54e7a	1821	} else {
Lightvalve	55:f4819de54e7a	1822	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	55:f4819de54e7a	1823	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	55:f4819de54e7a	1824	}
Lightvalve	55:f4819de54e7a	1825
Lightvalve	55:f4819de54e7a	1826	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	1827	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	55:f4819de54e7a	1828	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	1829	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	55:f4819de54e7a	1830	if (FLAG_VALVE_DEADZONE) {
Lightvalve	55:f4819de54e7a	1831	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	55:f4819de54e7a	1832	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	55:f4819de54e7a	1833
Lightvalve	55:f4819de54e7a	1834	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	55:f4819de54e7a	1835
Lightvalve	55:f4819de54e7a	1836	} else {
Lightvalve	55:f4819de54e7a	1837	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	55:f4819de54e7a	1838	}
Lightvalve	55:f4819de54e7a	1839
Lightvalve	55:f4819de54e7a	1840	// Output Voltage Linearization
Lightvalve	55:f4819de54e7a	1841	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	65:c2812cf26c38	1842	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	55:f4819de54e7a	1843
Lightvalve	55:f4819de54e7a	1844	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	65:c2812cf26c38	1845	if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	65:c2812cf26c38	1846	else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	65:c2812cf26c38	1847	else V_out = (float) (CUR_PWM_lin);
Lightvalve	55:f4819de54e7a	1848	}
Lightvalve	87:a7b45368ea0f	1849	else { //////////////////////////sw valve
Lightvalve	87:a7b45368ea0f	1850	// Output Voltage Linearization
Lightvalve	133:79885a39c161	1851	// double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve	133:79885a39c161	1852	// double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve	87:a7b45368ea0f	1853
Lightvalve	87:a7b45368ea0f	1854	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	133:79885a39c161	1855	// if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve	133:79885a39c161	1856	// else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve	133:79885a39c161	1857	// else V_out = (float) (CUR_PWM_lin);
Lightvalve	133:79885a39c161	1858
Lightvalve	133:79885a39c161	1859	if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve	133:79885a39c161	1860	else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve	133:79885a39c161	1861	else V_out = 0.0f;
Lightvalve	87:a7b45368ea0f	1862	}
Lightvalve	65:c2812cf26c38	1863
Lightvalve	65:c2812cf26c38	1864	// if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve	65:c2812cf26c38	1865	// else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve	65:c2812cf26c38	1866	// else V_out = V_out;
Lightvalve	65:c2812cf26c38	1867
jobuuu	7:e9086c72bb22	1868	/*******************************************************
jobuuu	7:e9086c72bb22	1869	*** PWM
jobuuu	7:e9086c72bb22	1870	********************************************************/
Lightvalve	65:c2812cf26c38	1871	if(DIR_VALVE<0){
Lightvalve	65:c2812cf26c38	1872	V_out = -V_out;
Lightvalve	65:c2812cf26c38	1873	}
Lightvalve	65:c2812cf26c38	1874
Lightvalve	48:e7bcfc244d40	1875	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	48:e7bcfc244d40	1876	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	48:e7bcfc244d40	1877	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	48:e7bcfc244d40	1878	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1879	}
Lightvalve	48:e7bcfc244d40	1880	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1881
Lightvalve	19:23b7c1ad8683	1882	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1883	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1884	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1885
Lightvalve	30:8d561f16383b	1886	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1887	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1888	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1889	} else {
jobuuu	2:a1c0a37df760	1890	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1891	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1892	}
Lightvalve	13:747daba9cf59	1893
jobuuu	1:e04e563be5ce	1894	//pwm
Lightvalve	30:8d561f16383b	1895	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1896	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	65:c2812cf26c38	1897
Lightvalve	59:bc8c8270f0ab	1898
Lightvalve	55:f4819de54e7a	1899	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1900
Lightvalve	52:647072f5307a	1901	// Position, Velocity, and Torque (ID:1200)
Lightvalve	54:6f50d9d3bfee	1902	if (flag_data_request[0] == HIGH) {
Lightvalve	55:f4819de54e7a	1903	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	52:647072f5307a	1904	if (SENSING_MODE == 0) {
Lightvalve	65:c2812cf26c38	1905	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve	52:647072f5307a	1906	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	1907	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
Lightvalve	52:647072f5307a	1908	}
Lightvalve	55:f4819de54e7a	1909	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	52:647072f5307a	1910	if (SENSING_MODE == 0) {
Lightvalve	65:c2812cf26c38	1911	CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE)));
Lightvalve	52:647072f5307a	1912	} else if (SENSING_MODE == 1) {
Lightvalve	65:c2812cf26c38	1913	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
Lightvalve	52:647072f5307a	1914	}
Lightvalve	51:8ea76864368a	1915	}
Lightvalve	51:8ea76864368a	1916	}
Lightvalve	54:6f50d9d3bfee	1917	if (flag_data_request[1] == HIGH) {
Lightvalve	52:647072f5307a	1918	//valve position
Lightvalve	52:647072f5307a	1919	double t_value = 0;
Lightvalve	95:d71c57e3515e	1920	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	95:d71c57e3515e	1921	t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	95:d71c57e3515e	1922	} else {
Lightvalve	95:d71c57e3515e	1923	t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	95:d71c57e3515e	1924	}
Lightvalve	95:d71c57e3515e	1925	// if(OPERATING_MODE==5) {
Lightvalve	95:d71c57e3515e	1926	// if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	95:d71c57e3515e	1927	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	95:d71c57e3515e	1928	// } else {
Lightvalve	95:d71c57e3515e	1929	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	95:d71c57e3515e	1930	// }
Lightvalve	95:d71c57e3515e	1931	//t_value = (double) value;
Lightvalve	95:d71c57e3515e	1932	// } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	95:d71c57e3515e	1933	// t_value = cur.sen * 1000.0f;
Lightvalve	87:a7b45368ea0f	1934	// } else {
Lightvalve	95:d71c57e3515e	1935	// t_value = V_out;
Lightvalve	87:a7b45368ea0f	1936	// }
Lightvalve	65:c2812cf26c38	1937	CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve	65:c2812cf26c38	1938	//CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve	65:c2812cf26c38	1939	//CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve	52:647072f5307a	1940	}
Lightvalve	56:2eade98630e2	1941
Lightvalve	56:2eade98630e2	1942
Lightvalve	129:d08121ac87ba	1943	if (flag_data_request[2] == LOW) {
Lightvalve	87:a7b45368ea0f	1944	//CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve	87:a7b45368ea0f	1945	double t_value = 0;
Lightvalve	87:a7b45368ea0f	1946	if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve	129:d08121ac87ba	1947	t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	87:a7b45368ea0f	1948	} else {
Lightvalve	129:d08121ac87ba	1949	t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	87:a7b45368ea0f	1950	}
Lightvalve	137:15621998925b	1951	CAN_TX_PRES((int16_t) (t_value), (int16_t) (torq.ref)); // 1400
Lightvalve	53:b25725257569	1952	}
Lightvalve	56:2eade98630e2	1953
Lightvalve	55:f4819de54e7a	1954	//If it doesn't rest, below can can not work.
Lightvalve	55:f4819de54e7a	1955	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	55:f4819de54e7a	1956	;
Lightvalve	55:f4819de54e7a	1957	}
Lightvalve	56:2eade98630e2	1958
Lightvalve	137:15621998925b	1959	if (flag_data_request[3] == LOW) {
Lightvalve	52:647072f5307a	1960	//PWM
Lightvalve	71:f80dc3970c99	1961	//CAN_TX_PWM((int16_t) value); //1500
Lightvalve	137:15621998925b	1962	CAN_TX_PWM((int16_t) gamma_hat); //1500
Lightvalve	52:647072f5307a	1963	}
Lightvalve	55:f4819de54e7a	1964	//for (i = 0; i < 10000; i++) {
Lightvalve	55:f4819de54e7a	1965	// ;
Lightvalve	55:f4819de54e7a	1966	// }
Lightvalve	54:6f50d9d3bfee	1967	if (flag_data_request[4] == HIGH) {
Lightvalve	52:647072f5307a	1968	//valve position
Lightvalve	71:f80dc3970c99	1969	CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve	52:647072f5307a	1970	}
Lightvalve	20:806196fda269	1971
Lightvalve	52:647072f5307a	1972	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	51:8ea76864368a	1973	// if (flag_data_request[1] == HIGH) {
Lightvalve	51:8ea76864368a	1974	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	51:8ea76864368a	1975	// }
Lightvalve	52:647072f5307a	1976	//if (flag_delay_test == 1){
Lightvalve	56:2eade98630e2	1977	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	52:647072f5307a	1978	//}
Lightvalve	51:8ea76864368a	1979
Lightvalve	52:647072f5307a	1980	TMR2_COUNT_CAN_TX = 0;
Lightvalve	52:647072f5307a	1981	}
Lightvalve	52:647072f5307a	1982	TMR2_COUNT_CAN_TX++;
Lightvalve	51:8ea76864368a	1983
Lightvalve	20:806196fda269	1984	}
Lightvalve	51:8ea76864368a	1985	TIM3->SR = 0x0; // reset the status register
Lightvalve	51:8ea76864368a	1986
Lightvalve	56:2eade98630e2	1987	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Aug 2022
Imports:	0
Forks:	0
Commits:	245
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@152:1f45755a3fc7, 2020-10-11 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning