2011

Dependencies:   mbed FastPWM

Committer:
Lightvalve
Date:
Tue Mar 31 05:12:37 2020 +0000
Revision:
58:64181f1d3e60
Parent:
57:f308b1656d9c
Child:
59:bc8c8270f0ab
200331

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 16:903b5a4433b4 10 #include "FlashWriter.h"
GiJeongKim 0:51c43836c1d7 11
Lightvalve 31:66738bfecec5 12 ///191008////
Lightvalve 31:66738bfecec5 13
jobuuu 7:e9086c72bb22 14 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 15 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 16 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 17 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 18 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 19 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 20 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 21 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 22
Lightvalve 24:ef6e1092e9e6 23
jobuuu 7:e9086c72bb22 24 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 25 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 26 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 27
jobuuu 7:e9086c72bb22 28 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 29 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 30 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 31 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 32
jobuuu 7:e9086c72bb22 33 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 34 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 35 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 36 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 37 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 38 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 39 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 40
jobuuu 7:e9086c72bb22 41 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 42 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 43
jobuuu 7:e9086c72bb22 44 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 45 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 46 CANMessage msg;
Lightvalve 11:82d8768d7351 47 void onMsgReceived()
Lightvalve 11:82d8768d7351 48 {
Lightvalve 11:82d8768d7351 49 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 50 }
jobuuu 2:a1c0a37df760 51
jobuuu 7:e9086c72bb22 52 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 53 State pos;
jobuuu 7:e9086c72bb22 54 State vel;
jobuuu 7:e9086c72bb22 55 State Vout;
jobuuu 7:e9086c72bb22 56 State torq;
jobuuu 7:e9086c72bb22 57 State pres_A;
jobuuu 7:e9086c72bb22 58 State pres_B;
jobuuu 7:e9086c72bb22 59 State cur;
Lightvalve 14:8e7590227d22 60 State valve_pos;
Lightvalve 14:8e7590227d22 61
Lightvalve 14:8e7590227d22 62 State INIT_Vout;
Lightvalve 14:8e7590227d22 63 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 64 State INIT_Pos;
Lightvalve 14:8e7590227d22 65 State INIT_torq;
jobuuu 5:a4319f79457b 66
Lightvalve 19:23b7c1ad8683 67 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 68 extern int CID_RX_REF_POSITION;
Lightvalve 48:e7bcfc244d40 69 extern int CID_RX_REF_VALVE_POS;
Lightvalve 44:35fa6884d0c6 70 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 71
Lightvalve 19:23b7c1ad8683 72 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 73 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 74 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 75 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 78
jobuuu 7:e9086c72bb22 79 // =============================================================================
jobuuu 7:e9086c72bb22 80 // =============================================================================
jobuuu 7:e9086c72bb22 81 // =============================================================================
jobuuu 7:e9086c72bb22 82
Lightvalve 12:6f2531038ea4 83 /*******************************************************************************
Lightvalve 12:6f2531038ea4 84 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 85 ******************************************************************************/
Lightvalve 13:747daba9cf59 86 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 87 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 88 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 89 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 90 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 91 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 92 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 93 };
Lightvalve 12:6f2531038ea4 94
Lightvalve 12:6f2531038ea4 95 /*******************************************************************************
Lightvalve 12:6f2531038ea4 96 * CONTROL MODE
Lightvalve 12:6f2531038ea4 97 ******************************************************************************/
Lightvalve 13:747daba9cf59 98 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 99 //control mode
Lightvalve 12:6f2531038ea4 100 MODE_NO_ACT = 0, //0
Lightvalve 46:fdcb8bd86fd6 101 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 46:fdcb8bd86fd6 102 MODE_JOINT_CONTROL, //2
Lightvalve 49:3c630b5eba9f 103
Lightvalve 46:fdcb8bd86fd6 104 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 105 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 106 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 107
Lightvalve 12:6f2531038ea4 108 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 109 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 110 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 111
Lightvalve 12:6f2531038ea4 112 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 113 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 114
Lightvalve 14:8e7590227d22 115 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 116 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 117 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 118
Lightvalve 12:6f2531038ea4 119 //utility
Lightvalve 12:6f2531038ea4 120 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 121 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 122 MODE_FIND_HOME, //22
Lightvalve 55:f4819de54e7a 123 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 124 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 125 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 126 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 127
Lightvalve 12:6f2531038ea4 128 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 129 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 130 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 55:f4819de54e7a 131 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 132 };
Lightvalve 12:6f2531038ea4 133
GiJeongKim 0:51c43836c1d7 134 int main()
GiJeongKim 0:51c43836c1d7 135 {
jobuuu 6:df07d3491e3a 136 /*********************************
jobuuu 1:e04e563be5ce 137 *** Initialization
jobuuu 6:df07d3491e3a 138 *********************************/
Lightvalve 55:f4819de54e7a 139 LED = 1;
Lightvalve 19:23b7c1ad8683 140 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 141
GiJeongKim 0:51c43836c1d7 142 // i2c init
Lightvalve 8:5d2eebdad025 143 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 144 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 145 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 146 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 147 make_delay();
jobuuu 2:a1c0a37df760 148
GiJeongKim 0:51c43836c1d7 149 // // spi init
Lightvalve 16:903b5a4433b4 150 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 151 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 152 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 153 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 154 make_delay();
Lightvalve 21:e5f1a43ea6f9 155
Lightvalve 16:903b5a4433b4 156 //rom
Lightvalve 19:23b7c1ad8683 157 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 158 make_delay();
Lightvalve 13:747daba9cf59 159
GiJeongKim 0:51c43836c1d7 160 // ADC init
jobuuu 5:a4319f79457b 161 Init_ADC();
Lightvalve 11:82d8768d7351 162 make_delay();
jobuuu 2:a1c0a37df760 163
GiJeongKim 0:51c43836c1d7 164 // Pwm init
GiJeongKim 0:51c43836c1d7 165 Init_PWM();
GiJeongKim 0:51c43836c1d7 166 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 167 make_delay();
Lightvalve 13:747daba9cf59 168
Lightvalve 11:82d8768d7351 169 // TMR3 init
Lightvalve 11:82d8768d7351 170 Init_TMR3();
Lightvalve 11:82d8768d7351 171 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 172 make_delay();
Lightvalve 21:e5f1a43ea6f9 173
Lightvalve 49:3c630b5eba9f 174 // TMR2 init
Lightvalve 54:6f50d9d3bfee 175 // Init_TMR2();
Lightvalve 54:6f50d9d3bfee 176 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 54:6f50d9d3bfee 177 // make_delay();
Lightvalve 21:e5f1a43ea6f9 178
GiJeongKim 0:51c43836c1d7 179 // CAN
jobuuu 2:a1c0a37df760 180 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 181 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 182 make_delay();
Lightvalve 34:bb2ca2fc2a8e 183
Lightvalve 23:59218d4a256d 184 //Timer priority
Lightvalve 23:59218d4a256d 185 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 55:f4819de54e7a 186 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 52:647072f5307a 187 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 188
Lightvalve 23:59218d4a256d 189 //can.reset();
Lightvalve 19:23b7c1ad8683 190 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 191
GiJeongKim 0:51c43836c1d7 192 // spi _ enc
GiJeongKim 0:51c43836c1d7 193 spi_enc_set_init();
Lightvalve 11:82d8768d7351 194 make_delay();
Lightvalve 13:747daba9cf59 195
Lightvalve 11:82d8768d7351 196 //DAC init
Lightvalve 56:2eade98630e2 197 if (SENSING_MODE == 0) {
Lightvalve 56:2eade98630e2 198 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 56:2eade98630e2 199 dac_2 = 0.0f;
Lightvalve 56:2eade98630e2 200 } else if (SENSING_MODE == 1) {
Lightvalve 56:2eade98630e2 201 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 56:2eade98630e2 202 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 56:2eade98630e2 203 }
Lightvalve 11:82d8768d7351 204 make_delay();
Lightvalve 13:747daba9cf59 205
Lightvalve 19:23b7c1ad8683 206 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 207 if(i%2==0)
Lightvalve 38:118df027d851 208 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 209 else
Lightvalve 38:118df027d851 210 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 211 }
Lightvalve 56:2eade98630e2 212
jobuuu 6:df07d3491e3a 213 /************************************
jobuuu 1:e04e563be5ce 214 *** Program is operating!
jobuuu 6:df07d3491e3a 215 *************************************/
GiJeongKim 0:51c43836c1d7 216 while(1) {
Lightvalve 55:f4819de54e7a 217 if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 17:1865016ca2e7 218 //i2c
Lightvalve 17:1865016ca2e7 219 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 220 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 55:f4819de54e7a 221 // if(LED==1) {
Lightvalve 55:f4819de54e7a 222 // LED=0;
Lightvalve 55:f4819de54e7a 223 // } else
Lightvalve 55:f4819de54e7a 224 // LED = 1;
Lightvalve 17:1865016ca2e7 225 timer_while = 0;
Lightvalve 17:1865016ca2e7 226 }
Lightvalve 17:1865016ca2e7 227 timer_while ++;
GiJeongKim 0:51c43836c1d7 228 }
jobuuu 1:e04e563be5ce 229 }
jobuuu 1:e04e563be5ce 230
Lightvalve 33:91b17819ec30 231 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 232 {
Lightvalve 14:8e7590227d22 233
Lightvalve 13:747daba9cf59 234 int i = 0;
Lightvalve 47:889798ff9329 235 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 236 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 237 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 238 if(i==0) {
Lightvalve 49:3c630b5eba9f 239 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 55:f4819de54e7a 240 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 241 } else {
Lightvalve 55:f4819de54e7a 242 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 243 }
Lightvalve 14:8e7590227d22 244 } else {
Lightvalve 49:3c630b5eba9f 245 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 55:f4819de54e7a 246 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 247 } else {
Lightvalve 55:f4819de54e7a 248 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 249 }
Lightvalve 13:747daba9cf59 250 }
Lightvalve 13:747daba9cf59 251 break;
Lightvalve 13:747daba9cf59 252 }
Lightvalve 13:747daba9cf59 253 }
Lightvalve 14:8e7590227d22 254 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 255 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 256 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 257 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 258 }
Lightvalve 36:a46e63505ed8 259
Lightvalve 55:f4819de54e7a 260 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 261 return Ref_Valve_Pos_FF;
Lightvalve 49:3c630b5eba9f 262
Lightvalve 13:747daba9cf59 263 }
jobuuu 6:df07d3491e3a 264
jobuuu 6:df07d3491e3a 265
Lightvalve 30:8d561f16383b 266 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 267 {
Lightvalve 13:747daba9cf59 268 int i = 0;
Lightvalve 13:747daba9cf59 269
Lightvalve 38:118df027d851 270 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 271 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 272 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 273 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 274 }
Lightvalve 38:118df027d851 275
Lightvalve 13:747daba9cf59 276 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 277 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 278 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 279 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 280 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 281 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 282
Lightvalve 13:747daba9cf59 283 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 284
Lightvalve 18:b8adf1582ea3 285 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 286 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 287 if(i==0) {
Lightvalve 47:889798ff9329 288 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 289 } else {
Lightvalve 47:889798ff9329 290 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 291 }
Lightvalve 13:747daba9cf59 292 break;
Lightvalve 13:747daba9cf59 293 }
Lightvalve 13:747daba9cf59 294 }
Lightvalve 57:f308b1656d9c 295 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 296 }
Lightvalve 13:747daba9cf59 297
Lightvalve 14:8e7590227d22 298 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 299 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 300 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 301 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 302 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 303 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 304 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 305 }; // duty
Lightvalve 30:8d561f16383b 306 float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve 34:bb2ca2fc2a8e 307 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 308 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 309 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 310 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 311 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 312 }; // mV
Lightvalve 13:747daba9cf59 313
Lightvalve 30:8d561f16383b 314 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 315 {
Lightvalve 30:8d561f16383b 316 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 317 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 318 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 319 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 320 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 321 } else {
Lightvalve 13:747daba9cf59 322 int idx = 0;
Lightvalve 13:747daba9cf59 323 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 324 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 325 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 326 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 327 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 328 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 329 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 330 break;
Lightvalve 13:747daba9cf59 331 }
Lightvalve 13:747daba9cf59 332 }
Lightvalve 13:747daba9cf59 333 }
Lightvalve 14:8e7590227d22 334
Lightvalve 13:747daba9cf59 335 return PWM_duty;
Lightvalve 13:747daba9cf59 336 }
jobuuu 6:df07d3491e3a 337
Lightvalve 55:f4819de54e7a 338
Lightvalve 55:f4819de54e7a 339
Lightvalve 55:f4819de54e7a 340
Lightvalve 55:f4819de54e7a 341
jobuuu 2:a1c0a37df760 342 /*******************************************************************************
jobuuu 2:a1c0a37df760 343 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 344 *******************************************************************************/
jobuuu 2:a1c0a37df760 345
Lightvalve 50:b46bed7fec80 346 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 50:b46bed7fec80 347 float DT_TMR4 = (float)DT_20k;
Lightvalve 55:f4819de54e7a 348 long CNT_TMR4 = 0;
Lightvalve 55:f4819de54e7a 349 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 350 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 351 {
Lightvalve 19:23b7c1ad8683 352 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 353
Lightvalve 21:e5f1a43ea6f9 354 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 355 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 356 ********************************************************/
Lightvalve 13:747daba9cf59 357
Lightvalve 55:f4819de54e7a 358 //Encoder
Lightvalve 55:f4819de54e7a 359 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 55:f4819de54e7a 360 ENC_UPDATE();
Lightvalve 55:f4819de54e7a 361 }
Lightvalve 56:2eade98630e2 362
Lightvalve 56:2eade98630e2 363 ADC1->CR2 |= 0x40000000;
Lightvalve 56:2eade98630e2 364 if (SENSING_MODE == 0) {
Lightvalve 56:2eade98630e2 365 // Torque Sensing (0~210)bar =============================================
Lightvalve 56:2eade98630e2 366 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 56:2eade98630e2 367 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 56:2eade98630e2 368 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 56:2eade98630e2 369 torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 17:1865016ca2e7 370
Lightvalve 56:2eade98630e2 371 } else if (SENSING_MODE == 1) {
Lightvalve 56:2eade98630e2 372 // Pressure Sensing (0~210)bar =============================================
Lightvalve 56:2eade98630e2 373 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 56:2eade98630e2 374 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 56:2eade98630e2 375 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 56:2eade98630e2 376 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 56:2eade98630e2 377 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 56:2eade98630e2 378 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 56:2eade98630e2 379 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 49:3c630b5eba9f 380
Lightvalve 56:2eade98630e2 381 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 56:2eade98630e2 382 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 383 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 56:2eade98630e2 384 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 385 }
Lightvalve 56:2eade98630e2 386 }
Lightvalve 56:2eade98630e2 387
Lightvalve 56:2eade98630e2 388 // //Pressure sensor A
Lightvalve 56:2eade98630e2 389 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 56:2eade98630e2 390 // //while((ADC1->SR & 0b10));
Lightvalve 56:2eade98630e2 391 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 56:2eade98630e2 392 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 56:2eade98630e2 393 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 56:2eade98630e2 394 // 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 395 //
Lightvalve 56:2eade98630e2 396 //
Lightvalve 56:2eade98630e2 397 // //Pressure sensor B
Lightvalve 56:2eade98630e2 398 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 56:2eade98630e2 399 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 56:2eade98630e2 400 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 56:2eade98630e2 401 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 402
Lightvalve 17:1865016ca2e7 403
Lightvalve 21:e5f1a43ea6f9 404 //Current
Lightvalve 21:e5f1a43ea6f9 405 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 406 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 407 //while((ADC3->SR & 0b10));
Lightvalve 50:b46bed7fec80 408 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 409 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 410 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 411 //cur.sen = raw_cur;
Lightvalve 56:2eade98630e2 412
Lightvalve 55:f4819de54e7a 413 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 414 }
Lightvalve 11:82d8768d7351 415 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 416 }
Lightvalve 19:23b7c1ad8683 417
Lightvalve 19:23b7c1ad8683 418
Lightvalve 18:b8adf1582ea3 419 int j =0;
Lightvalve 52:647072f5307a 420 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 47:889798ff9329 421 float DT_TMR3 = (float)DT_5k;
Lightvalve 44:35fa6884d0c6 422 int cnt_trans = 0;
Lightvalve 47:889798ff9329 423 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 55:f4819de54e7a 424 int can_rest =0;
Lightvalve 47:889798ff9329 425
Lightvalve 11:82d8768d7351 426 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 427 {
Lightvalve 19:23b7c1ad8683 428 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 55:f4819de54e7a 429
Lightvalve 55:f4819de54e7a 430 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 55:f4819de54e7a 431 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 55:f4819de54e7a 432 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 55:f4819de54e7a 433 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 55:f4819de54e7a 434 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 55:f4819de54e7a 435 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 55:f4819de54e7a 436 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 55:f4819de54e7a 437 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 55:f4819de54e7a 438 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 55:f4819de54e7a 439 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 55:f4819de54e7a 440 }
Lightvalve 49:3c630b5eba9f 441
Lightvalve 49:3c630b5eba9f 442 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 47:889798ff9329 443 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 44:35fa6884d0c6 444 cnt_trans++;
Lightvalve 45:2694daea349b 445 torq.err_sum = 0;
Lightvalve 47:889798ff9329 446 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 44:35fa6884d0c6 447 MODE_POS_FT_TRANS = 2;
Lightvalve 49:3c630b5eba9f 448 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 47:889798ff9329 449 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 44:35fa6884d0c6 450 cnt_trans++;
Lightvalve 45:2694daea349b 451 torq.err_sum = 0;
Lightvalve 47:889798ff9329 452 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 44:35fa6884d0c6 453 MODE_POS_FT_TRANS = 0;
Lightvalve 49:3c630b5eba9f 454 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 56:2eade98630e2 455 alpha_trans = 1.0f;
Lightvalve 44:35fa6884d0c6 456 cnt_trans = 0;
Lightvalve 49:3c630b5eba9f 457 } else {
Lightvalve 56:2eade98630e2 458 alpha_trans = 0.0f;
Lightvalve 44:35fa6884d0c6 459 cnt_trans = 0;
Lightvalve 44:35fa6884d0c6 460 }
Lightvalve 44:35fa6884d0c6 461
Lightvalve 49:3c630b5eba9f 462
Lightvalve 55:f4819de54e7a 463 int UTILITY_MODE = 0;
Lightvalve 55:f4819de54e7a 464 int CONTROL_MODE = 0;
Lightvalve 56:2eade98630e2 465
Lightvalve 55:f4819de54e7a 466 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 55:f4819de54e7a 467 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 55:f4819de54e7a 468 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 469 } else {
Lightvalve 55:f4819de54e7a 470 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 55:f4819de54e7a 471 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 472 }
Lightvalve 54:6f50d9d3bfee 473
Lightvalve 54:6f50d9d3bfee 474
Lightvalve 54:6f50d9d3bfee 475
Lightvalve 55:f4819de54e7a 476 // UTILITY MODE ------------------------------------------------------------
Lightvalve 54:6f50d9d3bfee 477
Lightvalve 55:f4819de54e7a 478 switch (UTILITY_MODE) {
Lightvalve 55:f4819de54e7a 479 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 480 break;
Lightvalve 13:747daba9cf59 481 }
Lightvalve 14:8e7590227d22 482
Lightvalve 14:8e7590227d22 483 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 484 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 485 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 486 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 487
Lightvalve 14:8e7590227d22 488 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 489 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 490 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 491
Lightvalve 57:f308b1656d9c 492 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 493
Lightvalve 30:8d561f16383b 494 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 57:f308b1656d9c 495 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 49:3c630b5eba9f 496
Lightvalve 16:903b5a4433b4 497 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 498 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 499 }
Lightvalve 13:747daba9cf59 500 } else {
Lightvalve 56:2eade98630e2 501 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 502 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 503 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 504 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 505
Lightvalve 16:903b5a4433b4 506 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 507
Lightvalve 30:8d561f16383b 508 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 509
Lightvalve 13:747daba9cf59 510 }
Lightvalve 14:8e7590227d22 511 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 512 break;
Lightvalve 19:23b7c1ad8683 513 }
Lightvalve 14:8e7590227d22 514
Lightvalve 49:3c630b5eba9f 515 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 49:3c630b5eba9f 516 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 49:3c630b5eba9f 517 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 49:3c630b5eba9f 518 // else temp_time = 0;
Lightvalve 49:3c630b5eba9f 519 // }
Lightvalve 49:3c630b5eba9f 520 // if (need_enc_init) {
Lightvalve 49:3c630b5eba9f 521 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 522 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 523 // pos_plus_end = pos.sen;
Lightvalve 49:3c630b5eba9f 524 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 525 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 526 // pos_minus_end = pos.sen;
Lightvalve 49:3c630b5eba9f 527 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 49:3c630b5eba9f 528 // temp_time = TMR_FREQ_5k;
Lightvalve 49:3c630b5eba9f 529 // }
Lightvalve 49:3c630b5eba9f 530 //
Lightvalve 49:3c630b5eba9f 531 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 532 // 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 533 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 49:3c630b5eba9f 534 //
Lightvalve 49:3c630b5eba9f 535 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 49:3c630b5eba9f 536 // V_out = 0;
Lightvalve 49:3c630b5eba9f 537 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 49:3c630b5eba9f 538 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 539 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 49:3c630b5eba9f 540 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 49:3c630b5eba9f 541 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 49:3c630b5eba9f 542 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 49:3c630b5eba9f 543 // CUR_VELOCITY_sum = 0;
Lightvalve 49:3c630b5eba9f 544 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 545 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 49:3c630b5eba9f 546 //
Lightvalve 49:3c630b5eba9f 547 // // Position of Dead Zone
Lightvalve 49:3c630b5eba9f 548 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 49:3c630b5eba9f 549 // // | / | / |/
Lightvalve 49:3c630b5eba9f 550 // // | ______/ ___|___/ ______/|
Lightvalve 49:3c630b5eba9f 551 // // |/ / | / |
Lightvalve 49:3c630b5eba9f 552 // // /| / | / |
Lightvalve 49:3c630b5eba9f 553 // // 0V 0V 0V
Lightvalve 49:3c630b5eba9f 554 //
Lightvalve 49:3c630b5eba9f 555 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 49:3c630b5eba9f 556 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 49:3c630b5eba9f 557 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 49:3c630b5eba9f 558 // } else {
Lightvalve 49:3c630b5eba9f 559 // V_out -= DZ_dir;
Lightvalve 49:3c630b5eba9f 560 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 49:3c630b5eba9f 561 // CUR_VELOCITY_sum = 0;
Lightvalve 49:3c630b5eba9f 562 // }
Lightvalve 49:3c630b5eba9f 563 // if (DZ_temp_cnt == 5) {
Lightvalve 49:3c630b5eba9f 564 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 49:3c630b5eba9f 565 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 49:3c630b5eba9f 566 // DZ_dir = -DZ_dir;
Lightvalve 49:3c630b5eba9f 567 // DZ_temp_cnt = 0;
Lightvalve 49:3c630b5eba9f 568 // DZ_temp_cnt2++;
Lightvalve 49:3c630b5eba9f 569 // }
Lightvalve 49:3c630b5eba9f 570 // } else {
Lightvalve 49:3c630b5eba9f 571 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 49:3c630b5eba9f 572 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 49:3c630b5eba9f 573 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 49:3c630b5eba9f 574 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 575 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 576 // }
Lightvalve 49:3c630b5eba9f 577 // V_out = 0;
Lightvalve 49:3c630b5eba9f 578 //
Lightvalve 49:3c630b5eba9f 579 // ROM_RESET_DATA();
Lightvalve 49:3c630b5eba9f 580 //
Lightvalve 49:3c630b5eba9f 581 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 49:3c630b5eba9f 582 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 49:3c630b5eba9f 583 //
Lightvalve 49:3c630b5eba9f 584 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:3c630b5eba9f 585 // DZ_temp_cnt2 = 0;
Lightvalve 49:3c630b5eba9f 586 // }
Lightvalve 49:3c630b5eba9f 587 // }
Lightvalve 49:3c630b5eba9f 588 // TMR3_COUNT_DEADZONE++;
Lightvalve 49:3c630b5eba9f 589 // break;
Lightvalve 49:3c630b5eba9f 590 // }
Lightvalve 14:8e7590227d22 591
Lightvalve 14:8e7590227d22 592 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 593 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 594 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 595 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 596 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 57:f308b1656d9c 597 pos.ref = pos.sen;
Lightvalve 57:f308b1656d9c 598 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 599 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 600 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 601 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 602 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 603 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 604 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 605 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 606 }
Lightvalve 29:69f3f5445d6d 607 cnt_findhome++;
Lightvalve 14:8e7590227d22 608
Lightvalve 29:69f3f5445d6d 609 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 610 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 611 } else {
Lightvalve 29:69f3f5445d6d 612 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 613 }
Lightvalve 19:23b7c1ad8683 614
Lightvalve 55:f4819de54e7a 615 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 616 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 57:f308b1656d9c 617 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
Lightvalve 57:f308b1656d9c 618 else pos.ref = pos.ref - 2.0f;
Lightvalve 57:f308b1656d9c 619
Lightvalve 57:f308b1656d9c 620 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 57:f308b1656d9c 621 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 57:f308b1656d9c 622 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 57:f308b1656d9c 623 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 57:f308b1656d9c 624 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 57:f308b1656d9c 625
Lightvalve 57:f308b1656d9c 626 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 57:f308b1656d9c 627 alpha_trans = 0.0f;
Lightvalve 57:f308b1656d9c 628
Lightvalve 34:bb2ca2fc2a8e 629
Lightvalve 29:69f3f5445d6d 630 } else {
Lightvalve 29:69f3f5445d6d 631 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 632 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 633 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 634 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 635 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 636 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 637 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 638 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 639 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 640 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 641 }
Lightvalve 29:69f3f5445d6d 642 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 643 int T_move = 2*TMR_FREQ_5k;
Lightvalve 57:f308b1656d9c 644 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 57:f308b1656d9c 645 vel.ref = 0.0f;
Lightvalve 19:23b7c1ad8683 646
Lightvalve 29:69f3f5445d6d 647 // input for position control
Lightvalve 57:f308b1656d9c 648
Lightvalve 57:f308b1656d9c 649 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 57:f308b1656d9c 650 alpha_trans = 0.0f;
Lightvalve 57:f308b1656d9c 651 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 57:f308b1656d9c 652 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 57:f308b1656d9c 653 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 57:f308b1656d9c 654 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 57:f308b1656d9c 655 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 656
Lightvalve 29:69f3f5445d6d 657 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 658 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 659 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 660 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 661 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 662 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 663 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 664 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 665 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 55:f4819de54e7a 666 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 667 }
Lightvalve 13:747daba9cf59 668 }
Lightvalve 19:23b7c1ad8683 669
Lightvalve 13:747daba9cf59 670 break;
Lightvalve 13:747daba9cf59 671 }
Lightvalve 14:8e7590227d22 672
Lightvalve 49:3c630b5eba9f 673 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 49:3c630b5eba9f 674 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 49:3c630b5eba9f 675 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 49:3c630b5eba9f 676 // else {
Lightvalve 49:3c630b5eba9f 677 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 678 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 49:3c630b5eba9f 679 // }
Lightvalve 49:3c630b5eba9f 680 // }
Lightvalve 49:3c630b5eba9f 681 // if (need_enc_init) {
Lightvalve 49:3c630b5eba9f 682 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 683 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 684 // pos_plus_end = pos.sen;
Lightvalve 49:3c630b5eba9f 685 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 686 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 687 // pos_minus_end = pos.sen;
Lightvalve 49:3c630b5eba9f 688 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 689 // need_enc_init = false;
Lightvalve 49:3c630b5eba9f 690 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 49:3c630b5eba9f 691 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 49:3c630b5eba9f 692 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 49:3c630b5eba9f 693 // }
Lightvalve 49:3c630b5eba9f 694 // temp_time = TMR_FREQ_5k;
Lightvalve 49:3c630b5eba9f 695 // }
Lightvalve 49:3c630b5eba9f 696 // TMR3_COUNT_FLOWRATE++;
Lightvalve 49:3c630b5eba9f 697 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 49:3c630b5eba9f 698 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 49:3c630b5eba9f 699 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 49:3c630b5eba9f 700 // V_out = VALVE_VOLTAGE;
Lightvalve 49:3c630b5eba9f 701 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 49:3c630b5eba9f 702 // fl_temp_cnt++;
Lightvalve 49:3c630b5eba9f 703 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 49:3c630b5eba9f 704 // VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 49:3c630b5eba9f 705 // // 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 706 // fl_temp_cnt2++;
Lightvalve 49:3c630b5eba9f 707 // }
Lightvalve 49:3c630b5eba9f 708 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 49:3c630b5eba9f 709 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 49:3c630b5eba9f 710 // V_out = VALVE_VOLTAGE;
Lightvalve 49:3c630b5eba9f 711 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 49:3c630b5eba9f 712 // fl_temp_cnt++;
Lightvalve 49:3c630b5eba9f 713 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 49:3c630b5eba9f 714 // 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 715 // // 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 716 // fl_temp_cnt2++;
Lightvalve 49:3c630b5eba9f 717 // }
Lightvalve 49:3c630b5eba9f 718 // }
Lightvalve 49:3c630b5eba9f 719 // if (fl_temp_cnt2 == 100) {
Lightvalve 49:3c630b5eba9f 720 //
Lightvalve 49:3c630b5eba9f 721 // ROM_RESET_DATA();
Lightvalve 49:3c630b5eba9f 722 //
Lightvalve 49:3c630b5eba9f 723 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 49:3c630b5eba9f 724 // cur_vel_sum = 0;
Lightvalve 49:3c630b5eba9f 725 // fl_temp_cnt = 0;
Lightvalve 49:3c630b5eba9f 726 // fl_temp_cnt2 = 0;
Lightvalve 49:3c630b5eba9f 727 // flag_flowrate++;
Lightvalve 49:3c630b5eba9f 728 // }
Lightvalve 49:3c630b5eba9f 729 // if (flag_flowrate == 10) {
Lightvalve 49:3c630b5eba9f 730 // V_out = 0;
Lightvalve 49:3c630b5eba9f 731 // flag_flowrate = 0;
Lightvalve 49:3c630b5eba9f 732 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 49:3c630b5eba9f 733 // valve_gain_repeat_cnt++;
Lightvalve 49:3c630b5eba9f 734 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 49:3c630b5eba9f 735 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:3c630b5eba9f 736 // valve_gain_repeat_cnt = 0;
Lightvalve 49:3c630b5eba9f 737 // }
Lightvalve 49:3c630b5eba9f 738 //
Lightvalve 49:3c630b5eba9f 739 // }
Lightvalve 49:3c630b5eba9f 740 // break;
Lightvalve 49:3c630b5eba9f 741 // }
Lightvalve 49:3c630b5eba9f 742 //
Lightvalve 49:3c630b5eba9f 743 // }
Lightvalve 14:8e7590227d22 744 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 745 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 746 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 747 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 748 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 749
Lightvalve 14:8e7590227d22 750 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 751 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 752 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 753 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 754 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 755
Lightvalve 38:118df027d851 756 float VREF_NullingGain = 0.0003f;
Lightvalve 56:2eade98630e2 757 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 56:2eade98630e2 758 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 759
Lightvalve 30:8d561f16383b 760 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 761 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 762 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 763 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 764
Lightvalve 30:8d561f16383b 765 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 766 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 767 }
Lightvalve 13:747daba9cf59 768 } else {
Lightvalve 55:f4819de54e7a 769 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 770 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 771 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 772 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 773 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 774 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 775
Lightvalve 16:903b5a4433b4 776 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 777
Lightvalve 30:8d561f16383b 778 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 779 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 780 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 781 }
Lightvalve 14:8e7590227d22 782 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 783 break;
Lightvalve 13:747daba9cf59 784 }
Lightvalve 14:8e7590227d22 785
Lightvalve 49:3c630b5eba9f 786 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 49:3c630b5eba9f 787 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 788 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 789 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 790 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 49:3c630b5eba9f 791 // }
Lightvalve 49:3c630b5eba9f 792 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 793 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 794 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 795 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 49:3c630b5eba9f 796 // }
Lightvalve 49:3c630b5eba9f 797 // } else {
Lightvalve 49:3c630b5eba9f 798 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:3c630b5eba9f 799 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 49:3c630b5eba9f 800 // V_out = 0;
Lightvalve 49:3c630b5eba9f 801 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 49:3c630b5eba9f 802 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 49:3c630b5eba9f 803 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 49:3c630b5eba9f 804 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 49:3c630b5eba9f 805 // CUR_PRES_A_sum = 0;
Lightvalve 49:3c630b5eba9f 806 // CUR_PRES_B_sum = 0;
Lightvalve 49:3c630b5eba9f 807 // CUR_PRES_A_mean = 0;
Lightvalve 49:3c630b5eba9f 808 // CUR_PRES_B_mean = 0;
Lightvalve 49:3c630b5eba9f 809 //
Lightvalve 49:3c630b5eba9f 810 // ROM_RESET_DATA();
Lightvalve 49:3c630b5eba9f 811 //
Lightvalve 49:3c630b5eba9f 812 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 49:3c630b5eba9f 813 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 49:3c630b5eba9f 814 // }
Lightvalve 49:3c630b5eba9f 815 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 49:3c630b5eba9f 816 // break;
Lightvalve 49:3c630b5eba9f 817 // }
Lightvalve 19:23b7c1ad8683 818
Lightvalve 49:3c630b5eba9f 819 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 49:3c630b5eba9f 820 // 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 821 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 49:3c630b5eba9f 822 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 823 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 824 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 49:3c630b5eba9f 825 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 826 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 49:3c630b5eba9f 827 // V_out = 0.0f;
Lightvalve 49:3c630b5eba9f 828 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:3c630b5eba9f 829 // }
Lightvalve 49:3c630b5eba9f 830 // break;
Lightvalve 49:3c630b5eba9f 831 // }
Lightvalve 14:8e7590227d22 832
Lightvalve 14:8e7590227d22 833 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 57:f308b1656d9c 834 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 835 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 836
Lightvalve 14:8e7590227d22 837 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 58:64181f1d3e60 838 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 839 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 57:f308b1656d9c 840 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 841 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 842 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 843 data_num = 0;
Lightvalve 14:8e7590227d22 844 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 845 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 846 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 847 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 57:f308b1656d9c 848 Vout.ref = 0.0f;
Lightvalve 57:f308b1656d9c 849 } else {
Lightvalve 13:747daba9cf59 850 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 851 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 852 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 853 }
Lightvalve 14:8e7590227d22 854
Lightvalve 17:1865016ca2e7 855 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 856 int i;
Lightvalve 13:747daba9cf59 857 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 858 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 859 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 860 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 861 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 862 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 863 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 864 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 865 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 866 }
Lightvalve 13:747daba9cf59 867 }
Lightvalve 57:f308b1656d9c 868 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 869 ID_index = 0;
Lightvalve 55:f4819de54e7a 870 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 871 }
Lightvalve 14:8e7590227d22 872
Lightvalve 14:8e7590227d22 873
Lightvalve 13:747daba9cf59 874 break;
Lightvalve 13:747daba9cf59 875 }
Lightvalve 14:8e7590227d22 876
Lightvalve 14:8e7590227d22 877 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 57:f308b1656d9c 878 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 879 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 880 if(first_check == 0) {
Lightvalve 30:8d561f16383b 881 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 882 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 883 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 884 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 885 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 886 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 887 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 888 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 889 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 890 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 891 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 892 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 893 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 894 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 895 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 896 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 897 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 898 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 899 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 900 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 901 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 902 data_num = 0;
Lightvalve 14:8e7590227d22 903
Lightvalve 30:8d561f16383b 904 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 905 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 906 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 907
Lightvalve 30:8d561f16383b 908 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 909 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 910 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 58:64181f1d3e60 911
Lightvalve 30:8d561f16383b 912 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 913 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 914 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 915 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 916
Lightvalve 58:64181f1d3e60 917 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 918 DZ_case = 1;
Lightvalve 58:64181f1d3e60 919 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 920 DZ_case = -1;
Lightvalve 14:8e7590227d22 921 } else {
Lightvalve 13:747daba9cf59 922 DZ_case = 0;
Lightvalve 13:747daba9cf59 923 }
Lightvalve 57:f308b1656d9c 924
Lightvalve 58:64181f1d3e60 925 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 49:3c630b5eba9f 926
Lightvalve 13:747daba9cf59 927 first_check = 1;
Lightvalve 13:747daba9cf59 928 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 929 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 930 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 931 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 932 DZ_index = 1;
Lightvalve 14:8e7590227d22 933
Lightvalve 13:747daba9cf59 934 }
Lightvalve 19:23b7c1ad8683 935 } else {
Lightvalve 14:8e7590227d22 936 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 937 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 938 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 939 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 58:64181f1d3e60 940 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 941 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 942 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 943 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 944 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 945 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 946 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 947 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 948 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 949 }
Lightvalve 14:8e7590227d22 950 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 58:64181f1d3e60 951
Lightvalve 30:8d561f16383b 952 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 953 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 954 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 955
Lightvalve 14:8e7590227d22 956 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 957 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 958 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 959 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 960 } else {
Lightvalve 13:747daba9cf59 961 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 962 }
Lightvalve 14:8e7590227d22 963
Lightvalve 13:747daba9cf59 964 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 965 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 966 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 967 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 968 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 969 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 970 DZ_index = 1;
Lightvalve 13:747daba9cf59 971 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 972 }
Lightvalve 13:747daba9cf59 973 }
Lightvalve 14:8e7590227d22 974 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 975 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 976 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 977 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 58:64181f1d3e60 978 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 979 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 980 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 981 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 982 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 983 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 984 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 985 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 986 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 987 }
Lightvalve 14:8e7590227d22 988 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 58:64181f1d3e60 989
Lightvalve 30:8d561f16383b 990 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 991 Vout.ref = 0.0f;
Lightvalve 57:f308b1656d9c 992 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 993 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 994 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 995
Lightvalve 14:8e7590227d22 996 if((FINAL_POS - START_POS)>100) {
Lightvalve 58:64181f1d3e60 997 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 998 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 58:64181f1d3e60 999 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1000 } else {
Lightvalve 58:64181f1d3e60 1001 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1002 }
Lightvalve 14:8e7590227d22 1003
Lightvalve 13:747daba9cf59 1004 VALVE_DZ_timer = 0;
Lightvalve 58:64181f1d3e60 1005 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1006 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1007 SECOND_DZ = valve_pos.ref;
Lightvalve 55:f4819de54e7a 1008 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1009 first_check = 0;
Lightvalve 33:91b17819ec30 1010 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1011 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1012
Lightvalve 16:903b5a4433b4 1013 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1014
Lightvalve 58:64181f1d3e60 1015 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1016 DZ_index = 1;
Lightvalve 13:747daba9cf59 1017 }
Lightvalve 13:747daba9cf59 1018 }
Lightvalve 14:8e7590227d22 1019 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1020 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 1021 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 1022 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 58:64181f1d3e60 1023 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1024 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1025 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1026 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1027 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1028 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1029 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1030 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1031 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1032 }
Lightvalve 14:8e7590227d22 1033 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 58:64181f1d3e60 1034
Lightvalve 30:8d561f16383b 1035 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1036 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1037 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1038
Lightvalve 14:8e7590227d22 1039 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1040 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1041 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1042 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1043 } else {
Lightvalve 13:747daba9cf59 1044 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1045 }
Lightvalve 13:747daba9cf59 1046 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1047 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1048 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1049 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1050 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1051 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1052 DZ_index = 1;
Lightvalve 13:747daba9cf59 1053 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1054 }
Lightvalve 13:747daba9cf59 1055 }
Lightvalve 14:8e7590227d22 1056 } else {
Lightvalve 30:8d561f16383b 1057 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 1058 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 1059 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 58:64181f1d3e60 1060 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1061 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1062 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1063 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1064 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1065 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1066 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1067 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1068 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1069 }
Lightvalve 14:8e7590227d22 1070 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 58:64181f1d3e60 1071
Lightvalve 30:8d561f16383b 1072 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1073 Vout.ref = 0.0f;
Lightvalve 57:f308b1656d9c 1074 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1075 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1076 FINAL_POS = pos.sen;
Lightvalve 58:64181f1d3e60 1077
Lightvalve 58:64181f1d3e60 1078 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1079 DZ_DIRECTION = 1;
Lightvalve 58:64181f1d3e60 1080 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 58:64181f1d3e60 1081 DZ_DIRECTION = -1;
Lightvalve 58:64181f1d3e60 1082 } else {
Lightvalve 13:747daba9cf59 1083 DZ_DIRECTION = 1;
Lightvalve 58:64181f1d3e60 1084 }
Lightvalve 14:8e7590227d22 1085
Lightvalve 13:747daba9cf59 1086 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1087 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1088 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1089 SECOND_DZ = valve_pos.ref;
Lightvalve 55:f4819de54e7a 1090 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1091 first_check = 0;
Lightvalve 33:91b17819ec30 1092 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1093 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 57:f308b1656d9c 1094
Lightvalve 57:f308b1656d9c 1095 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1096
Lightvalve 55:f4819de54e7a 1097 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1098 DZ_index = 1;
Lightvalve 13:747daba9cf59 1099 }
Lightvalve 13:747daba9cf59 1100 }
Lightvalve 13:747daba9cf59 1101 }
Lightvalve 14:8e7590227d22 1102 }
Lightvalve 13:747daba9cf59 1103 break;
Lightvalve 13:747daba9cf59 1104 }
Lightvalve 14:8e7590227d22 1105
Lightvalve 14:8e7590227d22 1106 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 57:f308b1656d9c 1107 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1108 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1109 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1110 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1111 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1112 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1113 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1114 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1115 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1116 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1117 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1118 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1119 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1120 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 57:f308b1656d9c 1121 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1122 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1123 first_check = 1;
Lightvalve 13:747daba9cf59 1124 VALVE_FR_timer = 0;
Lightvalve 55:f4819de54e7a 1125 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1126 ID_index = 0;
Lightvalve 13:747daba9cf59 1127 max_check = 0;
Lightvalve 13:747daba9cf59 1128 min_check = 0;
Lightvalve 13:747daba9cf59 1129 }
Lightvalve 14:8e7590227d22 1130 } else {
Lightvalve 30:8d561f16383b 1131 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1132 //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 1133 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 57:f308b1656d9c 1134 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1135 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1136 data_num = 0;
Lightvalve 55:f4819de54e7a 1137 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1138
Lightvalve 14:8e7590227d22 1139 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1140 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1141 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 55:f4819de54e7a 1142 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1143 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1144 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1145 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1146 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1147 one_period_end = 1;
Lightvalve 13:747daba9cf59 1148 }
Lightvalve 30:8d561f16383b 1149 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1150 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1151 one_period_end = 1;
Lightvalve 57:f308b1656d9c 1152 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1153 }
Lightvalve 14:8e7590227d22 1154
Lightvalve 14:8e7590227d22 1155 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1156 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1157 max_check = 1;
Lightvalve 14:8e7590227d22 1158 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1159 min_check = 1;
Lightvalve 13:747daba9cf59 1160 }
Lightvalve 13:747daba9cf59 1161 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1162
Lightvalve 13:747daba9cf59 1163 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1164 one_period_end = 0;
Lightvalve 13:747daba9cf59 1165 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1166 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1167 }
Lightvalve 14:8e7590227d22 1168
Lightvalve 14:8e7590227d22 1169 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1170
Lightvalve 13:747daba9cf59 1171 VALVE_POS_NUM = ID_index;
Lightvalve 57:f308b1656d9c 1172 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1173 ID_index = 0;
Lightvalve 13:747daba9cf59 1174 first_check = 0;
Lightvalve 13:747daba9cf59 1175 VALVE_FR_timer = 0;
Lightvalve 55:f4819de54e7a 1176 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 48:e7bcfc244d40 1177 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1178 }
Lightvalve 13:747daba9cf59 1179 }
Lightvalve 13:747daba9cf59 1180 break;
Lightvalve 13:747daba9cf59 1181 }
Lightvalve 56:2eade98630e2 1182
Lightvalve 55:f4819de54e7a 1183 case MODE_SYSTEM_ID: {
Lightvalve 55:f4819de54e7a 1184 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 55:f4819de54e7a 1185 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 55:f4819de54e7a 1186 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 55:f4819de54e7a 1187 cnt_sysid++;
Lightvalve 55:f4819de54e7a 1188 if (freq_sysid_Iref >= 300) {
Lightvalve 55:f4819de54e7a 1189 cnt_sysid = 0;
Lightvalve 55:f4819de54e7a 1190 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 1191 }
Lightvalve 55:f4819de54e7a 1192 break;
Lightvalve 55:f4819de54e7a 1193 }
Lightvalve 56:2eade98630e2 1194
Lightvalve 56:2eade98630e2 1195
Lightvalve 55:f4819de54e7a 1196
Lightvalve 55:f4819de54e7a 1197 default:
Lightvalve 55:f4819de54e7a 1198 break;
Lightvalve 55:f4819de54e7a 1199 }
Lightvalve 55:f4819de54e7a 1200
Lightvalve 55:f4819de54e7a 1201 // CONTROL MODE ------------------------------------------------------------
Lightvalve 55:f4819de54e7a 1202
Lightvalve 55:f4819de54e7a 1203 switch (CONTROL_MODE) {
Lightvalve 55:f4819de54e7a 1204 case MODE_NO_ACT: {
Lightvalve 55:f4819de54e7a 1205 V_out = 0.0f;
Lightvalve 55:f4819de54e7a 1206 break;
Lightvalve 55:f4819de54e7a 1207 }
Lightvalve 55:f4819de54e7a 1208
Lightvalve 55:f4819de54e7a 1209 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 55:f4819de54e7a 1210 if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve 55:f4819de54e7a 1211 I_REF = valve_pos.ref;
Lightvalve 55:f4819de54e7a 1212 } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve 55:f4819de54e7a 1213 V_out = valve_pos.ref;
Lightvalve 55:f4819de54e7a 1214 } else { //SW Valve
Lightvalve 55:f4819de54e7a 1215 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 57:f308b1656d9c 1216 V_out = Vout.ref;
Lightvalve 55:f4819de54e7a 1217 }
Lightvalve 56:2eade98630e2 1218
Lightvalve 55:f4819de54e7a 1219 break;
Lightvalve 55:f4819de54e7a 1220 }
Lightvalve 55:f4819de54e7a 1221
Lightvalve 55:f4819de54e7a 1222 case MODE_JOINT_CONTROL: {
Lightvalve 55:f4819de54e7a 1223 double torq_ref = 0.0f;
Lightvalve 55:f4819de54e7a 1224 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 55:f4819de54e7a 1225 vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 55:f4819de54e7a 1226 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 55:f4819de54e7a 1227 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 55:f4819de54e7a 1228
Lightvalve 55:f4819de54e7a 1229 // torque feedback
Lightvalve 56:2eade98630e2 1230 torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve 55:f4819de54e7a 1231 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 55:f4819de54e7a 1232
Lightvalve 55:f4819de54e7a 1233 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 56:2eade98630e2 1234
Lightvalve 55:f4819de54e7a 1235 double I_REF_POS = 0.0f;
Lightvalve 55:f4819de54e7a 1236 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 55:f4819de54e7a 1237 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 55:f4819de54e7a 1238
Lightvalve 55:f4819de54e7a 1239 double temp_vel_pos = 0.0f;
Lightvalve 55:f4819de54e7a 1240 double temp_vel_torq = 0.0f;
Lightvalve 55:f4819de54e7a 1241 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 56:2eade98630e2 1242
Lightvalve 55:f4819de54e7a 1243 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 55:f4819de54e7a 1244 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 1245 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 55:f4819de54e7a 1246 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 55:f4819de54e7a 1247 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 1248 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 55:f4819de54e7a 1249 }
Lightvalve 55:f4819de54e7a 1250 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 1251 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 55:f4819de54e7a 1252
Lightvalve 55:f4819de54e7a 1253 // velocity compensation for torque control
Lightvalve 55:f4819de54e7a 1254 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 55:f4819de54e7a 1255 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 55:f4819de54e7a 1256 // 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 1257 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 55:f4819de54e7a 1258 // L feedforward velocity
Lightvalve 55:f4819de54e7a 1259 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 55:f4819de54e7a 1260 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 1261 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 55:f4819de54e7a 1262 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 55:f4819de54e7a 1263 // L feedforward velocity
Lightvalve 55:f4819de54e7a 1264 }
Lightvalve 55:f4819de54e7a 1265 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 1266 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 55:f4819de54e7a 1267 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 55:f4819de54e7a 1268 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 55:f4819de54e7a 1269 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 55:f4819de54e7a 1270
Lightvalve 55:f4819de54e7a 1271 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 55:f4819de54e7a 1272
Lightvalve 55:f4819de54e7a 1273 } else {
Lightvalve 55:f4819de54e7a 1274 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 55:f4819de54e7a 1275
Lightvalve 55:f4819de54e7a 1276 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 1277 + 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 1278
Lightvalve 55:f4819de54e7a 1279 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 55:f4819de54e7a 1280 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 55:f4819de54e7a 1281 } else {
Lightvalve 55:f4819de54e7a 1282 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 55:f4819de54e7a 1283 }
Lightvalve 55:f4819de54e7a 1284
Lightvalve 55:f4819de54e7a 1285 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 55:f4819de54e7a 1286 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 55:f4819de54e7a 1287 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 55:f4819de54e7a 1288 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 55:f4819de54e7a 1289 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 55:f4819de54e7a 1290 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 55:f4819de54e7a 1291 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 55:f4819de54e7a 1292 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 55:f4819de54e7a 1293 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 55:f4819de54e7a 1294 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 55:f4819de54e7a 1295 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 55:f4819de54e7a 1296 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 55:f4819de54e7a 1297 }
Lightvalve 55:f4819de54e7a 1298 }
Lightvalve 58:64181f1d3e60 1299
Lightvalve 55:f4819de54e7a 1300 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 58:64181f1d3e60 1301
Lightvalve 58:64181f1d3e60 1302 Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 58:64181f1d3e60 1303 V_out = (float) Vout.ref;
Lightvalve 55:f4819de54e7a 1304
Lightvalve 55:f4819de54e7a 1305 }
Lightvalve 56:2eade98630e2 1306
Lightvalve 55:f4819de54e7a 1307 break;
Lightvalve 55:f4819de54e7a 1308 }
Lightvalve 56:2eade98630e2 1309
Lightvalve 55:f4819de54e7a 1310 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 55:f4819de54e7a 1311 V_out = (float) Vout.ref;
Lightvalve 55:f4819de54e7a 1312 break;
Lightvalve 55:f4819de54e7a 1313 }
Lightvalve 14:8e7590227d22 1314
Lightvalve 12:6f2531038ea4 1315 default:
Lightvalve 12:6f2531038ea4 1316 break;
Lightvalve 12:6f2531038ea4 1317 }
Lightvalve 14:8e7590227d22 1318
Lightvalve 55:f4819de54e7a 1319
Lightvalve 55:f4819de54e7a 1320 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 56:2eade98630e2 1321
Lightvalve 55:f4819de54e7a 1322 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1323 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 55:f4819de54e7a 1324 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1325 if (CURRENT_CONTROL_MODE) {
Lightvalve 55:f4819de54e7a 1326 double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 55:f4819de54e7a 1327 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 55:f4819de54e7a 1328
Lightvalve 55:f4819de54e7a 1329 I_ERR = I_REF_fil - cur.sen;
Lightvalve 55:f4819de54e7a 1330 I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
Lightvalve 55:f4819de54e7a 1331
Lightvalve 55:f4819de54e7a 1332
Lightvalve 55:f4819de54e7a 1333 // Moog Valve Current Control Gain
Lightvalve 55:f4819de54e7a 1334 double R_model = 539.0f; // ohm
Lightvalve 55:f4819de54e7a 1335 double L_model = 1.2f;
Lightvalve 55:f4819de54e7a 1336 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 55:f4819de54e7a 1337 double KP_I = 0.1f * L_model*w0;
Lightvalve 55:f4819de54e7a 1338 double KI_I = 0.1f * R_model*w0;
Lightvalve 55:f4819de54e7a 1339
Lightvalve 55:f4819de54e7a 1340 // KNR Valve Current Control Gain
Lightvalve 55:f4819de54e7a 1341 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 55:f4819de54e7a 1342 R_model = 163.0f; // ohm
Lightvalve 55:f4819de54e7a 1343 L_model = 1.0f;
Lightvalve 55:f4819de54e7a 1344 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 55:f4819de54e7a 1345 KP_I = 1.0f * L_model*w0;
Lightvalve 55:f4819de54e7a 1346 KI_I = 0.08f * R_model*w0;
Lightvalve 55:f4819de54e7a 1347 }
Lightvalve 55:f4819de54e7a 1348
Lightvalve 55:f4819de54e7a 1349 double FF_gain = 1.0f;
Lightvalve 55:f4819de54e7a 1350
Lightvalve 55:f4819de54e7a 1351 VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
Lightvalve 55:f4819de54e7a 1352 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 55:f4819de54e7a 1353 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 55:f4819de54e7a 1354 I_REF_fil_old = I_REF_fil;
Lightvalve 55:f4819de54e7a 1355 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
Lightvalve 55:f4819de54e7a 1356 double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
Lightvalve 55:f4819de54e7a 1357
Lightvalve 55:f4819de54e7a 1358 double Ka = 3.0f / KP_I;
Lightvalve 55:f4819de54e7a 1359 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 55:f4819de54e7a 1360 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 55:f4819de54e7a 1361 V_rem = Ka*V_rem;
Lightvalve 55:f4819de54e7a 1362 VALVE_PWM_RAW = V_MAX;
Lightvalve 55:f4819de54e7a 1363 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 55:f4819de54e7a 1364 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 55:f4819de54e7a 1365 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 55:f4819de54e7a 1366 V_rem = Ka*V_rem;
Lightvalve 55:f4819de54e7a 1367 VALVE_PWM_RAW = -V_MAX;
Lightvalve 55:f4819de54e7a 1368 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 55:f4819de54e7a 1369 }
Lightvalve 55:f4819de54e7a 1370 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 55:f4819de54e7a 1371 } else {
Lightvalve 55:f4819de54e7a 1372 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 55:f4819de54e7a 1373 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 55:f4819de54e7a 1374 }
Lightvalve 55:f4819de54e7a 1375
Lightvalve 55:f4819de54e7a 1376 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1377 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 55:f4819de54e7a 1378 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1379 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 55:f4819de54e7a 1380 if (FLAG_VALVE_DEADZONE) {
Lightvalve 55:f4819de54e7a 1381 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 55:f4819de54e7a 1382 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 55:f4819de54e7a 1383
Lightvalve 55:f4819de54e7a 1384 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 55:f4819de54e7a 1385
Lightvalve 55:f4819de54e7a 1386 } else {
Lightvalve 55:f4819de54e7a 1387 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 55:f4819de54e7a 1388 }
Lightvalve 55:f4819de54e7a 1389
Lightvalve 55:f4819de54e7a 1390 // Output Voltage Linearization
Lightvalve 55:f4819de54e7a 1391 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 55:f4819de54e7a 1392 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 55:f4819de54e7a 1393
Lightvalve 55:f4819de54e7a 1394 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 55:f4819de54e7a 1395 if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
Lightvalve 55:f4819de54e7a 1396 else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
Lightvalve 55:f4819de54e7a 1397 else V_out = CUR_PWM_lin;
Lightvalve 55:f4819de54e7a 1398 }
Lightvalve 56:2eade98630e2 1399
Lightvalve 56:2eade98630e2 1400
Lightvalve 14:8e7590227d22 1401
jobuuu 7:e9086c72bb22 1402 /*******************************************************
jobuuu 7:e9086c72bb22 1403 *** PWM
jobuuu 7:e9086c72bb22 1404 ********************************************************/
Lightvalve 48:e7bcfc244d40 1405 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 48:e7bcfc244d40 1406 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 48:e7bcfc244d40 1407 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 48:e7bcfc244d40 1408 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1409 }
Lightvalve 48:e7bcfc244d40 1410 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1411
Lightvalve 19:23b7c1ad8683 1412 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1413 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1414 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1415
Lightvalve 30:8d561f16383b 1416 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1417 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1418 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1419 } else {
jobuuu 2:a1c0a37df760 1420 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1421 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1422 }
Lightvalve 13:747daba9cf59 1423
jobuuu 1:e04e563be5ce 1424 //pwm
Lightvalve 30:8d561f16383b 1425 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1426 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1427
Lightvalve 20:806196fda269 1428
Lightvalve 55:f4819de54e7a 1429 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1430
Lightvalve 52:647072f5307a 1431 // Position, Velocity, and Torque (ID:1200)
Lightvalve 54:6f50d9d3bfee 1432 if (flag_data_request[0] == HIGH) {
Lightvalve 55:f4819de54e7a 1433 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 52:647072f5307a 1434 if (SENSING_MODE == 0) {
Lightvalve 56:2eade98630e2 1435 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
Lightvalve 52:647072f5307a 1436 } else if (SENSING_MODE == 1) {
Lightvalve 56:2eade98630e2 1437 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 1438 }
Lightvalve 55:f4819de54e7a 1439 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 52:647072f5307a 1440 if (SENSING_MODE == 0) {
Lightvalve 58:64181f1d3e60 1441 CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
Lightvalve 52:647072f5307a 1442 } else if (SENSING_MODE == 1) {
Lightvalve 56:2eade98630e2 1443 CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f));
Lightvalve 52:647072f5307a 1444 }
Lightvalve 51:8ea76864368a 1445 }
Lightvalve 51:8ea76864368a 1446 }
Lightvalve 54:6f50d9d3bfee 1447 if (flag_data_request[1] == HIGH) {
Lightvalve 52:647072f5307a 1448 //valve position
Lightvalve 52:647072f5307a 1449 double t_value = 0;
Lightvalve 55:f4819de54e7a 1450 // if(value>=(float) VALVE_CENTER) {
Lightvalve 55:f4819de54e7a 1451 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 55:f4819de54e7a 1452 // } else {
Lightvalve 55:f4819de54e7a 1453 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 55:f4819de54e7a 1454 // }
Lightvalve 56:2eade98630e2 1455 if(OPERATING_MODE==5) {
Lightvalve 55:f4819de54e7a 1456 t_value = (double) value;
Lightvalve 56:2eade98630e2 1457 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 55:f4819de54e7a 1458 t_value = cur.sen;
Lightvalve 56:2eade98630e2 1459 } else {
Lightvalve 55:f4819de54e7a 1460 t_value = V_out;
Lightvalve 52:647072f5307a 1461 }
Lightvalve 58:64181f1d3e60 1462 CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
Lightvalve 52:647072f5307a 1463 }
Lightvalve 56:2eade98630e2 1464
Lightvalve 56:2eade98630e2 1465
Lightvalve 54:6f50d9d3bfee 1466 if (flag_data_request[2] == HIGH) {
Lightvalve 54:6f50d9d3bfee 1467 //pressure A and B
Lightvalve 55:f4819de54e7a 1468 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 53:b25725257569 1469 }
Lightvalve 56:2eade98630e2 1470
Lightvalve 55:f4819de54e7a 1471 //If it doesn't rest, below can can not work.
Lightvalve 55:f4819de54e7a 1472 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 55:f4819de54e7a 1473 ;
Lightvalve 55:f4819de54e7a 1474 }
Lightvalve 56:2eade98630e2 1475
Lightvalve 54:6f50d9d3bfee 1476 if (flag_data_request[3] == HIGH) {
Lightvalve 52:647072f5307a 1477 //PWM
Lightvalve 55:f4819de54e7a 1478 CAN_TX_PWM((int16_t) cur.sen); //1500
Lightvalve 52:647072f5307a 1479 }
Lightvalve 55:f4819de54e7a 1480 //for (i = 0; i < 10000; i++) {
Lightvalve 55:f4819de54e7a 1481 // ;
Lightvalve 55:f4819de54e7a 1482 // }
Lightvalve 54:6f50d9d3bfee 1483 if (flag_data_request[4] == HIGH) {
Lightvalve 52:647072f5307a 1484 //valve position
Lightvalve 55:f4819de54e7a 1485 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 52:647072f5307a 1486 }
Lightvalve 20:806196fda269 1487
Lightvalve 52:647072f5307a 1488 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 51:8ea76864368a 1489 // if (flag_data_request[1] == HIGH) {
Lightvalve 51:8ea76864368a 1490 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 51:8ea76864368a 1491 // }
Lightvalve 52:647072f5307a 1492 //if (flag_delay_test == 1){
Lightvalve 56:2eade98630e2 1493 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 52:647072f5307a 1494 //}
Lightvalve 51:8ea76864368a 1495
Lightvalve 52:647072f5307a 1496 TMR2_COUNT_CAN_TX = 0;
Lightvalve 52:647072f5307a 1497 }
Lightvalve 52:647072f5307a 1498 TMR2_COUNT_CAN_TX++;
Lightvalve 51:8ea76864368a 1499
Lightvalve 20:806196fda269 1500 }
Lightvalve 51:8ea76864368a 1501 TIM3->SR = 0x0; // reset the status register
Lightvalve 51:8ea76864368a 1502
Lightvalve 56:2eade98630e2 1503 }