Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy

2011

Dependencies:   mbed FastPWM

main.cpp@64:a8e6799dbce3, 2020-05-12 (annotated)

Committer:
Lightvalve
Date:
Tue May 12 06:23:46 2020 +0000
Revision:
64:a8e6799dbce3
Parent:
63:a2d7c63419c2
Child:
65:c2812cf26c38
200512

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 63:a2d7c63419c2 10 #include "FlashWriter.h"
Lightvalve 59:bc8c8270f0ab 11
Lightvalve 59:bc8c8270f0ab 12 using namespace std;
Lightvalve 59:bc8c8270f0ab 13 Timer t;
GiJeongKim 0:51c43836c1d7 14
Lightvalve 31:66738bfecec5 15 ///191008////
Lightvalve 31:66738bfecec5 16
jobuuu 7:e9086c72bb22 17 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 18 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 19 DigitalOut check_2(PC_3);
GiJeongKim 0:51c43836c1d7 20 AnalogOut dac_1(PA_4);
GiJeongKim 0:51c43836c1d7 21 AnalogOut dac_2(PA_5);
Lightvalve 14:8e7590227d22 22 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 23 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 24 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 25
Lightvalve 24:ef6e1092e9e6 26
jobuuu 7:e9086c72bb22 27 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 28 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 29 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 30
jobuuu 7:e9086c72bb22 31 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 32 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim 0:51c43836c1d7 33 const int i2c_slave_addr1 = 0x56;
GiJeongKim 0:51c43836c1d7 34 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 35
jobuuu 7:e9086c72bb22 36 // SPI ///////////////////////////////////////////
Lightvalve 16:903b5a4433b4 37 //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 16:903b5a4433b4 38 //DigitalOut eeprom_cs(PB_12);
Lightvalve 16:903b5a4433b4 39 //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim 0:51c43836c1d7 40 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 41 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 42 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 43
jobuuu 7:e9086c72bb22 44 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 45 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 46
jobuuu 7:e9086c72bb22 47 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 48 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 49 CANMessage msg;
Lightvalve 11:82d8768d7351 50 void onMsgReceived()
Lightvalve 11:82d8768d7351 51 {
Lightvalve 11:82d8768d7351 52 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 53 }
jobuuu 2:a1c0a37df760 54
jobuuu 7:e9086c72bb22 55 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 56 State pos;
jobuuu 7:e9086c72bb22 57 State vel;
jobuuu 7:e9086c72bb22 58 State Vout;
jobuuu 7:e9086c72bb22 59 State torq;
jobuuu 7:e9086c72bb22 60 State pres_A;
jobuuu 7:e9086c72bb22 61 State pres_B;
jobuuu 7:e9086c72bb22 62 State cur;
Lightvalve 14:8e7590227d22 63 State valve_pos;
Lightvalve 14:8e7590227d22 64
Lightvalve 14:8e7590227d22 65 State INIT_Vout;
Lightvalve 14:8e7590227d22 66 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 67 State INIT_Pos;
Lightvalve 14:8e7590227d22 68 State INIT_torq;
jobuuu 5:a4319f79457b 69
Lightvalve 19:23b7c1ad8683 70 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 71 extern int CID_RX_REF_POSITION;
Lightvalve 48:e7bcfc244d40 72 extern int CID_RX_REF_VALVE_POS;
Lightvalve 44:35fa6884d0c6 73 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 74
Lightvalve 19:23b7c1ad8683 75 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 76 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 77 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 78 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 79 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 80 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 81
Lightvalve 59:bc8c8270f0ab 82
Lightvalve 59:bc8c8270f0ab 83
Lightvalve 59:bc8c8270f0ab 84
jobuuu 7:e9086c72bb22 85 // =============================================================================
jobuuu 7:e9086c72bb22 86 // =============================================================================
jobuuu 7:e9086c72bb22 87 // =============================================================================
jobuuu 7:e9086c72bb22 88
Lightvalve 12:6f2531038ea4 89 /*******************************************************************************
Lightvalve 12:6f2531038ea4 90 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 91 ******************************************************************************/
Lightvalve 13:747daba9cf59 92 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 93 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 94 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 95 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 96 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 97 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 98 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 99 };
Lightvalve 12:6f2531038ea4 100
Lightvalve 12:6f2531038ea4 101 /*******************************************************************************
Lightvalve 12:6f2531038ea4 102 * CONTROL MODE
Lightvalve 12:6f2531038ea4 103 ******************************************************************************/
Lightvalve 13:747daba9cf59 104 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 105 //control mode
Lightvalve 12:6f2531038ea4 106 MODE_NO_ACT = 0, //0
Lightvalve 46:fdcb8bd86fd6 107 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 46:fdcb8bd86fd6 108 MODE_JOINT_CONTROL, //2
Lightvalve 49:3c630b5eba9f 109
Lightvalve 46:fdcb8bd86fd6 110 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 12:6f2531038ea4 111 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 112 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 113
Lightvalve 12:6f2531038ea4 114 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 115 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 116 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 117
Lightvalve 12:6f2531038ea4 118 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 119 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 120
Lightvalve 14:8e7590227d22 121 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 122 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 123 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 124
Lightvalve 12:6f2531038ea4 125 //utility
Lightvalve 12:6f2531038ea4 126 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 127 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 128 MODE_FIND_HOME, //22
Lightvalve 55:f4819de54e7a 129 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 130 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 131 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 132 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 133
Lightvalve 12:6f2531038ea4 134 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 135 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 136 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 55:f4819de54e7a 137 MODE_SYSTEM_ID, //33
Lightvalve 12:6f2531038ea4 138 };
Lightvalve 12:6f2531038ea4 139
Lightvalve 63:a2d7c63419c2 140 void SystemClock_Config(void)
Lightvalve 63:a2d7c63419c2 141 {
Lightvalve 63:a2d7c63419c2 142 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 63:a2d7c63419c2 143 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 63:a2d7c63419c2 144
Lightvalve 63:a2d7c63419c2 145 /** Configure the main internal regulator output voltage
Lightvalve 63:a2d7c63419c2 146 */
Lightvalve 63:a2d7c63419c2 147 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 63:a2d7c63419c2 148 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 63:a2d7c63419c2 149 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 63:a2d7c63419c2 150 */
Lightvalve 63:a2d7c63419c2 151 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 63:a2d7c63419c2 152 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 63:a2d7c63419c2 153 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 63:a2d7c63419c2 154 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 63:a2d7c63419c2 155 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 63:a2d7c63419c2 156 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 63:a2d7c63419c2 157 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 63:a2d7c63419c2 158 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 63:a2d7c63419c2 159 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 63:a2d7c63419c2 160 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 63:a2d7c63419c2 161 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
Lightvalve 63:a2d7c63419c2 162 {
Lightvalve 63:a2d7c63419c2 163 //Error_Handler();
Lightvalve 63:a2d7c63419c2 164 }
Lightvalve 63:a2d7c63419c2 165 /** Activate the Over-Drive mode
Lightvalve 63:a2d7c63419c2 166 */
Lightvalve 63:a2d7c63419c2 167 if (HAL_PWREx_EnableOverDrive() != HAL_OK)
Lightvalve 63:a2d7c63419c2 168 {
Lightvalve 63:a2d7c63419c2 169 //Error_Handler();
Lightvalve 63:a2d7c63419c2 170 }
Lightvalve 63:a2d7c63419c2 171 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 63:a2d7c63419c2 172 */
Lightvalve 63:a2d7c63419c2 173 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 63:a2d7c63419c2 174 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 63:a2d7c63419c2 175 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 63:a2d7c63419c2 176 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 63:a2d7c63419c2 177 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 63:a2d7c63419c2 178 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 63:a2d7c63419c2 179
Lightvalve 63:a2d7c63419c2 180 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
Lightvalve 63:a2d7c63419c2 181 {
Lightvalve 63:a2d7c63419c2 182 //Error_Handler();
Lightvalve 63:a2d7c63419c2 183 }
Lightvalve 63:a2d7c63419c2 184 }
Lightvalve 63:a2d7c63419c2 185
Lightvalve 63:a2d7c63419c2 186
Lightvalve 64:a8e6799dbce3 187 float x_future[num_input_array] = {0.0f};
Lightvalve 64:a8e6799dbce3 188
Lightvalve 64:a8e6799dbce3 189 float input[num_input] = { 0.0f };
Lightvalve 63:a2d7c63419c2 190
Lightvalve 64:a8e6799dbce3 191 const float h1[num_input][32] = {
Lightvalve 64:a8e6799dbce3 192 {-0.05584605038166046f,-0.11015535145998001f,0.12024858593940735f,0.8710275292396545f,-0.8633008599281311f,0.6032636165618896f,0.1195044070482254f,-0.24131548404693604f,-0.2979300916194916f,-0.06240735203027725f,-0.5634293556213379f,-0.7795512080192566f,-0.2193688154220581f,0.5603419542312622f,-0.2396446317434311f,-0.5459810495376587f,-0.3129505217075348f,0.9516814351081848f,-0.4300021231174469f,0.32531049847602844f,-0.38013890385627747f,0.12145945429801941f,-0.3777896761894226f,-0.0899648368358612f,0.00471434835344553f,0.2086491882801056f,-0.2006681114435196f,-0.8217374086380005f,0.4176312983036041f,-0.21341653168201447f,-0.738452672958374f,0.09072920680046082f},
Lightvalve 64:a8e6799dbce3 193 {-0.8286606073379517f,0.34443455934524536f,0.33912619948387146f,-0.5367521047592163f,-0.2419569194316864f,0.11375948786735535f,0.7230488657951355f,-0.11622462421655655f,-0.06099450960755348f,0.14800310134887695f,-0.44429513812065125f,-0.15811024606227875f,0.024088174104690552f,0.37633487582206726f,0.05209478735923767f,-0.44525954127311707f,-0.35180044174194336f,0.31975269317626953f,0.4067309498786926f,0.42282143235206604f,-0.03516775369644165f,-0.13714641332626343f,-0.10795548558235168f,0.31470927596092224f,-0.34707048535346985f,0.3334867060184479f,0.14405718445777893f,-0.16725023090839386f,-0.10117192566394806f,0.11138620972633362f,-0.507462739944458f,0.11189708113670349f},
Lightvalve 64:a8e6799dbce3 194 {-0.35791441798210144f,0.3758581578731537f,-0.004794687032699585f,-0.05841163173317909f,-0.08767881989479065f,-0.15663278102874756f,0.252312570810318f,-0.3261408507823944f,-0.08955887705087662f,0.09258187562227249f,0.14131738245487213f,-0.011780006811022758f,-0.037279367446899414f,0.30396905541419983f,-0.36018112301826477f,-0.4110696315765381f,0.16343103349208832f,0.05796433240175247f,0.10341846942901611f,0.42017245292663574f,0.2516377866268158f,-0.17387470602989197f,0.15389427542686462f,-0.2800215482711792f,-0.674734354019165f,0.16508331894874573f,-0.1761709749698639f,0.06000325456261635f,-0.14043109118938446f,0.3438030183315277f,-0.5538067817687988f,-0.22203606367111206f},
Lightvalve 64:a8e6799dbce3 195 {-0.15260998904705048f,-0.008754822425544262f,-0.2331579178571701f,-0.49566444754600525f,-0.3155744969844818f,-0.002509156707674265f,0.168622225522995f,-0.5208267569541931f,0.29355648159980774f,0.050865866243839264f,0.01398477889597416f,0.27986469864845276f,-0.13409757614135742f,0.4001019597053528f,-0.14554673433303833f,-0.08893944323062897f,-0.13120734691619873f,-0.24075376987457275f,-0.3130897283554077f,0.08357034623622894f,-0.2832319438457489f,-0.09985870122909546f,-0.16704979538917542f,-0.33099624514579773f,-0.4437883496284485f,0.16078665852546692f,0.15193721652030945f,-0.10225960612297058f,0.34021857380867004f,0.1502511203289032f,-0.0664215236902237f,0.20154133439064026f},
Lightvalve 64:a8e6799dbce3 196 {0.12635438144207f,0.24193024635314941f,0.09550115466117859f,-0.23847319185733795f,-0.10712115466594696f,-0.07988527417182922f,-0.18517336249351501f,-0.5395429730415344f,-0.3816317319869995f,0.30893078446388245f,-0.41678526997566223f,0.23135076463222504f,0.2400895059108734f,0.2607426047325134f,-0.2847418785095215f,0.23095203936100006f,-0.205430269241333f,-0.35568180680274963f,0.05281441658735275f,-0.16010922193527222f,0.15620997548103333f,0.26784953474998474f,-0.2786858379840851f,-0.08468881249427795f,-0.2860216498374939f,-0.3890018165111542f,0.04607313871383667f,-0.34892332553863525f,0.3036911189556122f,-0.18532218039035797f,0.23122631013393402f,0.030484020709991455f},
Lightvalve 64:a8e6799dbce3 197 {0.552375316619873f,0.18492630124092102f,0.34649983048439026f,0.3252255320549011f,0.27798062562942505f,-0.2561512887477875f,-0.41888460516929626f,-0.06891436129808426f,-0.554313600063324f,0.008540602400898933f,0.2860400974750519f,-0.13133136928081512f,-0.03570398688316345f,0.08028116822242737f,0.24870619177818298f,-0.13462437689304352f,-0.46191880106925964f,-0.9220594763755798f,-0.50397789478302f,-0.18426336348056793f,0.1535390317440033f,-0.010987609624862671f,0.1429324448108673f,0.3757905066013336f,-0.5380614995956421f,0.23636052012443542f,-0.3322296440601349f,0.41926270723342896f,0.02858952432870865f,-0.0014912784099578857f,0.09470368921756744f,-0.06355711817741394f},
Lightvalve 63:a2d7c63419c2 198 };
Lightvalve 63:a2d7c63419c2 199
Lightvalve 64:a8e6799dbce3 200 const float h2[32][32] = {
Lightvalve 64:a8e6799dbce3 201 {-0.15789742767810822f,-0.10295046865940094f,-0.04925942420959473f,0.02427169866859913f,-0.3309780955314636f,0.2625422775745392f,-0.07511543482542038f,-0.12313280999660492f,-0.30411389470100403f,-0.10008957982063293f,0.09728801995515823f,-0.33915191888809204f,0.039246782660484314f,0.2781885862350464f,-0.048781245946884155f,-1.3332239389419556f,0.07803884148597717f,-1.1428231000900269f,-0.08379222452640533f,-0.005277924705296755f,-0.6905635595321655f,-0.2655806541442871f,-0.23983746767044067f,-0.28387096524238586f,-0.34077632427215576f,0.05632379651069641f,-0.3915008008480072f,-0.728499710559845f,0.23828622698783875f,0.11771553754806519f,-0.2606334388256073f,-0.1630079448223114f},
Lightvalve 64:a8e6799dbce3 202 {-0.16369810700416565f,0.002147972583770752f,-0.04321768879890442f,0.20987394452095032f,0.019099578261375427f,-0.04193764552474022f,-0.18412554264068604f,-0.1351664513349533f,0.24677053093910217f,0.048597872257232666f,0.17539569735527039f,0.12578506767749786f,0.20868071913719177f,-0.4673871099948883f,0.1197722852230072f,-0.020373206585645676f,0.056778669357299805f,-0.7362931370735168f,-0.2244773954153061f,0.26173046231269836f,0.07969770580530167f,0.10356134176254272f,-0.16832955181598663f,0.24518683552742004f,0.01879107765853405f,0.11049672961235046f,-0.022610308602452278f,0.2533881664276123f,-0.28620439767837524f,-0.0511949360370636f,0.14506122469902039f,-0.07415058463811874f},
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Lightvalve 63:a2d7c63419c2 233 };
Lightvalve 63:a2d7c63419c2 234
Lightvalve 64:a8e6799dbce3 235 const float h3[32][32] = {
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Lightvalve 64:a8e6799dbce3 264 {0.07555973529815674f,-0.0029259920120239258f,-0.08789914846420288f,0.06678077578544617f,-0.11083845794200897f,0.11010000109672546f,-0.14982634782791138f,0.12075316905975342f,-0.2766430675983429f,0.013024389743804932f,0.18159812688827515f,-0.20200279355049133f,0.2637675702571869f,-0.1856893002986908f,0.2882818281650543f,0.05304515361785889f,-0.15297894179821014f,0.07341468334197998f,0.05268138647079468f,0.1067940890789032f,-0.2661813795566559f,-0.2009473443031311f,0.1843600869178772f,0.2517976462841034f,-0.07343396544456482f,-0.051110416650772095f,-0.23432010412216187f,0.16746872663497925f,-0.2205146849155426f,-0.017525076866149902f,0.20926335453987122f,-0.2141496241092682f},
Lightvalve 64:a8e6799dbce3 265 {0.06582912802696228f,0.2796666920185089f,-0.2556927502155304f,0.0023079216480255127f,0.2043982446193695f,0.13894453644752502f,0.06556430459022522f,0.29767414927482605f,0.24966773390769958f,-0.16670267283916473f,-0.1203770637512207f,-0.06570860743522644f,-0.015925198793411255f,0.17675906419754028f,-0.014884740114212036f,-0.05300724506378174f,0.26490333676338196f,0.15243005752563477f,-0.07319167256355286f,0.2353842556476593f,0.23596063256263733f,0.1602974534034729f,-0.04174882173538208f,-0.11559568345546722f,-0.06235519051551819f,0.21069613099098206f,-0.19532959163188934f,-0.2486409693956375f,0.032513976097106934f,-0.2712400257587433f,-0.19435247778892517f,-0.23200613260269165f},
Lightvalve 64:a8e6799dbce3 266 {-0.1299392580986023f,-0.06208275258541107f,-0.18067686259746552f,0.03896602615714073f,-0.1559528261423111f,-0.14272382855415344f,-0.19175797700881958f,0.02903696894645691f,-0.21793057024478912f,0.016345679759979248f,-0.24767392873764038f,0.2033931314945221f,-0.2574335038661957f,0.011410274542868137f,0.13206014037132263f,0.15829482674598694f,-0.21012049913406372f,0.2088232934474945f,0.12396217882633209f,-0.17956478893756866f,0.32670894265174866f,-0.021142370998859406f,-0.1977243274450302f,-0.025072306394577026f,0.1991090476512909f,-0.007939159870147705f,-0.15539970993995667f,0.19354887306690216f,0.1298319399356842f,0.18135693669319153f,-0.008151531219482422f,0.23252393305301666f},
Lightvalve 64:a8e6799dbce3 267 {0.07638216018676758f,0.10178792476654053f,-0.3632030189037323f,-0.235545814037323f,0.09491447359323502f,0.007485899608582258f,0.16700564324855804f,-0.25668495893478394f,0.026961220428347588f,0.30681201815605164f,0.036471329629421234f,0.02524423599243164f,-0.10277769714593887f,0.22266533970832825f,-0.029521822929382324f,-0.19500072300434113f,0.06506577134132385f,-0.042979199439287186f,0.38466188311576843f,0.28802499175071716f,0.25258976221084595f,-0.025679901242256165f,-0.13952423632144928f,-0.4421646296977997f,0.20129328966140747f,0.1901901364326477f,-0.14958564937114716f,-0.07797150313854218f,-1.3495779037475586f,0.22636333107948303f,-0.28991997241973877f,0.19003361463546753f},
Lightvalve 64:a8e6799dbce3 268 };
Lightvalve 63:a2d7c63419c2 269
Lightvalve 64:a8e6799dbce3 270 const float hout[32] = { 0.3285340666770935f,0.2312968373298645f,-0.1630605310201645f,-0.052534740418195724f,-0.10057443380355835f,0.2961001396179199f,0.017061835154891014f,0.10350137203931808f,-0.07044677436351776f,-0.6716802716255188f,0.1657922863960266f,-0.19491273164749146f,-0.09723297506570816f,0.11400538682937622f,0.2356991171836853f,-0.1462659239768982f,0.09851181507110596f,-0.18661867082118988f,-0.20936886966228485f,-0.06724883615970612f,-0.012077437713742256f,0.13819065690040588f,-0.36261582374572754f,-0.1528124064207077f,0.21429504454135895f,0.2520971894264221f,-0.25227150321006775f,-0.31772324442863464f,0.180665984749794f,-0.3257754445075989f,-0.39810308814048767f,-0.2707440257072449f };
Lightvalve 64:a8e6799dbce3 271
Lightvalve 64:a8e6799dbce3 272 const float b1[32] = { 0.41725802421569824f,0.677618682384491f,-1.7145336866378784f,0.4289698898792267f,1.0923852920532227f,0.6965276002883911f,-0.33025991916656494f,0.911361813545227f,0.5523963570594788f,-0.9239171743392944f,0.5504469275474548f,1.4532619714736938f,-0.3425353467464447f,-0.9522353410720825f,-1.087764859199524f,1.1365444660186768f,0.6634984612464905f,0.07243652641773224f,0.34714072942733765f,0.4831358790397644f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,1.5655348300933838f,-2.0880801677703857f,-1.0489267110824585f,0.6718418598175049f,0.3125588893890381f,-1.0887231826782227f,1.4772096872329712f,-0.44261544942855835f };
Lightvalve 63:a2d7c63419c2 273
Lightvalve 64:a8e6799dbce3 274 const float b2[32] = { -0.1328246146440506f,-0.7642630338668823f,-1.4564176797866821f,-0.5193768739700317f,-0.770237147808075f,0.2291887253522873f,0.42305076122283936f,-0.330333411693573f,-1.200630784034729f,-1.912178635597229f,0.3195040225982666f,0.6411747336387634f,-0.12948329746723175f,2.127977132797241f,0.03474299982190132f,1.0651566982269287f,-1.798204779624939f,-1.6275829076766968f,0.24063049256801605f,-0.33282727003097534f,0.15034039318561554f,0.3341216742992401f,0.09335067123174667f,-1.0914796590805054f,1.1630909442901611f,1.3906062841415405f,0.9115413427352905f,-0.08930502086877823f,-0.6323830485343933f,-0.4208582937717438f,-1.2135889530181885f,-1.3041324615478516f };
Lightvalve 63:a2d7c63419c2 275
Lightvalve 64:a8e6799dbce3 276 const float b3[32] = { -1.963319182395935f,-0.24137775599956512f,0.16939261555671692f,-0.010520849376916885f,0.16716189682483673f,0.8664999008178711f,-0.5060869455337524f,-0.675765335559845f,0.4948726296424866f,0.49107488989830017f,-0.3517422378063202f,0.050810977816581726f,-0.5689442157745361f,0.5305911302566528f,-1.1428403854370117f,-0.3598397970199585f,-1.3594286441802979f,-1.0502030849456787f,-0.22544679045677185f,0.391804963350296f,1.3067524433135986f,1.170665979385376f,-0.7901832461357117f,-0.7575708627700806f,0.7138406038284302f,-0.36519986391067505f,-0.0393984317779541f,0.7097650170326233f,0.27854597568511963f,-2.3236680030822754f,0.025814389809966087f,0.9480384588241577f };
Lightvalve 64:a8e6799dbce3 277
Lightvalve 64:a8e6799dbce3 278 const float bout[1] = { -0.28343671560287476f };
Lightvalve 59:bc8c8270f0ab 279
Lightvalve 59:bc8c8270f0ab 280
GiJeongKim 0:51c43836c1d7 281 int main()
GiJeongKim 0:51c43836c1d7 282 {
Lightvalve 64:a8e6799dbce3 283
Lightvalve 63:a2d7c63419c2 284 HAL_Init();
Lightvalve 63:a2d7c63419c2 285 SystemClock_Config();
Lightvalve 63:a2d7c63419c2 286
jobuuu 6:df07d3491e3a 287 /*********************************
jobuuu 1:e04e563be5ce 288 *** Initialization
jobuuu 6:df07d3491e3a 289 *********************************/
Lightvalve 55:f4819de54e7a 290 LED = 1;
Lightvalve 59:bc8c8270f0ab 291 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 292
GiJeongKim 0:51c43836c1d7 293 // i2c init
Lightvalve 8:5d2eebdad025 294 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 295 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 296 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 297 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 298 make_delay();
jobuuu 2:a1c0a37df760 299
GiJeongKim 0:51c43836c1d7 300 // // spi init
Lightvalve 16:903b5a4433b4 301 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 302 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 303 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 304 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 305 make_delay();
Lightvalve 21:e5f1a43ea6f9 306
Lightvalve 16:903b5a4433b4 307 //rom
Lightvalve 19:23b7c1ad8683 308 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 309 make_delay();
Lightvalve 13:747daba9cf59 310
GiJeongKim 0:51c43836c1d7 311 // ADC init
jobuuu 5:a4319f79457b 312 Init_ADC();
Lightvalve 11:82d8768d7351 313 make_delay();
jobuuu 2:a1c0a37df760 314
GiJeongKim 0:51c43836c1d7 315 // Pwm init
GiJeongKim 0:51c43836c1d7 316 Init_PWM();
GiJeongKim 0:51c43836c1d7 317 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 318 make_delay();
Lightvalve 13:747daba9cf59 319
Lightvalve 11:82d8768d7351 320 // TMR3 init
Lightvalve 11:82d8768d7351 321 Init_TMR3();
Lightvalve 11:82d8768d7351 322 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 323 make_delay();
Lightvalve 21:e5f1a43ea6f9 324
Lightvalve 49:3c630b5eba9f 325 // TMR2 init
Lightvalve 54:6f50d9d3bfee 326 // Init_TMR2();
Lightvalve 54:6f50d9d3bfee 327 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 54:6f50d9d3bfee 328 // make_delay();
Lightvalve 21:e5f1a43ea6f9 329
GiJeongKim 0:51c43836c1d7 330 // CAN
jobuuu 2:a1c0a37df760 331 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 332 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 333 make_delay();
Lightvalve 34:bb2ca2fc2a8e 334
Lightvalve 23:59218d4a256d 335 //Timer priority
Lightvalve 23:59218d4a256d 336 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 55:f4819de54e7a 337 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 52:647072f5307a 338 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 339
Lightvalve 23:59218d4a256d 340 //can.reset();
Lightvalve 19:23b7c1ad8683 341 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 342
GiJeongKim 0:51c43836c1d7 343 // spi _ enc
GiJeongKim 0:51c43836c1d7 344 spi_enc_set_init();
Lightvalve 11:82d8768d7351 345 make_delay();
Lightvalve 13:747daba9cf59 346
Lightvalve 11:82d8768d7351 347 //DAC init
Lightvalve 56:2eade98630e2 348 if (SENSING_MODE == 0) {
Lightvalve 56:2eade98630e2 349 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 56:2eade98630e2 350 dac_2 = 0.0f;
Lightvalve 56:2eade98630e2 351 } else if (SENSING_MODE == 1) {
Lightvalve 56:2eade98630e2 352 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 56:2eade98630e2 353 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 56:2eade98630e2 354 }
Lightvalve 11:82d8768d7351 355 make_delay();
Lightvalve 13:747daba9cf59 356
Lightvalve 19:23b7c1ad8683 357 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 358 if(i%2==0)
Lightvalve 38:118df027d851 359 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 360 else
Lightvalve 38:118df027d851 361 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 362 }
Lightvalve 59:bc8c8270f0ab 363
Lightvalve 59:bc8c8270f0ab 364
jobuuu 6:df07d3491e3a 365 /************************************
jobuuu 1:e04e563be5ce 366 *** Program is operating!
jobuuu 6:df07d3491e3a 367 *************************************/
GiJeongKim 0:51c43836c1d7 368 while(1) {
Lightvalve 64:a8e6799dbce3 369 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 64:a8e6799dbce3 370 //if(timer_while==1000) {
Lightvalve 63:a2d7c63419c2 371 //i2c
Lightvalve 64:a8e6799dbce3 372
Lightvalve 63:a2d7c63419c2 373 read_field(i2c_slave_addr1);
Lightvalve 63:a2d7c63419c2 374 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 63:a2d7c63419c2 375 // if(LED==1) {
Lightvalve 63:a2d7c63419c2 376 // LED=0;
Lightvalve 63:a2d7c63419c2 377 // } else
Lightvalve 63:a2d7c63419c2 378 // LED = 1;
Lightvalve 63:a2d7c63419c2 379 timer_while = 0;
Lightvalve 64:a8e6799dbce3 380 //}
Lightvalve 64:a8e6799dbce3 381
Lightvalve 64:a8e6799dbce3 382 timer_while ++;
Lightvalve 64:a8e6799dbce3 383
Lightvalve 64:a8e6799dbce3 384
Lightvalve 64:a8e6799dbce3 385 if(NN_Control_Flag == 1) {
Lightvalve 64:a8e6799dbce3 386 float output1[32] = { 0.0f };
Lightvalve 64:a8e6799dbce3 387 float output2[32] = { 0.0f };
Lightvalve 64:a8e6799dbce3 388 float output3[32] = { 0.0f };
Lightvalve 64:a8e6799dbce3 389 float output = 0.0f;
Lightvalve 63:a2d7c63419c2 390
Lightvalve 64:a8e6799dbce3 391
Lightvalve 63:a2d7c63419c2 392
Lightvalve 64:a8e6799dbce3 393 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 64:a8e6799dbce3 394 for (int index1 = 0; index1 < 22; index1++) {
Lightvalve 64:a8e6799dbce3 395 output1[index2] = output1[index2]
Lightvalve 64:a8e6799dbce3 396 + h1[index1][index2] * input[index1];
Lightvalve 64:a8e6799dbce3 397 }
Lightvalve 64:a8e6799dbce3 398 output1[index2] = output1[index2] + b1[index2];
Lightvalve 64:a8e6799dbce3 399 if (output1[index2] < 0) {
Lightvalve 64:a8e6799dbce3 400 output1[index2] = 0;
Lightvalve 64:a8e6799dbce3 401 }
Lightvalve 64:a8e6799dbce3 402 }
Lightvalve 63:a2d7c63419c2 403
Lightvalve 64:a8e6799dbce3 404 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 64:a8e6799dbce3 405 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 64:a8e6799dbce3 406 output2[index2] = output2[index2]
Lightvalve 64:a8e6799dbce3 407 + h2[index1][index2] * output1[index1];
Lightvalve 64:a8e6799dbce3 408 }
Lightvalve 64:a8e6799dbce3 409 output2[index2] = output2[index2] + b2[index2];
Lightvalve 64:a8e6799dbce3 410 if (output2[index2] < 0) {
Lightvalve 64:a8e6799dbce3 411 output2[index2] = 0;
Lightvalve 64:a8e6799dbce3 412 }
Lightvalve 64:a8e6799dbce3 413 }
Lightvalve 63:a2d7c63419c2 414
Lightvalve 64:a8e6799dbce3 415 for (int index2 = 0; index2 < 32; index2++) {
Lightvalve 64:a8e6799dbce3 416 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 64:a8e6799dbce3 417 output3[index2] = output3[index2]
Lightvalve 64:a8e6799dbce3 418 + h3[index1][index2] * output2[index1];
Lightvalve 64:a8e6799dbce3 419 }
Lightvalve 64:a8e6799dbce3 420 output3[index2] = output3[index2] + b3[index2];
Lightvalve 64:a8e6799dbce3 421 if (output3[index2] < 0) {
Lightvalve 64:a8e6799dbce3 422 output3[index2] = 0;
Lightvalve 64:a8e6799dbce3 423 }
Lightvalve 63:a2d7c63419c2 424 }
Lightvalve 64:a8e6799dbce3 425
Lightvalve 64:a8e6799dbce3 426 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 64:a8e6799dbce3 427 for (int index1 = 0; index1 < 32; index1++) {
Lightvalve 64:a8e6799dbce3 428 output = output + hout[index2] * output3[index1];
Lightvalve 64:a8e6799dbce3 429 }
Lightvalve 64:a8e6799dbce3 430 output = output + bout[index2];
Lightvalve 64:a8e6799dbce3 431 output = 1.0f/(1.0f+exp(-output));
Lightvalve 64:a8e6799dbce3 432 }
Lightvalve 64:a8e6799dbce3 433
Lightvalve 64:a8e6799dbce3 434 output = output * 24000.0f - 12000.0f;
Lightvalve 64:a8e6799dbce3 435 if(output>=0) {
Lightvalve 64:a8e6799dbce3 436 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 64:a8e6799dbce3 437 } else {
Lightvalve 64:a8e6799dbce3 438 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 63:a2d7c63419c2 439 }
Lightvalve 63:a2d7c63419c2 440 }
Lightvalve 60:b5452adfb2cd 441
Lightvalve 63:a2d7c63419c2 442
Lightvalve 63:a2d7c63419c2 443 if(LED==1) {
Lightvalve 63:a2d7c63419c2 444 LED=0;
Lightvalve 63:a2d7c63419c2 445 } else
Lightvalve 63:a2d7c63419c2 446 LED = 1;
Lightvalve 64:a8e6799dbce3 447
GiJeongKim 0:51c43836c1d7 448 }
jobuuu 1:e04e563be5ce 449 }
jobuuu 1:e04e563be5ce 450
Lightvalve 33:91b17819ec30 451 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 452 {
Lightvalve 14:8e7590227d22 453
Lightvalve 13:747daba9cf59 454 int i = 0;
Lightvalve 47:889798ff9329 455 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 456 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 457 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 458 if(i==0) {
Lightvalve 49:3c630b5eba9f 459 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 55:f4819de54e7a 460 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 461 } else {
Lightvalve 55:f4819de54e7a 462 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 463 }
Lightvalve 14:8e7590227d22 464 } else {
Lightvalve 49:3c630b5eba9f 465 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 55:f4819de54e7a 466 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 467 } else {
Lightvalve 55:f4819de54e7a 468 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 469 }
Lightvalve 13:747daba9cf59 470 }
Lightvalve 13:747daba9cf59 471 break;
Lightvalve 13:747daba9cf59 472 }
Lightvalve 13:747daba9cf59 473 }
Lightvalve 14:8e7590227d22 474 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 475 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 476 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 477 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 478 }
Lightvalve 36:a46e63505ed8 479
Lightvalve 55:f4819de54e7a 480 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 481 return Ref_Valve_Pos_FF;
Lightvalve 49:3c630b5eba9f 482
Lightvalve 13:747daba9cf59 483 }
jobuuu 6:df07d3491e3a 484
jobuuu 6:df07d3491e3a 485
Lightvalve 30:8d561f16383b 486 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 487 {
Lightvalve 13:747daba9cf59 488 int i = 0;
Lightvalve 13:747daba9cf59 489
Lightvalve 38:118df027d851 490 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 491 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 492 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 493 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 494 }
Lightvalve 38:118df027d851 495
Lightvalve 13:747daba9cf59 496 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 497 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 498 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 499 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 500 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 501 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 502
Lightvalve 13:747daba9cf59 503 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 504
Lightvalve 18:b8adf1582ea3 505 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 506 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 507 if(i==0) {
Lightvalve 47:889798ff9329 508 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 509 } else {
Lightvalve 47:889798ff9329 510 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 511 }
Lightvalve 13:747daba9cf59 512 break;
Lightvalve 13:747daba9cf59 513 }
Lightvalve 13:747daba9cf59 514 }
Lightvalve 57:f308b1656d9c 515 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 516 }
Lightvalve 13:747daba9cf59 517
Lightvalve 14:8e7590227d22 518 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 519 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 520 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 521 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 522 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 523 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 524 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 525 }; // duty
Lightvalve 30:8d561f16383b 526 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 527 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 34:bb2ca2fc2a8e 528 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 529 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 34:bb2ca2fc2a8e 530 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 34:bb2ca2fc2a8e 531 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 34:bb2ca2fc2a8e 532 }; // mV
Lightvalve 13:747daba9cf59 533
Lightvalve 30:8d561f16383b 534 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 535 {
Lightvalve 30:8d561f16383b 536 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 537 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 538 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 539 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 540 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 541 } else {
Lightvalve 13:747daba9cf59 542 int idx = 0;
Lightvalve 13:747daba9cf59 543 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 544 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 545 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 546 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 547 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 548 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 549 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 550 break;
Lightvalve 13:747daba9cf59 551 }
Lightvalve 13:747daba9cf59 552 }
Lightvalve 13:747daba9cf59 553 }
Lightvalve 14:8e7590227d22 554
Lightvalve 13:747daba9cf59 555 return PWM_duty;
Lightvalve 13:747daba9cf59 556 }
jobuuu 6:df07d3491e3a 557
Lightvalve 55:f4819de54e7a 558
Lightvalve 55:f4819de54e7a 559
Lightvalve 55:f4819de54e7a 560
Lightvalve 55:f4819de54e7a 561
jobuuu 2:a1c0a37df760 562 /*******************************************************************************
jobuuu 2:a1c0a37df760 563 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 564 *******************************************************************************/
jobuuu 2:a1c0a37df760 565
Lightvalve 50:b46bed7fec80 566 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 50:b46bed7fec80 567 float DT_TMR4 = (float)DT_20k;
Lightvalve 55:f4819de54e7a 568 long CNT_TMR4 = 0;
Lightvalve 55:f4819de54e7a 569 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 570 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 571 {
Lightvalve 19:23b7c1ad8683 572 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 573
Lightvalve 21:e5f1a43ea6f9 574 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 575 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 576 ********************************************************/
Lightvalve 13:747daba9cf59 577
Lightvalve 55:f4819de54e7a 578 //Encoder
Lightvalve 55:f4819de54e7a 579 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 55:f4819de54e7a 580 ENC_UPDATE();
Lightvalve 55:f4819de54e7a 581 }
Lightvalve 60:b5452adfb2cd 582
Lightvalve 61:3c6869477483 583 // for(int i=0; i<10; i++){
Lightvalve 61:3c6869477483 584 // position_array[i] = position_array[i+1];
Lightvalve 61:3c6869477483 585 // }
Lightvalve 61:3c6869477483 586 // position_array[10] = (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
Lightvalve 61:3c6869477483 587 //
Lightvalve 61:3c6869477483 588 // for(int i=0; i<5; i++){
Lightvalve 61:3c6869477483 589 // input_array[i] = position_array[2*i+2] - (pos.ref/(float)(ENC_PULSE_PER_POSITION)+10.0f)/90.0f;
Lightvalve 61:3c6869477483 590 // }
Lightvalve 59:bc8c8270f0ab 591
Lightvalve 59:bc8c8270f0ab 592 ADC1->CR2 |= 0x40000000;
Lightvalve 56:2eade98630e2 593 if (SENSING_MODE == 0) {
Lightvalve 56:2eade98630e2 594 // Torque Sensing (0~210)bar =============================================
Lightvalve 56:2eade98630e2 595 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 56:2eade98630e2 596 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 56:2eade98630e2 597 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 56:2eade98630e2 598 torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 17:1865016ca2e7 599
Lightvalve 56:2eade98630e2 600 } else if (SENSING_MODE == 1) {
Lightvalve 56:2eade98630e2 601 // Pressure Sensing (0~210)bar =============================================
Lightvalve 56:2eade98630e2 602 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 56:2eade98630e2 603 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 56:2eade98630e2 604 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 56:2eade98630e2 605 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 56:2eade98630e2 606 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 56:2eade98630e2 607 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 56:2eade98630e2 608 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 49:3c630b5eba9f 609
Lightvalve 56:2eade98630e2 610 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 56:2eade98630e2 611 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 612 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 56:2eade98630e2 613 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 614 }
Lightvalve 56:2eade98630e2 615 }
Lightvalve 59:bc8c8270f0ab 616
Lightvalve 56:2eade98630e2 617 // //Pressure sensor A
Lightvalve 56:2eade98630e2 618 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 56:2eade98630e2 619 // //while((ADC1->SR & 0b10));
Lightvalve 56:2eade98630e2 620 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 56:2eade98630e2 621 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 56:2eade98630e2 622 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 56:2eade98630e2 623 // 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 624 //
Lightvalve 56:2eade98630e2 625 //
Lightvalve 56:2eade98630e2 626 // //Pressure sensor B
Lightvalve 56:2eade98630e2 627 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 56:2eade98630e2 628 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 56:2eade98630e2 629 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 56:2eade98630e2 630 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 631
Lightvalve 17:1865016ca2e7 632
Lightvalve 21:e5f1a43ea6f9 633 //Current
Lightvalve 21:e5f1a43ea6f9 634 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 635 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 636 //while((ADC3->SR & 0b10));
Lightvalve 50:b46bed7fec80 637 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 638 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 639 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 640 //cur.sen = raw_cur;
Lightvalve 56:2eade98630e2 641
Lightvalve 55:f4819de54e7a 642 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 643 }
Lightvalve 11:82d8768d7351 644 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 645 }
Lightvalve 19:23b7c1ad8683 646
Lightvalve 19:23b7c1ad8683 647
Lightvalve 18:b8adf1582ea3 648 int j =0;
Lightvalve 52:647072f5307a 649 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 47:889798ff9329 650 float DT_TMR3 = (float)DT_5k;
Lightvalve 44:35fa6884d0c6 651 int cnt_trans = 0;
Lightvalve 47:889798ff9329 652 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 55:f4819de54e7a 653 int can_rest =0;
Lightvalve 47:889798ff9329 654
Lightvalve 11:82d8768d7351 655 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 656 {
Lightvalve 19:23b7c1ad8683 657 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 55:f4819de54e7a 658
Lightvalve 55:f4819de54e7a 659 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 55:f4819de54e7a 660 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 55:f4819de54e7a 661 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 55:f4819de54e7a 662 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 55:f4819de54e7a 663 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 55:f4819de54e7a 664 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 55:f4819de54e7a 665 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 55:f4819de54e7a 666 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 55:f4819de54e7a 667 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 55:f4819de54e7a 668 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 55:f4819de54e7a 669 }
Lightvalve 49:3c630b5eba9f 670
Lightvalve 49:3c630b5eba9f 671 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 47:889798ff9329 672 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 44:35fa6884d0c6 673 cnt_trans++;
Lightvalve 45:2694daea349b 674 torq.err_sum = 0;
Lightvalve 47:889798ff9329 675 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 44:35fa6884d0c6 676 MODE_POS_FT_TRANS = 2;
Lightvalve 49:3c630b5eba9f 677 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 47:889798ff9329 678 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 44:35fa6884d0c6 679 cnt_trans++;
Lightvalve 45:2694daea349b 680 torq.err_sum = 0;
Lightvalve 47:889798ff9329 681 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 44:35fa6884d0c6 682 MODE_POS_FT_TRANS = 0;
Lightvalve 49:3c630b5eba9f 683 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 56:2eade98630e2 684 alpha_trans = 1.0f;
Lightvalve 44:35fa6884d0c6 685 cnt_trans = 0;
Lightvalve 49:3c630b5eba9f 686 } else {
Lightvalve 56:2eade98630e2 687 alpha_trans = 0.0f;
Lightvalve 44:35fa6884d0c6 688 cnt_trans = 0;
Lightvalve 44:35fa6884d0c6 689 }
Lightvalve 44:35fa6884d0c6 690
Lightvalve 49:3c630b5eba9f 691
Lightvalve 55:f4819de54e7a 692 int UTILITY_MODE = 0;
Lightvalve 55:f4819de54e7a 693 int CONTROL_MODE = 0;
Lightvalve 56:2eade98630e2 694
Lightvalve 55:f4819de54e7a 695 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 55:f4819de54e7a 696 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 55:f4819de54e7a 697 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 698 } else {
Lightvalve 55:f4819de54e7a 699 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 55:f4819de54e7a 700 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 701 }
Lightvalve 54:6f50d9d3bfee 702
Lightvalve 54:6f50d9d3bfee 703
Lightvalve 54:6f50d9d3bfee 704
Lightvalve 55:f4819de54e7a 705 // UTILITY MODE ------------------------------------------------------------
Lightvalve 54:6f50d9d3bfee 706
Lightvalve 55:f4819de54e7a 707 switch (UTILITY_MODE) {
Lightvalve 55:f4819de54e7a 708 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 709 break;
Lightvalve 13:747daba9cf59 710 }
Lightvalve 14:8e7590227d22 711
Lightvalve 14:8e7590227d22 712 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 713 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 714 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 715 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 716
Lightvalve 14:8e7590227d22 717 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 718 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 719 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 720
Lightvalve 57:f308b1656d9c 721 TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 722
Lightvalve 30:8d561f16383b 723 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 57:f308b1656d9c 724 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 49:3c630b5eba9f 725
Lightvalve 16:903b5a4433b4 726 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 727 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 728 }
Lightvalve 13:747daba9cf59 729 } else {
Lightvalve 56:2eade98630e2 730 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 731 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 732 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 733 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 734
Lightvalve 16:903b5a4433b4 735 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 736
Lightvalve 30:8d561f16383b 737 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 738
Lightvalve 13:747daba9cf59 739 }
Lightvalve 14:8e7590227d22 740 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 741 break;
Lightvalve 19:23b7c1ad8683 742 }
Lightvalve 14:8e7590227d22 743
Lightvalve 49:3c630b5eba9f 744 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 49:3c630b5eba9f 745 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 49:3c630b5eba9f 746 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 49:3c630b5eba9f 747 // else temp_time = 0;
Lightvalve 49:3c630b5eba9f 748 // }
Lightvalve 49:3c630b5eba9f 749 // if (need_enc_init) {
Lightvalve 49:3c630b5eba9f 750 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 751 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 752 // pos_plus_end = pos.sen;
Lightvalve 49:3c630b5eba9f 753 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 754 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 755 // pos_minus_end = pos.sen;
Lightvalve 49:3c630b5eba9f 756 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 49:3c630b5eba9f 757 // temp_time = TMR_FREQ_5k;
Lightvalve 49:3c630b5eba9f 758 // }
Lightvalve 49:3c630b5eba9f 759 //
Lightvalve 49:3c630b5eba9f 760 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 761 // 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 762 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 49:3c630b5eba9f 763 //
Lightvalve 49:3c630b5eba9f 764 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 49:3c630b5eba9f 765 // V_out = 0;
Lightvalve 49:3c630b5eba9f 766 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 49:3c630b5eba9f 767 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 768 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 49:3c630b5eba9f 769 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 49:3c630b5eba9f 770 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 49:3c630b5eba9f 771 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 49:3c630b5eba9f 772 // CUR_VELOCITY_sum = 0;
Lightvalve 49:3c630b5eba9f 773 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 774 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 49:3c630b5eba9f 775 //
Lightvalve 49:3c630b5eba9f 776 // // Position of Dead Zone
Lightvalve 49:3c630b5eba9f 777 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 49:3c630b5eba9f 778 // // | / | / |/
Lightvalve 49:3c630b5eba9f 779 // // | ______/ ___|___/ ______/|
Lightvalve 49:3c630b5eba9f 780 // // |/ / | / |
Lightvalve 49:3c630b5eba9f 781 // // /| / | / |
Lightvalve 49:3c630b5eba9f 782 // // 0V 0V 0V
Lightvalve 49:3c630b5eba9f 783 //
Lightvalve 49:3c630b5eba9f 784 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 49:3c630b5eba9f 785 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 49:3c630b5eba9f 786 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 49:3c630b5eba9f 787 // } else {
Lightvalve 49:3c630b5eba9f 788 // V_out -= DZ_dir;
Lightvalve 49:3c630b5eba9f 789 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 49:3c630b5eba9f 790 // CUR_VELOCITY_sum = 0;
Lightvalve 49:3c630b5eba9f 791 // }
Lightvalve 49:3c630b5eba9f 792 // if (DZ_temp_cnt == 5) {
Lightvalve 49:3c630b5eba9f 793 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 49:3c630b5eba9f 794 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 49:3c630b5eba9f 795 // DZ_dir = -DZ_dir;
Lightvalve 49:3c630b5eba9f 796 // DZ_temp_cnt = 0;
Lightvalve 49:3c630b5eba9f 797 // DZ_temp_cnt2++;
Lightvalve 49:3c630b5eba9f 798 // }
Lightvalve 49:3c630b5eba9f 799 // } else {
Lightvalve 49:3c630b5eba9f 800 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 49:3c630b5eba9f 801 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 49:3c630b5eba9f 802 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 49:3c630b5eba9f 803 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 804 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 805 // }
Lightvalve 49:3c630b5eba9f 806 // V_out = 0;
Lightvalve 49:3c630b5eba9f 807 //
Lightvalve 49:3c630b5eba9f 808 // ROM_RESET_DATA();
Lightvalve 49:3c630b5eba9f 809 //
Lightvalve 49:3c630b5eba9f 810 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 49:3c630b5eba9f 811 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 49:3c630b5eba9f 812 //
Lightvalve 49:3c630b5eba9f 813 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:3c630b5eba9f 814 // DZ_temp_cnt2 = 0;
Lightvalve 49:3c630b5eba9f 815 // }
Lightvalve 49:3c630b5eba9f 816 // }
Lightvalve 49:3c630b5eba9f 817 // TMR3_COUNT_DEADZONE++;
Lightvalve 49:3c630b5eba9f 818 // break;
Lightvalve 49:3c630b5eba9f 819 // }
Lightvalve 14:8e7590227d22 820
Lightvalve 14:8e7590227d22 821 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 822 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 823 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 824 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 825 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 57:f308b1656d9c 826 pos.ref = pos.sen;
Lightvalve 57:f308b1656d9c 827 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 828 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 829 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 830 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 831 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 832 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 833 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 834 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 835 }
Lightvalve 29:69f3f5445d6d 836 cnt_findhome++;
Lightvalve 14:8e7590227d22 837
Lightvalve 29:69f3f5445d6d 838 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 839 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 840 } else {
Lightvalve 29:69f3f5445d6d 841 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 842 }
Lightvalve 19:23b7c1ad8683 843
Lightvalve 55:f4819de54e7a 844 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 845 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 57:f308b1656d9c 846 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
Lightvalve 57:f308b1656d9c 847 else pos.ref = pos.ref - 2.0f;
Lightvalve 59:bc8c8270f0ab 848
Lightvalve 57:f308b1656d9c 849 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 57:f308b1656d9c 850 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 57:f308b1656d9c 851 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 57:f308b1656d9c 852 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 57:f308b1656d9c 853 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:bc8c8270f0ab 854
Lightvalve 57:f308b1656d9c 855 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 57:f308b1656d9c 856 alpha_trans = 0.0f;
Lightvalve 59:bc8c8270f0ab 857
Lightvalve 34:bb2ca2fc2a8e 858
Lightvalve 29:69f3f5445d6d 859 } else {
Lightvalve 29:69f3f5445d6d 860 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 861 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 862 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 863 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 864 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 865 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 866 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 867 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 868 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 869 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 870 }
Lightvalve 29:69f3f5445d6d 871 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 872 int T_move = 2*TMR_FREQ_5k;
Lightvalve 57:f308b1656d9c 873 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 874 vel.ref = 0.0f;
Lightvalve 19:23b7c1ad8683 875
Lightvalve 29:69f3f5445d6d 876 // input for position control
Lightvalve 59:bc8c8270f0ab 877
Lightvalve 57:f308b1656d9c 878 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 57:f308b1656d9c 879 alpha_trans = 0.0f;
Lightvalve 57:f308b1656d9c 880 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 57:f308b1656d9c 881 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 57:f308b1656d9c 882 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 57:f308b1656d9c 883 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 57:f308b1656d9c 884 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 885
Lightvalve 29:69f3f5445d6d 886 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 887 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 888 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 889 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 890 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 891 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 892 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 893 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 894 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 55:f4819de54e7a 895 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 896 }
Lightvalve 13:747daba9cf59 897 }
Lightvalve 19:23b7c1ad8683 898
Lightvalve 13:747daba9cf59 899 break;
Lightvalve 13:747daba9cf59 900 }
Lightvalve 14:8e7590227d22 901
Lightvalve 49:3c630b5eba9f 902 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 49:3c630b5eba9f 903 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 49:3c630b5eba9f 904 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 49:3c630b5eba9f 905 // else {
Lightvalve 49:3c630b5eba9f 906 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 907 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 49:3c630b5eba9f 908 // }
Lightvalve 49:3c630b5eba9f 909 // }
Lightvalve 49:3c630b5eba9f 910 // if (need_enc_init) {
Lightvalve 49:3c630b5eba9f 911 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 49:3c630b5eba9f 912 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 913 // pos_plus_end = pos.sen;
Lightvalve 49:3c630b5eba9f 914 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 915 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 916 // pos_minus_end = pos.sen;
Lightvalve 49:3c630b5eba9f 917 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 918 // need_enc_init = false;
Lightvalve 49:3c630b5eba9f 919 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 49:3c630b5eba9f 920 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 49:3c630b5eba9f 921 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 49:3c630b5eba9f 922 // }
Lightvalve 49:3c630b5eba9f 923 // temp_time = TMR_FREQ_5k;
Lightvalve 49:3c630b5eba9f 924 // }
Lightvalve 49:3c630b5eba9f 925 // TMR3_COUNT_FLOWRATE++;
Lightvalve 49:3c630b5eba9f 926 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 49:3c630b5eba9f 927 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 49:3c630b5eba9f 928 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 49:3c630b5eba9f 929 // V_out = VALVE_VOLTAGE;
Lightvalve 49:3c630b5eba9f 930 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 49:3c630b5eba9f 931 // fl_temp_cnt++;
Lightvalve 49:3c630b5eba9f 932 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 49:3c630b5eba9f 933 // 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 934 // // 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 935 // fl_temp_cnt2++;
Lightvalve 49:3c630b5eba9f 936 // }
Lightvalve 49:3c630b5eba9f 937 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 49:3c630b5eba9f 938 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 49:3c630b5eba9f 939 // V_out = VALVE_VOLTAGE;
Lightvalve 49:3c630b5eba9f 940 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 49:3c630b5eba9f 941 // fl_temp_cnt++;
Lightvalve 49:3c630b5eba9f 942 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 49:3c630b5eba9f 943 // 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 944 // // 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 945 // fl_temp_cnt2++;
Lightvalve 49:3c630b5eba9f 946 // }
Lightvalve 49:3c630b5eba9f 947 // }
Lightvalve 49:3c630b5eba9f 948 // if (fl_temp_cnt2 == 100) {
Lightvalve 49:3c630b5eba9f 949 //
Lightvalve 49:3c630b5eba9f 950 // ROM_RESET_DATA();
Lightvalve 49:3c630b5eba9f 951 //
Lightvalve 49:3c630b5eba9f 952 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 49:3c630b5eba9f 953 // cur_vel_sum = 0;
Lightvalve 49:3c630b5eba9f 954 // fl_temp_cnt = 0;
Lightvalve 49:3c630b5eba9f 955 // fl_temp_cnt2 = 0;
Lightvalve 49:3c630b5eba9f 956 // flag_flowrate++;
Lightvalve 49:3c630b5eba9f 957 // }
Lightvalve 49:3c630b5eba9f 958 // if (flag_flowrate == 10) {
Lightvalve 49:3c630b5eba9f 959 // V_out = 0;
Lightvalve 49:3c630b5eba9f 960 // flag_flowrate = 0;
Lightvalve 49:3c630b5eba9f 961 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 49:3c630b5eba9f 962 // valve_gain_repeat_cnt++;
Lightvalve 49:3c630b5eba9f 963 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 49:3c630b5eba9f 964 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:3c630b5eba9f 965 // valve_gain_repeat_cnt = 0;
Lightvalve 49:3c630b5eba9f 966 // }
Lightvalve 49:3c630b5eba9f 967 //
Lightvalve 49:3c630b5eba9f 968 // }
Lightvalve 49:3c630b5eba9f 969 // break;
Lightvalve 49:3c630b5eba9f 970 // }
Lightvalve 49:3c630b5eba9f 971 //
Lightvalve 49:3c630b5eba9f 972 // }
Lightvalve 14:8e7590227d22 973 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 974 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 975 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 976 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 977 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 978
Lightvalve 14:8e7590227d22 979 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 980 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 981 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 982 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 983 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 984
Lightvalve 38:118df027d851 985 float VREF_NullingGain = 0.0003f;
Lightvalve 56:2eade98630e2 986 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 56:2eade98630e2 987 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 988
Lightvalve 30:8d561f16383b 989 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 990 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 991 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 992 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 993
Lightvalve 30:8d561f16383b 994 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 995 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 996 }
Lightvalve 13:747daba9cf59 997 } else {
Lightvalve 55:f4819de54e7a 998 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 999 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1000 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1001 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1002 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1003 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1004
Lightvalve 16:903b5a4433b4 1005 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1006
Lightvalve 30:8d561f16383b 1007 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1008 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1009 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1010 }
Lightvalve 14:8e7590227d22 1011 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1012 break;
Lightvalve 13:747daba9cf59 1013 }
Lightvalve 14:8e7590227d22 1014
Lightvalve 49:3c630b5eba9f 1015 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 49:3c630b5eba9f 1016 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 1017 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 1018 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 1019 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 49:3c630b5eba9f 1020 // }
Lightvalve 49:3c630b5eba9f 1021 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 1022 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 1023 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 1024 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 49:3c630b5eba9f 1025 // }
Lightvalve 49:3c630b5eba9f 1026 // } else {
Lightvalve 49:3c630b5eba9f 1027 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:3c630b5eba9f 1028 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 49:3c630b5eba9f 1029 // V_out = 0;
Lightvalve 49:3c630b5eba9f 1030 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 49:3c630b5eba9f 1031 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 49:3c630b5eba9f 1032 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 49:3c630b5eba9f 1033 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 49:3c630b5eba9f 1034 // CUR_PRES_A_sum = 0;
Lightvalve 49:3c630b5eba9f 1035 // CUR_PRES_B_sum = 0;
Lightvalve 49:3c630b5eba9f 1036 // CUR_PRES_A_mean = 0;
Lightvalve 49:3c630b5eba9f 1037 // CUR_PRES_B_mean = 0;
Lightvalve 49:3c630b5eba9f 1038 //
Lightvalve 49:3c630b5eba9f 1039 // ROM_RESET_DATA();
Lightvalve 49:3c630b5eba9f 1040 //
Lightvalve 49:3c630b5eba9f 1041 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 49:3c630b5eba9f 1042 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 49:3c630b5eba9f 1043 // }
Lightvalve 49:3c630b5eba9f 1044 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 49:3c630b5eba9f 1045 // break;
Lightvalve 49:3c630b5eba9f 1046 // }
Lightvalve 19:23b7c1ad8683 1047
Lightvalve 49:3c630b5eba9f 1048 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 49:3c630b5eba9f 1049 // 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 1050 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 49:3c630b5eba9f 1051 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 1052 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 49:3c630b5eba9f 1053 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 49:3c630b5eba9f 1054 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 49:3c630b5eba9f 1055 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 49:3c630b5eba9f 1056 // V_out = 0.0f;
Lightvalve 49:3c630b5eba9f 1057 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 49:3c630b5eba9f 1058 // }
Lightvalve 49:3c630b5eba9f 1059 // break;
Lightvalve 49:3c630b5eba9f 1060 // }
Lightvalve 14:8e7590227d22 1061
Lightvalve 14:8e7590227d22 1062 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 57:f308b1656d9c 1063 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1064 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1065
Lightvalve 14:8e7590227d22 1066 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 58:64181f1d3e60 1067 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1068 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 57:f308b1656d9c 1069 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1070 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1071 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1072 data_num = 0;
Lightvalve 14:8e7590227d22 1073 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1074 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1075 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1076 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 57:f308b1656d9c 1077 Vout.ref = 0.0f;
Lightvalve 57:f308b1656d9c 1078 } else {
Lightvalve 13:747daba9cf59 1079 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1080 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1081 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1082 }
Lightvalve 14:8e7590227d22 1083
Lightvalve 17:1865016ca2e7 1084 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1085 int i;
Lightvalve 13:747daba9cf59 1086 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1087 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1088 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1089 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1090 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1091 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1092 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1093 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1094 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1095 }
Lightvalve 13:747daba9cf59 1096 }
Lightvalve 57:f308b1656d9c 1097 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1098 ID_index = 0;
Lightvalve 55:f4819de54e7a 1099 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1100 }
Lightvalve 14:8e7590227d22 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_DEADZONE_AND_CENTER: {
Lightvalve 57:f308b1656d9c 1107 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1108 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1109 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1110 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1111 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1112 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1113 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1114 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1115 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1116 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1117 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1118 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1119 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1120 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1121 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 1122 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1123 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 1124 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1125 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1126 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1127 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 1128 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1129 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1130 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1131 data_num = 0;
Lightvalve 14:8e7590227d22 1132
Lightvalve 30:8d561f16383b 1133 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1134 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1135 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1136
Lightvalve 30:8d561f16383b 1137 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1138 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1139 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 58:64181f1d3e60 1140
Lightvalve 30:8d561f16383b 1141 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1142 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1143 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1144 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1145
Lightvalve 58:64181f1d3e60 1146 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1147 DZ_case = 1;
Lightvalve 58:64181f1d3e60 1148 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1149 DZ_case = -1;
Lightvalve 14:8e7590227d22 1150 } else {
Lightvalve 13:747daba9cf59 1151 DZ_case = 0;
Lightvalve 13:747daba9cf59 1152 }
Lightvalve 59:bc8c8270f0ab 1153
Lightvalve 58:64181f1d3e60 1154 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 49:3c630b5eba9f 1155
Lightvalve 13:747daba9cf59 1156 first_check = 1;
Lightvalve 13:747daba9cf59 1157 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1158 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1159 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1160 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1161 DZ_index = 1;
Lightvalve 14:8e7590227d22 1162
Lightvalve 13:747daba9cf59 1163 }
Lightvalve 19:23b7c1ad8683 1164 } else {
Lightvalve 14:8e7590227d22 1165 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1166 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 1167 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 1168 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 58:64181f1d3e60 1169 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1170 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1171 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1172 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1173 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1174 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1175 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1176 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1177 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1178 }
Lightvalve 14:8e7590227d22 1179 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 58:64181f1d3e60 1180
Lightvalve 30:8d561f16383b 1181 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1182 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1183 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1184
Lightvalve 14:8e7590227d22 1185 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1186 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1187 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1188 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1189 } else {
Lightvalve 13:747daba9cf59 1190 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1191 }
Lightvalve 14:8e7590227d22 1192
Lightvalve 13:747daba9cf59 1193 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1194 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1195 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1196 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1197 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1198 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1199 DZ_index = 1;
Lightvalve 13:747daba9cf59 1200 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1201 }
Lightvalve 13:747daba9cf59 1202 }
Lightvalve 14:8e7590227d22 1203 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1204 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 1205 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 1206 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 58:64181f1d3e60 1207 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1208 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1209 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1210 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 1211 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1212 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1213 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1214 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1215 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1216 }
Lightvalve 14:8e7590227d22 1217 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:bc8c8270f0ab 1218
Lightvalve 30:8d561f16383b 1219 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1220 Vout.ref = 0.0f;
Lightvalve 57:f308b1656d9c 1221 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1222 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1223 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1224
Lightvalve 14:8e7590227d22 1225 if((FINAL_POS - START_POS)>100) {
Lightvalve 58:64181f1d3e60 1226 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1227 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 58:64181f1d3e60 1228 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1229 } else {
Lightvalve 58:64181f1d3e60 1230 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1231 }
Lightvalve 14:8e7590227d22 1232
Lightvalve 13:747daba9cf59 1233 VALVE_DZ_timer = 0;
Lightvalve 58:64181f1d3e60 1234 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1235 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1236 SECOND_DZ = valve_pos.ref;
Lightvalve 55:f4819de54e7a 1237 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1238 first_check = 0;
Lightvalve 33:91b17819ec30 1239 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1240 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1241
Lightvalve 16:903b5a4433b4 1242 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1243
Lightvalve 58:64181f1d3e60 1244 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1245 DZ_index = 1;
Lightvalve 13:747daba9cf59 1246 }
Lightvalve 13:747daba9cf59 1247 }
Lightvalve 14:8e7590227d22 1248 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1249 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 1250 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 1251 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 58:64181f1d3e60 1252 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1253 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1254 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1255 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1256 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1257 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1258 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1259 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1260 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1261 }
Lightvalve 14:8e7590227d22 1262 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:bc8c8270f0ab 1263
Lightvalve 30:8d561f16383b 1264 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1265 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1266 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1267
Lightvalve 14:8e7590227d22 1268 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1269 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1270 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1271 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1272 } else {
Lightvalve 13:747daba9cf59 1273 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1274 }
Lightvalve 13:747daba9cf59 1275 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1276 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1277 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1278 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1279 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1280 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1281 DZ_index = 1;
Lightvalve 13:747daba9cf59 1282 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1283 }
Lightvalve 13:747daba9cf59 1284 }
Lightvalve 14:8e7590227d22 1285 } else {
Lightvalve 30:8d561f16383b 1286 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 58:64181f1d3e60 1287 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 1288 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 58:64181f1d3e60 1289 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1290 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1291 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1293 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1294 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1295 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1296 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1297 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1298 }
Lightvalve 14:8e7590227d22 1299 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 58:64181f1d3e60 1300
Lightvalve 30:8d561f16383b 1301 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1302 Vout.ref = 0.0f;
Lightvalve 57:f308b1656d9c 1303 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1304 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1305 FINAL_POS = pos.sen;
Lightvalve 59:bc8c8270f0ab 1306
Lightvalve 58:64181f1d3e60 1307 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1308 DZ_DIRECTION = 1;
Lightvalve 58:64181f1d3e60 1309 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 58:64181f1d3e60 1310 DZ_DIRECTION = -1;
Lightvalve 58:64181f1d3e60 1311 } else {
Lightvalve 13:747daba9cf59 1312 DZ_DIRECTION = 1;
Lightvalve 58:64181f1d3e60 1313 }
Lightvalve 14:8e7590227d22 1314
Lightvalve 13:747daba9cf59 1315 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1316 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1317 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1318 SECOND_DZ = valve_pos.ref;
Lightvalve 55:f4819de54e7a 1319 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1320 first_check = 0;
Lightvalve 33:91b17819ec30 1321 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1322 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 59:bc8c8270f0ab 1323
Lightvalve 57:f308b1656d9c 1324 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1325
Lightvalve 55:f4819de54e7a 1326 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1327 DZ_index = 1;
Lightvalve 13:747daba9cf59 1328 }
Lightvalve 13:747daba9cf59 1329 }
Lightvalve 13:747daba9cf59 1330 }
Lightvalve 14:8e7590227d22 1331 }
Lightvalve 13:747daba9cf59 1332 break;
Lightvalve 13:747daba9cf59 1333 }
Lightvalve 14:8e7590227d22 1334
Lightvalve 14:8e7590227d22 1335 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 57:f308b1656d9c 1336 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1337 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1338 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1339 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1340 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1341 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1342 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1343 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1344 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1345 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1346 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1347 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1348 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1349 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 57:f308b1656d9c 1350 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1351 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1352 first_check = 1;
Lightvalve 13:747daba9cf59 1353 VALVE_FR_timer = 0;
Lightvalve 55:f4819de54e7a 1354 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1355 ID_index = 0;
Lightvalve 13:747daba9cf59 1356 max_check = 0;
Lightvalve 13:747daba9cf59 1357 min_check = 0;
Lightvalve 13:747daba9cf59 1358 }
Lightvalve 14:8e7590227d22 1359 } else {
Lightvalve 30:8d561f16383b 1360 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f308b1656d9c 1361 //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 1362 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 57:f308b1656d9c 1363 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1364 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1365 data_num = 0;
Lightvalve 55:f4819de54e7a 1366 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1367
Lightvalve 14:8e7590227d22 1368 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1369 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1370 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 55:f4819de54e7a 1371 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1372 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1373 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1374 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1375 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1376 one_period_end = 1;
Lightvalve 13:747daba9cf59 1377 }
Lightvalve 30:8d561f16383b 1378 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1379 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1380 one_period_end = 1;
Lightvalve 57:f308b1656d9c 1381 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1382 }
Lightvalve 14:8e7590227d22 1383
Lightvalve 14:8e7590227d22 1384 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1385 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1386 max_check = 1;
Lightvalve 14:8e7590227d22 1387 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1388 min_check = 1;
Lightvalve 13:747daba9cf59 1389 }
Lightvalve 13:747daba9cf59 1390 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1391
Lightvalve 13:747daba9cf59 1392 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1393 one_period_end = 0;
Lightvalve 13:747daba9cf59 1394 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1395 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1396 }
Lightvalve 14:8e7590227d22 1397
Lightvalve 14:8e7590227d22 1398 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1399
Lightvalve 13:747daba9cf59 1400 VALVE_POS_NUM = ID_index;
Lightvalve 57:f308b1656d9c 1401 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1402 ID_index = 0;
Lightvalve 13:747daba9cf59 1403 first_check = 0;
Lightvalve 13:747daba9cf59 1404 VALVE_FR_timer = 0;
Lightvalve 55:f4819de54e7a 1405 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 48:e7bcfc244d40 1406 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1407 }
Lightvalve 13:747daba9cf59 1408 }
Lightvalve 13:747daba9cf59 1409 break;
Lightvalve 13:747daba9cf59 1410 }
Lightvalve 56:2eade98630e2 1411
Lightvalve 55:f4819de54e7a 1412 case MODE_SYSTEM_ID: {
Lightvalve 55:f4819de54e7a 1413 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 55:f4819de54e7a 1414 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 55:f4819de54e7a 1415 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 55:f4819de54e7a 1416 cnt_sysid++;
Lightvalve 55:f4819de54e7a 1417 if (freq_sysid_Iref >= 300) {
Lightvalve 55:f4819de54e7a 1418 cnt_sysid = 0;
Lightvalve 55:f4819de54e7a 1419 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 1420 }
Lightvalve 55:f4819de54e7a 1421 break;
Lightvalve 55:f4819de54e7a 1422 }
Lightvalve 56:2eade98630e2 1423
Lightvalve 56:2eade98630e2 1424
Lightvalve 55:f4819de54e7a 1425
Lightvalve 55:f4819de54e7a 1426 default:
Lightvalve 55:f4819de54e7a 1427 break;
Lightvalve 55:f4819de54e7a 1428 }
Lightvalve 55:f4819de54e7a 1429
Lightvalve 55:f4819de54e7a 1430 // CONTROL MODE ------------------------------------------------------------
Lightvalve 55:f4819de54e7a 1431
Lightvalve 55:f4819de54e7a 1432 switch (CONTROL_MODE) {
Lightvalve 55:f4819de54e7a 1433 case MODE_NO_ACT: {
Lightvalve 55:f4819de54e7a 1434 V_out = 0.0f;
Lightvalve 55:f4819de54e7a 1435 break;
Lightvalve 55:f4819de54e7a 1436 }
Lightvalve 55:f4819de54e7a 1437
Lightvalve 55:f4819de54e7a 1438 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 55:f4819de54e7a 1439 if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve 55:f4819de54e7a 1440 I_REF = valve_pos.ref;
Lightvalve 55:f4819de54e7a 1441 } else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve 55:f4819de54e7a 1442 V_out = valve_pos.ref;
Lightvalve 55:f4819de54e7a 1443 } else { //SW Valve
Lightvalve 55:f4819de54e7a 1444 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 57:f308b1656d9c 1445 V_out = Vout.ref;
Lightvalve 55:f4819de54e7a 1446 }
Lightvalve 56:2eade98630e2 1447
Lightvalve 55:f4819de54e7a 1448 break;
Lightvalve 55:f4819de54e7a 1449 }
Lightvalve 55:f4819de54e7a 1450
Lightvalve 55:f4819de54e7a 1451 case MODE_JOINT_CONTROL: {
Lightvalve 55:f4819de54e7a 1452 double torq_ref = 0.0f;
Lightvalve 55:f4819de54e7a 1453 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 55:f4819de54e7a 1454 vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 55:f4819de54e7a 1455 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 55:f4819de54e7a 1456 torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 55:f4819de54e7a 1457
Lightvalve 55:f4819de54e7a 1458 // torque feedback
Lightvalve 56:2eade98630e2 1459 torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve 55:f4819de54e7a 1460 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 55:f4819de54e7a 1461
Lightvalve 55:f4819de54e7a 1462 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 56:2eade98630e2 1463
Lightvalve 55:f4819de54e7a 1464 double I_REF_POS = 0.0f;
Lightvalve 55:f4819de54e7a 1465 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 55:f4819de54e7a 1466 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 55:f4819de54e7a 1467
Lightvalve 55:f4819de54e7a 1468 double temp_vel_pos = 0.0f;
Lightvalve 55:f4819de54e7a 1469 double temp_vel_torq = 0.0f;
Lightvalve 55:f4819de54e7a 1470 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 56:2eade98630e2 1471
Lightvalve 55:f4819de54e7a 1472 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 55:f4819de54e7a 1473 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 1474 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 55:f4819de54e7a 1475 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 55:f4819de54e7a 1476 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 1477 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 55:f4819de54e7a 1478 }
Lightvalve 55:f4819de54e7a 1479 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 1480 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 55:f4819de54e7a 1481
Lightvalve 55:f4819de54e7a 1482 // velocity compensation for torque control
Lightvalve 55:f4819de54e7a 1483 if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 55:f4819de54e7a 1484 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 55:f4819de54e7a 1485 // 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 1486 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 55:f4819de54e7a 1487 // L feedforward velocity
Lightvalve 55:f4819de54e7a 1488 } else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve 55:f4819de54e7a 1489 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 1490 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 55:f4819de54e7a 1491 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 55:f4819de54e7a 1492 // L feedforward velocity
Lightvalve 55:f4819de54e7a 1493 }
Lightvalve 55:f4819de54e7a 1494 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 1495 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 55:f4819de54e7a 1496 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 55:f4819de54e7a 1497 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 55:f4819de54e7a 1498 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 55:f4819de54e7a 1499
Lightvalve 55:f4819de54e7a 1500 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 55:f4819de54e7a 1501
Lightvalve 55:f4819de54e7a 1502 } else {
Lightvalve 55:f4819de54e7a 1503 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 55:f4819de54e7a 1504
Lightvalve 55:f4819de54e7a 1505 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 1506 + 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 1507
Lightvalve 55:f4819de54e7a 1508 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 55:f4819de54e7a 1509 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 55:f4819de54e7a 1510 } else {
Lightvalve 55:f4819de54e7a 1511 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 55:f4819de54e7a 1512 }
Lightvalve 55:f4819de54e7a 1513
Lightvalve 55:f4819de54e7a 1514 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 55:f4819de54e7a 1515 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 55:f4819de54e7a 1516 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 55:f4819de54e7a 1517 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 55:f4819de54e7a 1518 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 55:f4819de54e7a 1519 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 55:f4819de54e7a 1520 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 55:f4819de54e7a 1521 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 55:f4819de54e7a 1522 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 55:f4819de54e7a 1523 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 55:f4819de54e7a 1524 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 55:f4819de54e7a 1525 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 55:f4819de54e7a 1526 }
Lightvalve 55:f4819de54e7a 1527 }
Lightvalve 59:bc8c8270f0ab 1528
Lightvalve 55:f4819de54e7a 1529 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:bc8c8270f0ab 1530
Lightvalve 64:a8e6799dbce3 1531 //Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 58:64181f1d3e60 1532 V_out = (float) Vout.ref;
Lightvalve 55:f4819de54e7a 1533
Lightvalve 55:f4819de54e7a 1534 }
Lightvalve 56:2eade98630e2 1535
Lightvalve 55:f4819de54e7a 1536 break;
Lightvalve 55:f4819de54e7a 1537 }
Lightvalve 56:2eade98630e2 1538
Lightvalve 55:f4819de54e7a 1539 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 55:f4819de54e7a 1540 V_out = (float) Vout.ref;
Lightvalve 55:f4819de54e7a 1541 break;
Lightvalve 55:f4819de54e7a 1542 }
Lightvalve 14:8e7590227d22 1543
Lightvalve 12:6f2531038ea4 1544 default:
Lightvalve 12:6f2531038ea4 1545 break;
Lightvalve 12:6f2531038ea4 1546 }
Lightvalve 14:8e7590227d22 1547
Lightvalve 55:f4819de54e7a 1548
Lightvalve 55:f4819de54e7a 1549 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 56:2eade98630e2 1550
Lightvalve 55:f4819de54e7a 1551 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1552 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 55:f4819de54e7a 1553 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1554 if (CURRENT_CONTROL_MODE) {
Lightvalve 55:f4819de54e7a 1555 double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 55:f4819de54e7a 1556 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 55:f4819de54e7a 1557
Lightvalve 55:f4819de54e7a 1558 I_ERR = I_REF_fil - cur.sen;
Lightvalve 55:f4819de54e7a 1559 I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
Lightvalve 55:f4819de54e7a 1560
Lightvalve 55:f4819de54e7a 1561
Lightvalve 55:f4819de54e7a 1562 // Moog Valve Current Control Gain
Lightvalve 55:f4819de54e7a 1563 double R_model = 539.0f; // ohm
Lightvalve 55:f4819de54e7a 1564 double L_model = 1.2f;
Lightvalve 55:f4819de54e7a 1565 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 55:f4819de54e7a 1566 double KP_I = 0.1f * L_model*w0;
Lightvalve 55:f4819de54e7a 1567 double KI_I = 0.1f * R_model*w0;
Lightvalve 55:f4819de54e7a 1568
Lightvalve 55:f4819de54e7a 1569 // KNR Valve Current Control Gain
Lightvalve 55:f4819de54e7a 1570 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 55:f4819de54e7a 1571 R_model = 163.0f; // ohm
Lightvalve 55:f4819de54e7a 1572 L_model = 1.0f;
Lightvalve 55:f4819de54e7a 1573 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 55:f4819de54e7a 1574 KP_I = 1.0f * L_model*w0;
Lightvalve 55:f4819de54e7a 1575 KI_I = 0.08f * R_model*w0;
Lightvalve 55:f4819de54e7a 1576 }
Lightvalve 55:f4819de54e7a 1577
Lightvalve 55:f4819de54e7a 1578 double FF_gain = 1.0f;
Lightvalve 55:f4819de54e7a 1579
Lightvalve 55:f4819de54e7a 1580 VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
Lightvalve 55:f4819de54e7a 1581 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 55:f4819de54e7a 1582 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 55:f4819de54e7a 1583 I_REF_fil_old = I_REF_fil;
Lightvalve 55:f4819de54e7a 1584 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 1585 double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
Lightvalve 55:f4819de54e7a 1586
Lightvalve 55:f4819de54e7a 1587 double Ka = 3.0f / KP_I;
Lightvalve 55:f4819de54e7a 1588 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 55:f4819de54e7a 1589 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 55:f4819de54e7a 1590 V_rem = Ka*V_rem;
Lightvalve 55:f4819de54e7a 1591 VALVE_PWM_RAW = V_MAX;
Lightvalve 55:f4819de54e7a 1592 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 55:f4819de54e7a 1593 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 55:f4819de54e7a 1594 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 55:f4819de54e7a 1595 V_rem = Ka*V_rem;
Lightvalve 55:f4819de54e7a 1596 VALVE_PWM_RAW = -V_MAX;
Lightvalve 55:f4819de54e7a 1597 I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve 55:f4819de54e7a 1598 }
Lightvalve 55:f4819de54e7a 1599 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 55:f4819de54e7a 1600 } else {
Lightvalve 55:f4819de54e7a 1601 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 55:f4819de54e7a 1602 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 55:f4819de54e7a 1603 }
Lightvalve 55:f4819de54e7a 1604
Lightvalve 55:f4819de54e7a 1605 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1606 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 55:f4819de54e7a 1607 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1608 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 55:f4819de54e7a 1609 if (FLAG_VALVE_DEADZONE) {
Lightvalve 55:f4819de54e7a 1610 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 55:f4819de54e7a 1611 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 55:f4819de54e7a 1612
Lightvalve 55:f4819de54e7a 1613 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 55:f4819de54e7a 1614
Lightvalve 55:f4819de54e7a 1615 } else {
Lightvalve 55:f4819de54e7a 1616 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 55:f4819de54e7a 1617 }
Lightvalve 55:f4819de54e7a 1618
Lightvalve 55:f4819de54e7a 1619 // Output Voltage Linearization
Lightvalve 55:f4819de54e7a 1620 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 55:f4819de54e7a 1621 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 55:f4819de54e7a 1622
Lightvalve 55:f4819de54e7a 1623 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 55:f4819de54e7a 1624 if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
Lightvalve 55:f4819de54e7a 1625 else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
Lightvalve 55:f4819de54e7a 1626 else V_out = CUR_PWM_lin;
Lightvalve 55:f4819de54e7a 1627 }
Lightvalve 56:2eade98630e2 1628
Lightvalve 56:2eade98630e2 1629
Lightvalve 14:8e7590227d22 1630
jobuuu 7:e9086c72bb22 1631 /*******************************************************
jobuuu 7:e9086c72bb22 1632 *** PWM
jobuuu 7:e9086c72bb22 1633 ********************************************************/
Lightvalve 48:e7bcfc244d40 1634 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 48:e7bcfc244d40 1635 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 48:e7bcfc244d40 1636 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 48:e7bcfc244d40 1637 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1638 }
Lightvalve 48:e7bcfc244d40 1639 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1640
Lightvalve 19:23b7c1ad8683 1641 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1642 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1643 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1644
Lightvalve 30:8d561f16383b 1645 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1646 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1647 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1648 } else {
jobuuu 2:a1c0a37df760 1649 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1650 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1651 }
Lightvalve 13:747daba9cf59 1652
jobuuu 1:e04e563be5ce 1653 //pwm
Lightvalve 30:8d561f16383b 1654 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1655 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 59:bc8c8270f0ab 1656
Lightvalve 59:bc8c8270f0ab 1657
Lightvalve 55:f4819de54e7a 1658 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1659
Lightvalve 52:647072f5307a 1660 // Position, Velocity, and Torque (ID:1200)
Lightvalve 54:6f50d9d3bfee 1661 if (flag_data_request[0] == HIGH) {
Lightvalve 55:f4819de54e7a 1662 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 52:647072f5307a 1663 if (SENSING_MODE == 0) {
Lightvalve 56:2eade98630e2 1664 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
Lightvalve 52:647072f5307a 1665 } else if (SENSING_MODE == 1) {
Lightvalve 56:2eade98630e2 1666 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 1667 }
Lightvalve 55:f4819de54e7a 1668 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 52:647072f5307a 1669 if (SENSING_MODE == 0) {
Lightvalve 58:64181f1d3e60 1670 CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
Lightvalve 52:647072f5307a 1671 } else if (SENSING_MODE == 1) {
Lightvalve 56:2eade98630e2 1672 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 1673 }
Lightvalve 51:8ea76864368a 1674 }
Lightvalve 51:8ea76864368a 1675 }
Lightvalve 54:6f50d9d3bfee 1676 if (flag_data_request[1] == HIGH) {
Lightvalve 52:647072f5307a 1677 //valve position
Lightvalve 52:647072f5307a 1678 double t_value = 0;
Lightvalve 55:f4819de54e7a 1679 // if(value>=(float) VALVE_CENTER) {
Lightvalve 55:f4819de54e7a 1680 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 55:f4819de54e7a 1681 // } else {
Lightvalve 55:f4819de54e7a 1682 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 64:a8e6799dbce3 1683 // }
Lightvalve 64:a8e6799dbce3 1684
Lightvalve 56:2eade98630e2 1685 if(OPERATING_MODE==5) {
Lightvalve 55:f4819de54e7a 1686 t_value = (double) value;
Lightvalve 56:2eade98630e2 1687 } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 55:f4819de54e7a 1688 t_value = cur.sen;
Lightvalve 56:2eade98630e2 1689 } else {
Lightvalve 55:f4819de54e7a 1690 t_value = V_out;
Lightvalve 52:647072f5307a 1691 }
Lightvalve 58:64181f1d3e60 1692 CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
Lightvalve 52:647072f5307a 1693 }
Lightvalve 56:2eade98630e2 1694
Lightvalve 56:2eade98630e2 1695
Lightvalve 54:6f50d9d3bfee 1696 if (flag_data_request[2] == HIGH) {
Lightvalve 54:6f50d9d3bfee 1697 //pressure A and B
Lightvalve 55:f4819de54e7a 1698 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve 53:b25725257569 1699 }
Lightvalve 56:2eade98630e2 1700
Lightvalve 55:f4819de54e7a 1701 //If it doesn't rest, below can can not work.
Lightvalve 55:f4819de54e7a 1702 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 55:f4819de54e7a 1703 ;
Lightvalve 55:f4819de54e7a 1704 }
Lightvalve 56:2eade98630e2 1705
Lightvalve 54:6f50d9d3bfee 1706 if (flag_data_request[3] == HIGH) {
Lightvalve 52:647072f5307a 1707 //PWM
Lightvalve 55:f4819de54e7a 1708 CAN_TX_PWM((int16_t) cur.sen); //1500
Lightvalve 52:647072f5307a 1709 }
Lightvalve 55:f4819de54e7a 1710 //for (i = 0; i < 10000; i++) {
Lightvalve 55:f4819de54e7a 1711 // ;
Lightvalve 55:f4819de54e7a 1712 // }
Lightvalve 54:6f50d9d3bfee 1713 if (flag_data_request[4] == HIGH) {
Lightvalve 52:647072f5307a 1714 //valve position
Lightvalve 55:f4819de54e7a 1715 CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve 52:647072f5307a 1716 }
Lightvalve 20:806196fda269 1717
Lightvalve 52:647072f5307a 1718 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 51:8ea76864368a 1719 // if (flag_data_request[1] == HIGH) {
Lightvalve 51:8ea76864368a 1720 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 51:8ea76864368a 1721 // }
Lightvalve 52:647072f5307a 1722 //if (flag_delay_test == 1){
Lightvalve 56:2eade98630e2 1723 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 52:647072f5307a 1724 //}
Lightvalve 51:8ea76864368a 1725
Lightvalve 52:647072f5307a 1726 TMR2_COUNT_CAN_TX = 0;
Lightvalve 52:647072f5307a 1727 }
Lightvalve 52:647072f5307a 1728 TMR2_COUNT_CAN_TX++;
Lightvalve 51:8ea76864368a 1729
Lightvalve 20:806196fda269 1730 }
Lightvalve 51:8ea76864368a 1731 TIM3->SR = 0x0; // reset the status register
Lightvalve 51:8ea76864368a 1732
Lightvalve 56:2eade98630e2 1733 }