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2011
function_utilities/function_utilities.cpp@43:fe7d5cfd2eea, 2020-01-14 (annotated)
- Committer:
- Lightvalve
- Date:
- Tue Jan 14 09:11:20 2020 +0000
- Revision:
- 43:fe7d5cfd2eea
- Parent:
- 42:b084e5f5d0d5
- Child:
- 44:35fa6884d0c6
20200114
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 11:82d8768d7351 | 1 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 2 | #include "SPI_EEP_ENC.h" |
Lightvalve | 11:82d8768d7351 | 3 | #include "function_utilities.h" |
Lightvalve | 14:8e7590227d22 | 4 | #include "function_CAN.h" |
Lightvalve | 16:903b5a4433b4 | 5 | #include "stm32f4xx_flash.h" |
Lightvalve | 16:903b5a4433b4 | 6 | #include "FlashWriter.h" |
Lightvalve | 16:903b5a4433b4 | 7 | |
Lightvalve | 16:903b5a4433b4 | 8 | int Rom_Sector = 6; |
Lightvalve | 16:903b5a4433b4 | 9 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
Lightvalve | 16:903b5a4433b4 | 10 | |
Lightvalve | 11:82d8768d7351 | 11 | |
Lightvalve | 19:23b7c1ad8683 | 12 | //int CID_RX_CMD = 100; |
Lightvalve | 19:23b7c1ad8683 | 13 | //int CID_RX_REF_POSITION = 200; |
Lightvalve | 19:23b7c1ad8683 | 14 | //int CID_RX_REF_TORQUE = 300; |
Lightvalve | 19:23b7c1ad8683 | 15 | //int CID_RX_REF_PRES_DIFF = 400; |
Lightvalve | 19:23b7c1ad8683 | 16 | //int CID_RX_REF_VOUT = 500; |
Lightvalve | 19:23b7c1ad8683 | 17 | //int CID_RX_REF_VALVE_POSITION = 600; |
Lightvalve | 19:23b7c1ad8683 | 18 | //int CID_RX_REF_CURRENT = 700; |
Lightvalve | 19:23b7c1ad8683 | 19 | // |
Lightvalve | 19:23b7c1ad8683 | 20 | //int CID_TX_INFO = 1100; |
Lightvalve | 19:23b7c1ad8683 | 21 | //int CID_TX_POSITION = 1200; |
Lightvalve | 19:23b7c1ad8683 | 22 | //int CID_TX_TORQUE = 1300; |
Lightvalve | 19:23b7c1ad8683 | 23 | //int CID_TX_PRES = 1400; |
Lightvalve | 19:23b7c1ad8683 | 24 | //int CID_TX_VOUT = 1500; |
Lightvalve | 19:23b7c1ad8683 | 25 | //int CID_TX_VALVE_POSITION = 1600; |
Lightvalve | 19:23b7c1ad8683 | 26 | |
Lightvalve | 11:82d8768d7351 | 27 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 28 | * VARIABLE |
Lightvalve | 11:82d8768d7351 | 29 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 30 | |
Lightvalve | 34:bb2ca2fc2a8e | 31 | // Board Information |
Lightvalve | 11:82d8768d7351 | 32 | uint8_t BNO = 0; |
Lightvalve | 11:82d8768d7351 | 33 | uint8_t CONTROL_MODE = 0; |
Lightvalve | 11:82d8768d7351 | 34 | uint8_t OPERATING_MODE = 0; |
Lightvalve | 11:82d8768d7351 | 35 | uint8_t SETTING_SWITCH = 0; |
Lightvalve | 11:82d8768d7351 | 36 | uint8_t SETTING_SWITCH_OLD = 0; |
Lightvalve | 11:82d8768d7351 | 37 | uint8_t REFERENCE_MODE = 0; |
Lightvalve | 14:8e7590227d22 | 38 | uint16_t CAN_FREQ = 500; |
Lightvalve | 17:1865016ca2e7 | 39 | int16_t DIR_JOINT_ENC = 0; |
Lightvalve | 17:1865016ca2e7 | 40 | int16_t DIR_VALVE = 0; |
Lightvalve | 17:1865016ca2e7 | 41 | int16_t DIR_VALVE_ENC = 0; |
Lightvalve | 11:82d8768d7351 | 42 | |
Lightvalve | 30:8d561f16383b | 43 | float SUPPLY_VOLTAGE = 12000.0f; |
Lightvalve | 30:8d561f16383b | 44 | float VALVE_VOLTAGE_LIMIT = 12000.0f; //mv |
Lightvalve | 11:82d8768d7351 | 45 | |
Lightvalve | 30:8d561f16383b | 46 | float P_GAIN_VALVE_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 47 | float I_GAIN_VALVE_POSITION= 0.0f; |
Lightvalve | 30:8d561f16383b | 48 | float D_GAIN_VALVE_POSITION= 0.0f; |
Lightvalve | 30:8d561f16383b | 49 | float P_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 50 | float I_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 51 | float D_GAIN_JOINT_POSITION = 0.0f; |
Lightvalve | 30:8d561f16383b | 52 | float P_GAIN_JOINT_TORQUE = 0.0f; |
Lightvalve | 30:8d561f16383b | 53 | float I_GAIN_JOINT_TORQUE = 0.0; |
Lightvalve | 30:8d561f16383b | 54 | float D_GAIN_JOINT_TORQUE = 0.0; |
Lightvalve | 11:82d8768d7351 | 55 | |
Lightvalve | 36:a46e63505ed8 | 56 | //float P_GAIN_VALVE_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 57 | //float I_GAIN_VALVE_POSITION_OPP= 0.0f; |
Lightvalve | 36:a46e63505ed8 | 58 | //float D_GAIN_VALVE_POSITION_OPP= 0.0f; |
Lightvalve | 36:a46e63505ed8 | 59 | //float P_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 60 | //float I_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 61 | //float D_GAIN_JOINT_POSITION_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 62 | //float P_GAIN_JOINT_TORQUE_OPP = 0.0f; |
Lightvalve | 36:a46e63505ed8 | 63 | //float I_GAIN_JOINT_TORQUE_OPP = 0.0; |
Lightvalve | 36:a46e63505ed8 | 64 | //float D_GAIN_JOINT_TORQUE_OPP = 0.0; |
Lightvalve | 36:a46e63505ed8 | 65 | |
Lightvalve | 33:91b17819ec30 | 66 | float VALVE_DEADZONE_PLUS; |
Lightvalve | 33:91b17819ec30 | 67 | float VALVE_DEADZONE_MINUS; |
Lightvalve | 11:82d8768d7351 | 68 | |
Lightvalve | 11:82d8768d7351 | 69 | int16_t VELOCITY_COMP_GAIN; |
Lightvalve | 11:82d8768d7351 | 70 | int16_t COMPLIANCE_GAIN; |
Lightvalve | 11:82d8768d7351 | 71 | |
Lightvalve | 11:82d8768d7351 | 72 | int16_t VALVE_CENTER; |
Lightvalve | 11:82d8768d7351 | 73 | |
Lightvalve | 11:82d8768d7351 | 74 | int16_t VALVE_FF; |
Lightvalve | 11:82d8768d7351 | 75 | |
Lightvalve | 11:82d8768d7351 | 76 | int16_t BULK_MODULUS; |
Lightvalve | 11:82d8768d7351 | 77 | |
Lightvalve | 11:82d8768d7351 | 78 | int16_t CHAMBER_VOLUME_A; |
Lightvalve | 11:82d8768d7351 | 79 | int16_t CHAMBER_VOLUME_B; |
Lightvalve | 11:82d8768d7351 | 80 | |
Lightvalve | 11:82d8768d7351 | 81 | int16_t PISTON_AREA_A; |
Lightvalve | 11:82d8768d7351 | 82 | int16_t PISTON_AREA_B; |
Lightvalve | 30:8d561f16383b | 83 | float PISTON_AREA_alpha; |
Lightvalve | 11:82d8768d7351 | 84 | |
Lightvalve | 11:82d8768d7351 | 85 | |
Lightvalve | 11:82d8768d7351 | 86 | int16_t PRES_SUPPLY; |
Lightvalve | 11:82d8768d7351 | 87 | int16_t PRES_RETURN; |
Lightvalve | 11:82d8768d7351 | 88 | |
Lightvalve | 11:82d8768d7351 | 89 | int16_t ENC_LIMIT_PLUS; |
Lightvalve | 11:82d8768d7351 | 90 | int16_t ENC_LIMIT_MINUS; |
Lightvalve | 11:82d8768d7351 | 91 | |
Lightvalve | 11:82d8768d7351 | 92 | int16_t STROKE; |
Lightvalve | 11:82d8768d7351 | 93 | |
Lightvalve | 11:82d8768d7351 | 94 | |
Lightvalve | 11:82d8768d7351 | 95 | int16_t VALVE_LIMIT_PLUS; |
Lightvalve | 11:82d8768d7351 | 96 | int16_t VALVE_LIMIT_MINUS; |
Lightvalve | 11:82d8768d7351 | 97 | |
Lightvalve | 11:82d8768d7351 | 98 | int16_t ENC_PULSE_PER_POSITION; |
Lightvalve | 11:82d8768d7351 | 99 | int16_t TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 30:8d561f16383b | 100 | float PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 101 | float PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 11:82d8768d7351 | 102 | |
Lightvalve | 11:82d8768d7351 | 103 | int HOMEPOS_OFFSET; |
Lightvalve | 11:82d8768d7351 | 104 | int HOMEPOS_VALVE_OPENING; |
Lightvalve | 11:82d8768d7351 | 105 | |
Lightvalve | 30:8d561f16383b | 106 | float FRICTION; |
Lightvalve | 30:8d561f16383b | 107 | float REF_PERIOD; |
Lightvalve | 30:8d561f16383b | 108 | float REF_MAG; |
Lightvalve | 11:82d8768d7351 | 109 | int REF_NUM; |
Lightvalve | 11:82d8768d7351 | 110 | |
Lightvalve | 11:82d8768d7351 | 111 | |
Lightvalve | 30:8d561f16383b | 112 | float DAC_REF; |
Lightvalve | 30:8d561f16383b | 113 | float DAC_RESOL; |
Lightvalve | 11:82d8768d7351 | 114 | |
Lightvalve | 11:82d8768d7351 | 115 | int REF_POSITION; |
Lightvalve | 11:82d8768d7351 | 116 | int REF_VELOCITY; |
Lightvalve | 11:82d8768d7351 | 117 | int16_t REF_TORQUE; |
Lightvalve | 11:82d8768d7351 | 118 | int16_t REF_PRES_DIFF; |
Lightvalve | 11:82d8768d7351 | 119 | int16_t REF_PWM; |
Lightvalve | 11:82d8768d7351 | 120 | int16_t REF_VALVE_POSITION; |
Lightvalve | 14:8e7590227d22 | 121 | int16_t REF_CURRENT; |
Lightvalve | 11:82d8768d7351 | 122 | |
Lightvalve | 11:82d8768d7351 | 123 | int REF_MOVE_TIME_5k; |
Lightvalve | 11:82d8768d7351 | 124 | int INIT_REF_PWM; |
Lightvalve | 11:82d8768d7351 | 125 | int INIT_REF_VALVE_POS; |
Lightvalve | 11:82d8768d7351 | 126 | int INIT_REF_POS; |
Lightvalve | 11:82d8768d7351 | 127 | int INIT_REF_VEL; |
Lightvalve | 11:82d8768d7351 | 128 | int INIT_REF_TORQUE; |
Lightvalve | 11:82d8768d7351 | 129 | int INIT_REF_PRES_DIFF; |
Lightvalve | 14:8e7590227d22 | 130 | int INIT_REF_CURRENT; |
Lightvalve | 11:82d8768d7351 | 131 | |
Lightvalve | 11:82d8768d7351 | 132 | int CUR_POSITION; |
Lightvalve | 11:82d8768d7351 | 133 | int CUR_VELOCITY; |
Lightvalve | 30:8d561f16383b | 134 | float CUR_TORQUE; |
Lightvalve | 30:8d561f16383b | 135 | float CUR_PRES_A; |
Lightvalve | 30:8d561f16383b | 136 | float CUR_PRES_B; |
Lightvalve | 11:82d8768d7351 | 137 | int CUR_PWM; |
Lightvalve | 11:82d8768d7351 | 138 | int CUR_VALVE_POSITION; |
Lightvalve | 11:82d8768d7351 | 139 | |
Lightvalve | 11:82d8768d7351 | 140 | unsigned int TMR2_COUNT_LED1; |
Lightvalve | 11:82d8768d7351 | 141 | unsigned int TMR2_COUNT_LED2; |
Lightvalve | 11:82d8768d7351 | 142 | unsigned int TMR2_COUNT_CAN_TX; |
Lightvalve | 11:82d8768d7351 | 143 | |
Lightvalve | 11:82d8768d7351 | 144 | int num_err; |
Lightvalve | 11:82d8768d7351 | 145 | int flag_err[8]; |
Lightvalve | 11:82d8768d7351 | 146 | int flag_err_old[8]; |
Lightvalve | 11:82d8768d7351 | 147 | int flag_err_rt; |
Lightvalve | 11:82d8768d7351 | 148 | |
Lightvalve | 11:82d8768d7351 | 149 | int flag_ref_enable; |
Lightvalve | 11:82d8768d7351 | 150 | |
Lightvalve | 11:82d8768d7351 | 151 | int flag_data_request[5]; |
Lightvalve | 11:82d8768d7351 | 152 | |
Lightvalve | 11:82d8768d7351 | 153 | //////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 11:82d8768d7351 | 154 | ////////////////////////////// SEUNGHOON ADD /////////////////////////////////// |
Lightvalve | 11:82d8768d7351 | 155 | //////////////////////////////////////////////////////////////////////////////// |
Lightvalve | 11:82d8768d7351 | 156 | |
Lightvalve | 30:8d561f16383b | 157 | float CUR_PRES_A_BAR; |
Lightvalve | 30:8d561f16383b | 158 | float CUR_PRES_B_BAR; |
Lightvalve | 30:8d561f16383b | 159 | float CUR_TORQUE_NM; |
Lightvalve | 30:8d561f16383b | 160 | float CUR_TORQUE_NM_PRESS; |
Lightvalve | 11:82d8768d7351 | 161 | |
Lightvalve | 30:8d561f16383b | 162 | float PRES_A_VREF; |
Lightvalve | 30:8d561f16383b | 163 | float PRES_A_VREF_TEST; |
Lightvalve | 30:8d561f16383b | 164 | float PRES_B_VREF; |
Lightvalve | 30:8d561f16383b | 165 | float PRES_B_VREF_TEST; |
Lightvalve | 30:8d561f16383b | 166 | float TORQUE_VREF; |
Lightvalve | 11:82d8768d7351 | 167 | |
Lightvalve | 30:8d561f16383b | 168 | float VALVE_PWM_RAW_FB; |
Lightvalve | 30:8d561f16383b | 169 | float VALVE_PWM_RAW_FF; |
Lightvalve | 11:82d8768d7351 | 170 | int VALVE_PWM_VALVE_DZ; |
Lightvalve | 11:82d8768d7351 | 171 | int VALVE_INPUT_PWM; |
Lightvalve | 11:82d8768d7351 | 172 | |
Lightvalve | 30:8d561f16383b | 173 | float VALVE_GAIN_LPM_PER_V[10]; |
Lightvalve | 30:8d561f16383b | 174 | float VALVE_POS_VS_PWM[25]; |
Lightvalve | 11:82d8768d7351 | 175 | long JOINT_VEL[100]; |
Lightvalve | 11:82d8768d7351 | 176 | |
Lightvalve | 11:82d8768d7351 | 177 | int VALVE_MAX_POS; |
Lightvalve | 11:82d8768d7351 | 178 | int VALVE_MIN_POS; |
Lightvalve | 33:91b17819ec30 | 179 | float DDV_CENTER; |
Lightvalve | 11:82d8768d7351 | 180 | int VALVE_POS_NUM; |
Lightvalve | 32:4b8c0fedaf2c | 181 | float VALVE_CENTER_OFFSET; |
Lightvalve | 33:91b17819ec30 | 182 | float VALVE_DZ_MINUS_OFFSET; |
Lightvalve | 33:91b17819ec30 | 183 | float VALVE_DZ_PLUS_OFFSET; |
Lightvalve | 32:4b8c0fedaf2c | 184 | int VALVE_CENTER_OFFSET_times10; |
Lightvalve | 11:82d8768d7351 | 185 | |
Lightvalve | 14:8e7590227d22 | 186 | int TMR3_COUNT_FINDHOME; |
Lightvalve | 14:8e7590227d22 | 187 | int TMR3_COUNT_FLOWRATE; |
Lightvalve | 14:8e7590227d22 | 188 | int TMR3_COUNT_DEADZONE; |
Lightvalve | 14:8e7590227d22 | 189 | int TMR3_COUNT_PRES_NULL; |
Lightvalve | 14:8e7590227d22 | 190 | int TMR3_COUNT_TORQUE_NULL; |
Lightvalve | 14:8e7590227d22 | 191 | int TMR3_COUNT_PRES_CALIB; |
Lightvalve | 14:8e7590227d22 | 192 | int TMR3_COUNT_REFERENCE; |
Lightvalve | 14:8e7590227d22 | 193 | int TMR3_COUNT_JOINT; |
Lightvalve | 14:8e7590227d22 | 194 | int TMR3_COUNT_ROTARY_FRIC_TUNE; |
Lightvalve | 11:82d8768d7351 | 195 | |
Lightvalve | 11:82d8768d7351 | 196 | bool FLAG_REFERENCE_VALVE_PWM; |
Lightvalve | 11:82d8768d7351 | 197 | bool FLAG_REFERENCE_VALVE_POSITION; |
Lightvalve | 11:82d8768d7351 | 198 | bool FLAG_REFERENCE_JOINT_POSITION; |
Lightvalve | 11:82d8768d7351 | 199 | bool FLAG_REFERENCE_JOINT_TORQUE; |
Lightvalve | 11:82d8768d7351 | 200 | bool FLAG_REFERENCE_PRES_DIFF; |
Lightvalve | 14:8e7590227d22 | 201 | bool FLAG_REFERENCE_CURRENT; |
Lightvalve | 11:82d8768d7351 | 202 | |
Lightvalve | 30:8d561f16383b | 203 | float TUNING_TIME; |
Lightvalve | 11:82d8768d7351 | 204 | |
Lightvalve | 30:8d561f16383b | 205 | float REFERENCE_FREQ; |
Lightvalve | 30:8d561f16383b | 206 | float REFERENCE_MAG; |
Lightvalve | 11:82d8768d7351 | 207 | |
Lightvalve | 11:82d8768d7351 | 208 | bool FLAG_FIND_HOME; |
Lightvalve | 11:82d8768d7351 | 209 | |
Lightvalve | 11:82d8768d7351 | 210 | int MODE_JUMP_STATUS; |
Lightvalve | 11:82d8768d7351 | 211 | enum _JUMP_STATUS { |
Lightvalve | 11:82d8768d7351 | 212 | JUMP_NO_ACT = 0, //0 |
Lightvalve | 11:82d8768d7351 | 213 | JUMP_START, //1 |
Lightvalve | 11:82d8768d7351 | 214 | JUMP_TAKEOFF, //2 |
Lightvalve | 11:82d8768d7351 | 215 | JUMP_FLYING, //3 |
Lightvalve | 11:82d8768d7351 | 216 | JUMP_LANDING, //4 |
Lightvalve | 11:82d8768d7351 | 217 | }; |
Lightvalve | 11:82d8768d7351 | 218 | |
Lightvalve | 30:8d561f16383b | 219 | float CUR_PRES_DIFF_BAR = 0.0f; |
Lightvalve | 30:8d561f16383b | 220 | float CUR_PRES_A_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 221 | float CUR_PRES_B_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 222 | float CUR_PRES_A_mean = 0.0f; |
Lightvalve | 30:8d561f16383b | 223 | float CUR_PRES_B_mean = 0.0f; |
Lightvalve | 30:8d561f16383b | 224 | float CUR_TORQUE_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 225 | float CUR_TORQUE_mean = 0.0f; |
Lightvalve | 38:118df027d851 | 226 | float PRES_A_NULL = 2048.0f; |
Lightvalve | 30:8d561f16383b | 227 | float PRES_B_NULL = 1.0f; |
Lightvalve | 30:8d561f16383b | 228 | float TORQUE_NULL = 3900.0f; |
Lightvalve | 11:82d8768d7351 | 229 | |
Lightvalve | 30:8d561f16383b | 230 | float Ref_Valve_Pos_Old = 0.0f; |
Lightvalve | 11:82d8768d7351 | 231 | |
Lightvalve | 13:747daba9cf59 | 232 | int VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 233 | int VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 234 | int VALVE_FR_timer = 0; |
Lightvalve | 35:34ce7b0347b8 | 235 | //int VALVE_HPL_timer = 0; |
Lightvalve | 13:747daba9cf59 | 236 | int VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 237 | int JOINT_VEL_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 238 | int DDV_POS_AVG = 0; |
Lightvalve | 19:23b7c1ad8683 | 239 | int VALVE_POS_AVG[50] = {0}; |
Lightvalve | 13:747daba9cf59 | 240 | int VALVE_POS_AVG_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 241 | int data_num = 0; |
Lightvalve | 13:747daba9cf59 | 242 | int ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 243 | int DZ_index = 1; |
Lightvalve | 19:23b7c1ad8683 | 244 | int ID_index_array[50] = {0}; |
Lightvalve | 13:747daba9cf59 | 245 | int first_check = 0; |
Lightvalve | 30:8d561f16383b | 246 | float init_time = 0.0f; |
Lightvalve | 13:747daba9cf59 | 247 | int VEL_POINT = 0; |
Lightvalve | 13:747daba9cf59 | 248 | int DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 249 | int START_POS = 0; |
Lightvalve | 13:747daba9cf59 | 250 | int FINAL_POS = 0; |
Lightvalve | 13:747daba9cf59 | 251 | int DZ_DIRECTION = 0; |
Lightvalve | 13:747daba9cf59 | 252 | int FIRST_DZ = 0; |
Lightvalve | 13:747daba9cf59 | 253 | int SECOND_DZ = 0; |
Lightvalve | 13:747daba9cf59 | 254 | int DZ_NUM = 0; |
Lightvalve | 13:747daba9cf59 | 255 | int one_period_end = 0; |
Lightvalve | 30:8d561f16383b | 256 | float Ref_Vel_Test = 0.0f; |
Lightvalve | 13:747daba9cf59 | 257 | long TMR2_FOR_SLOW_LOGGING = 0; |
Lightvalve | 19:23b7c1ad8683 | 258 | //int velcount = 0; |
Lightvalve | 13:747daba9cf59 | 259 | char max_check = 0; |
Lightvalve | 34:bb2ca2fc2a8e | 260 | char min_check = 0; |
Lightvalve | 13:747daba9cf59 | 261 | |
Lightvalve | 30:8d561f16383b | 262 | float valve_pos_err = 0.0f, valve_pos_err_old = 0.0f, valve_pos_err_diff = 0.0f, valve_pos_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 263 | float joint_pos_err = 0.0f, joint_pos_err_old = 0.0f, joint_pos_err_diff = 0.0f, joint_pos_err_diff_fil = 0.0f, joint_pos_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 264 | float joint_torq_err = 0.0f, joint_torq_err_old = 0.0f, joint_torq_err_diff = 0.0f, joint_torq_err_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 265 | float VALVE_PWM_RAW_POS = 0.0f, VALVE_PWM_RAW_TORQ = 0.0f; |
Lightvalve | 13:747daba9cf59 | 266 | |
Lightvalve | 30:8d561f16383b | 267 | float CUR_FLOWRATE = 0.0f; |
Lightvalve | 30:8d561f16383b | 268 | float VALVE_FF_VOLTAGE = 0.0f; |
Lightvalve | 13:747daba9cf59 | 269 | |
Lightvalve | 13:747daba9cf59 | 270 | int pos_plus_end = 0; |
Lightvalve | 13:747daba9cf59 | 271 | int pos_minus_end = 0; |
Lightvalve | 13:747daba9cf59 | 272 | |
Lightvalve | 13:747daba9cf59 | 273 | bool need_enc_init = false; |
Lightvalve | 13:747daba9cf59 | 274 | |
Lightvalve | 13:747daba9cf59 | 275 | int temp_time = 0; |
Lightvalve | 13:747daba9cf59 | 276 | |
Lightvalve | 30:8d561f16383b | 277 | float CUR_VELOCITY_sum = 0.0f; |
Lightvalve | 30:8d561f16383b | 278 | float temp_vel_sum = 0.0f; |
Lightvalve | 13:747daba9cf59 | 279 | |
Lightvalve | 13:747daba9cf59 | 280 | int DZ_dir = 0; |
Lightvalve | 13:747daba9cf59 | 281 | int DZ_temp_cnt = 0; |
Lightvalve | 13:747daba9cf59 | 282 | int DZ_temp_cnt2 = 0; |
Lightvalve | 13:747daba9cf59 | 283 | int DZ_end = 2; |
Lightvalve | 13:747daba9cf59 | 284 | int flag_flowrate = 0; |
Lightvalve | 13:747daba9cf59 | 285 | int fl_temp_cnt = 0; |
Lightvalve | 13:747daba9cf59 | 286 | int fl_temp_cnt2 = 0; |
Lightvalve | 13:747daba9cf59 | 287 | int cur_vel_sum = 0; |
Lightvalve | 13:747daba9cf59 | 288 | |
Lightvalve | 13:747daba9cf59 | 289 | // find home |
Lightvalve | 13:747daba9cf59 | 290 | int CUR_VELOCITY_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 291 | int cnt_findhome = 0; |
Lightvalve | 13:747daba9cf59 | 292 | int cnt_vel_findhome = 0; |
Lightvalve | 13:747daba9cf59 | 293 | int FINDHOME_VELOCITY = 0; |
Lightvalve | 13:747daba9cf59 | 294 | int FINDHOME_VELOCITY_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 295 | int FINDHOME_POSITION = 0; |
Lightvalve | 13:747daba9cf59 | 296 | int FINDHOME_POSITION_OLD = 0; |
Lightvalve | 13:747daba9cf59 | 297 | |
Lightvalve | 13:747daba9cf59 | 298 | // valve gain |
Lightvalve | 13:747daba9cf59 | 299 | int check_vel_pos_init = 0; |
Lightvalve | 13:747daba9cf59 | 300 | int check_vel_pos_fin = 0; |
Lightvalve | 13:747daba9cf59 | 301 | int check_vel_pos_interv = 0; |
Lightvalve | 13:747daba9cf59 | 302 | int valve_gain_repeat_cnt = 0; |
Lightvalve | 30:8d561f16383b | 303 | float VALVE_VOLTAGE = 0.0f; |
Lightvalve | 13:747daba9cf59 | 304 | |
Lightvalve | 30:8d561f16383b | 305 | float freq_fric_tune = 1.0f; |
Lightvalve | 13:747daba9cf59 | 306 | |
Lightvalve | 13:747daba9cf59 | 307 | bool FLAG_VALVE_OUTPUT_CALIB = false; |
Lightvalve | 11:82d8768d7351 | 308 | |
Lightvalve | 14:8e7590227d22 | 309 | uint32_t TMR3_COUNT_CAN_TX = 0; |
Lightvalve | 14:8e7590227d22 | 310 | |
Lightvalve | 30:8d561f16383b | 311 | float I_REF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 312 | int TMR3_COUNT_IREF = 0; |
Lightvalve | 30:8d561f16383b | 313 | float CUR_CURRENT = 0.0f; |
Lightvalve | 30:8d561f16383b | 314 | float u_CUR[3] = {0.0f,0.0f,0.0f}; |
Lightvalve | 29:69f3f5445d6d | 315 | int FINDHOME_STAGE = 0; |
Lightvalve | 29:69f3f5445d6d | 316 | int FINDHOME_INIT = 0; |
Lightvalve | 30:8d561f16383b | 317 | int FINDHOME_GOTOLIMIT = 1; |
Lightvalve | 30:8d561f16383b | 318 | int FINDHOME_ZEROPOSE = 2; |
Lightvalve | 14:8e7590227d22 | 319 | |
Lightvalve | 23:59218d4a256d | 320 | //int h1, h2, h3, h4, h5, h6; |
Lightvalve | 23:59218d4a256d | 321 | |
Lightvalve | 11:82d8768d7351 | 322 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 323 | * General math functions |
Lightvalve | 11:82d8768d7351 | 324 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 325 | |
Lightvalve | 11:82d8768d7351 | 326 | |
Lightvalve | 34:bb2ca2fc2a8e | 327 | float dabs(float tx) |
Lightvalve | 34:bb2ca2fc2a8e | 328 | { |
Lightvalve | 30:8d561f16383b | 329 | if (tx >= 0.0f) |
Lightvalve | 11:82d8768d7351 | 330 | return tx; |
Lightvalve | 11:82d8768d7351 | 331 | else |
Lightvalve | 11:82d8768d7351 | 332 | return -tx; |
Lightvalve | 11:82d8768d7351 | 333 | } |
Lightvalve | 11:82d8768d7351 | 334 | |
Lightvalve | 34:bb2ca2fc2a8e | 335 | float change_int_to_efloat(int input) |
Lightvalve | 34:bb2ca2fc2a8e | 336 | { |
Lightvalve | 11:82d8768d7351 | 337 | int i = 0; |
Lightvalve | 11:82d8768d7351 | 338 | |
Lightvalve | 30:8d561f16383b | 339 | float output = 0; |
Lightvalve | 30:8d561f16383b | 340 | int vn = (int) ((float) input / 10.); |
Lightvalve | 11:82d8768d7351 | 341 | int en = input % 10; |
Lightvalve | 11:82d8768d7351 | 342 | |
Lightvalve | 30:8d561f16383b | 343 | float temp = 1.; |
Lightvalve | 11:82d8768d7351 | 344 | for (i = 0; i < en; i++) |
Lightvalve | 30:8d561f16383b | 345 | temp *= 0.1f; |
Lightvalve | 11:82d8768d7351 | 346 | |
Lightvalve | 30:8d561f16383b | 347 | output = (float) vn*temp; |
Lightvalve | 11:82d8768d7351 | 348 | return output; |
Lightvalve | 11:82d8768d7351 | 349 | } |
Lightvalve | 11:82d8768d7351 | 350 | |
Lightvalve | 34:bb2ca2fc2a8e | 351 | void make_delay(void) |
Lightvalve | 34:bb2ca2fc2a8e | 352 | { |
Lightvalve | 11:82d8768d7351 | 353 | int i = 0; |
Lightvalve | 11:82d8768d7351 | 354 | |
Lightvalve | 11:82d8768d7351 | 355 | for (i = 0; i < 100000; i++) { |
Lightvalve | 11:82d8768d7351 | 356 | ; |
Lightvalve | 11:82d8768d7351 | 357 | } |
Lightvalve | 11:82d8768d7351 | 358 | |
Lightvalve | 11:82d8768d7351 | 359 | } |
Lightvalve | 11:82d8768d7351 | 360 | |
Lightvalve | 11:82d8768d7351 | 361 | |
Lightvalve | 11:82d8768d7351 | 362 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 363 | * ROM functions |
Lightvalve | 11:82d8768d7351 | 364 | ******************************************************************************/ |
Lightvalve | 34:bb2ca2fc2a8e | 365 | void ROM_RESET_DATA(void) |
Lightvalve | 34:bb2ca2fc2a8e | 366 | { |
Lightvalve | 16:903b5a4433b4 | 367 | FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
Lightvalve | 16:903b5a4433b4 | 368 | if (!writer.ready()) writer.open(); |
Lightvalve | 34:bb2ca2fc2a8e | 369 | |
Lightvalve | 16:903b5a4433b4 | 370 | writer.write(RID_BNO,(int) BNO); // write at address, 쓸때도 4byte씩 씀 |
Lightvalve | 16:903b5a4433b4 | 371 | writer.write(RID_OPERATING_MODE,(int) OPERATING_MODE); |
Lightvalve | 16:903b5a4433b4 | 372 | writer.write(RID_CAN_FREQ,(int) CAN_FREQ); |
Lightvalve | 16:903b5a4433b4 | 373 | writer.write(RID_JOINT_ENC_DIR,(int) DIR_JOINT_ENC); |
Lightvalve | 16:903b5a4433b4 | 374 | writer.write(RID_VALVE_DIR,(int) DIR_VALVE); |
Lightvalve | 16:903b5a4433b4 | 375 | writer.write(RID_VALVE_ENC_DIR,(int) DIR_VALVE_ENC); |
Lightvalve | 30:8d561f16383b | 376 | writer.write(RID_VOLATGE_SUPPLY,(int) (SUPPLY_VOLTAGE * 10.0f)); |
Lightvalve | 30:8d561f16383b | 377 | writer.write(RID_VOLTAGE_VALVE,(int) (VALVE_VOLTAGE_LIMIT * 10.0f)); |
Lightvalve | 16:903b5a4433b4 | 378 | writer.write(RID_P_GAIN_VALVE_POSITION,(int) P_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 379 | writer.write(RID_I_GAIN_VALVE_POSITION,(int) I_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 380 | writer.write(RID_D_GAIN_VALVE_POSITION,(int) D_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 381 | writer.write(RID_P_GAIN_JOINT_POSITION,(int) P_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 382 | writer.write(RID_I_GAIN_JOINT_POSITION,(int) I_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 383 | writer.write(RID_D_GAIN_JOINT_POSITION,(int) D_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 384 | writer.write(RID_P_GAIN_JOINT_TORQUE,(int) P_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 385 | writer.write(RID_I_GAIN_JOINT_TORQUE,(int) I_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 386 | writer.write(RID_D_GAIN_JOINT_TORQUE,(int) D_GAIN_JOINT_TORQUE); |
Lightvalve | 33:91b17819ec30 | 387 | writer.write(RID_VALVE_DEADZONE_PLUS,(int) (VALVE_DEADZONE_PLUS * 10.0f)); |
Lightvalve | 33:91b17819ec30 | 388 | writer.write(RID_VALVE_DEADZONE_MINUS,(int) (VALVE_DEADZONE_MINUS * 10.0f)); |
Lightvalve | 16:903b5a4433b4 | 389 | writer.write(RID_VELOCITY_COMP_GAIN,(int) VELOCITY_COMP_GAIN); |
Lightvalve | 16:903b5a4433b4 | 390 | writer.write(RID_COMPLIANCE_GAIN,(int) COMPLIANCE_GAIN); |
Lightvalve | 16:903b5a4433b4 | 391 | writer.write(RID_VALVE_CNETER,(int) VALVE_CENTER); |
Lightvalve | 16:903b5a4433b4 | 392 | writer.write(RID_VALVE_FF,(int) VALVE_FF); |
Lightvalve | 16:903b5a4433b4 | 393 | writer.write(RID_BULK_MODULUS,(int) BNO); |
Lightvalve | 16:903b5a4433b4 | 394 | writer.write(RID_CHAMBER_VOLUME_A,(int) CHAMBER_VOLUME_A); |
Lightvalve | 16:903b5a4433b4 | 395 | writer.write(RID_CHAMBER_VOLUME_B,(int) CHAMBER_VOLUME_B); |
Lightvalve | 16:903b5a4433b4 | 396 | writer.write(RID_PISTON_AREA_A,(int) PISTON_AREA_A); |
Lightvalve | 16:903b5a4433b4 | 397 | writer.write(RID_PISTON_AREA_B,(int) PISTON_AREA_B); |
Lightvalve | 16:903b5a4433b4 | 398 | writer.write(RID_PRES_SUPPLY,(int) PRES_SUPPLY); |
Lightvalve | 16:903b5a4433b4 | 399 | writer.write(RID_PRES_RETURN,(int) PRES_RETURN); |
Lightvalve | 16:903b5a4433b4 | 400 | writer.write(RID_ENC_LIMIT_MINUS,(int) ENC_LIMIT_MINUS); |
Lightvalve | 16:903b5a4433b4 | 401 | writer.write(RID_ENC_LIMIT_PLUS,(int) ENC_LIMIT_PLUS); |
Lightvalve | 16:903b5a4433b4 | 402 | writer.write(RID_STROKE,(int) STROKE); |
Lightvalve | 16:903b5a4433b4 | 403 | writer.write(RID_VALVE_LIMIT_MINUS,(int) VALVE_LIMIT_MINUS); |
Lightvalve | 16:903b5a4433b4 | 404 | writer.write(RID_VALVE_LIMIT_PLUS,(int) VALVE_LIMIT_PLUS); |
Lightvalve | 16:903b5a4433b4 | 405 | writer.write(RID_ENC_PULSE_PER_POSITION,(int) ENC_PULSE_PER_POSITION); |
Lightvalve | 16:903b5a4433b4 | 406 | writer.write(RID_TORQUE_SENSOR_PULSE_PER_TORQUE,(int) TORQUE_SENSOR_PULSE_PER_TORQUE); |
Lightvalve | 30:8d561f16383b | 407 | writer.write(RID_PRES_SENSOR_A_PULSE_PER_BAR,(int) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 30:8d561f16383b | 408 | writer.write(RID_PRES_SENSOR_B_PULSE_PER_BAR,(int) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 409 | writer.write(RID_FRICTION,(int) (FRICTION * 10.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 410 | writer.write(RID_HOMEPOS_OFFSET,(int) HOMEPOS_OFFSET); |
Lightvalve | 34:bb2ca2fc2a8e | 411 | writer.write(RID_HOMEPOS_VALVE_OPENING,(int) HOMEPOS_VALVE_OPENING); |
Lightvalve | 34:bb2ca2fc2a8e | 412 | writer.write(RID_TORQUE_SENSOR_VREF,(int) (TORQUE_VREF * 1000.0f)); |
Lightvalve | 30:8d561f16383b | 413 | writer.write(RID_PRES_A_SENSOR_VREF, (int) (PRES_A_VREF * 1000.0f)); |
Lightvalve | 30:8d561f16383b | 414 | writer.write(RID_PRES_B_SENSOR_VREF, (int) (PRES_B_VREF * 1000.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 415 | writer.write(RID_VALVE_GAIN_PLUS_1,(int) (VALVE_GAIN_LPM_PER_V[0] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 416 | writer.write(RID_VALVE_GAIN_PLUS_2,(int) (VALVE_GAIN_LPM_PER_V[2] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 417 | writer.write(RID_VALVE_GAIN_PLUS_3,(int) (VALVE_GAIN_LPM_PER_V[4] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 418 | writer.write(RID_VALVE_GAIN_PLUS_4,(int) (VALVE_GAIN_LPM_PER_V[6] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 419 | writer.write(RID_VALVE_GAIN_PLUS_5,(int) (VALVE_GAIN_LPM_PER_V[8] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 420 | writer.write(RID_VALVE_GAIN_MINUS_1,(int) (VALVE_GAIN_LPM_PER_V[1] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 421 | writer.write(RID_VALVE_GAIN_MINUS_2,(int) (VALVE_GAIN_LPM_PER_V[3] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 422 | writer.write(RID_VALVE_GAIN_MINUS_3,(int) (VALVE_GAIN_LPM_PER_V[5] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 423 | writer.write(RID_VALVE_GAIN_MINUS_4,(int) (VALVE_GAIN_LPM_PER_V[7] * 100.0f)); |
Lightvalve | 30:8d561f16383b | 424 | writer.write(RID_VALVE_GAIN_MINUS_5,(int) (VALVE_GAIN_LPM_PER_V[9] * 100.0f)); |
Lightvalve | 34:bb2ca2fc2a8e | 425 | for(int i=0; i<25; i++) { |
Lightvalve | 18:b8adf1582ea3 | 426 | writer.write(RID_VALVE_POS_VS_PWM_0 + i, (int) VALVE_POS_VS_PWM[i]); |
Lightvalve | 18:b8adf1582ea3 | 427 | } |
Lightvalve | 34:bb2ca2fc2a8e | 428 | for(int i=0; i<100; i++) { |
Lightvalve | 19:23b7c1ad8683 | 429 | writer.write(RID_VALVE_POS_VS_FLOWRATE_0 + i, (int) (JOINT_VEL[i] & 0xFFFF)); |
Lightvalve | 19:23b7c1ad8683 | 430 | writer.write(RID_VALVE_POS_VS_FLOWRATE_0_1 + i, (int) ((JOINT_VEL[i] >> 16) & 0xFFFF)); |
Lightvalve | 18:b8adf1582ea3 | 431 | } |
Lightvalve | 18:b8adf1582ea3 | 432 | writer.write(RID_VALVE_MAX_POS, (int) VALVE_MAX_POS); |
Lightvalve | 18:b8adf1582ea3 | 433 | writer.write(RID_VALVE_MIN_POS, (int) VALVE_MIN_POS); |
Lightvalve | 33:91b17819ec30 | 434 | writer.write(RID_DDV_CENTER, (int) (DDV_CENTER * 10.0f)); |
Lightvalve | 18:b8adf1582ea3 | 435 | writer.write(RID_VALVE_POS_NUM, (int) VALVE_POS_NUM); |
Lightvalve | 11:82d8768d7351 | 436 | |
Lightvalve | 34:bb2ca2fc2a8e | 437 | writer.close(); |
Lightvalve | 34:bb2ca2fc2a8e | 438 | |
Lightvalve | 11:82d8768d7351 | 439 | } |
Lightvalve | 11:82d8768d7351 | 440 | |
Lightvalve | 34:bb2ca2fc2a8e | 441 | void ROM_CALL_DATA(void) |
Lightvalve | 34:bb2ca2fc2a8e | 442 | { |
Lightvalve | 16:903b5a4433b4 | 443 | BNO = flashReadInt(Rom_Sector, RID_BNO); |
Lightvalve | 43:fe7d5cfd2eea | 444 | BNO = 11; |
Lightvalve | 16:903b5a4433b4 | 445 | OPERATING_MODE = flashReadInt(Rom_Sector, RID_OPERATING_MODE); |
Lightvalve | 16:903b5a4433b4 | 446 | CAN_FREQ = flashReadInt(Rom_Sector, RID_CAN_FREQ); |
Lightvalve | 16:903b5a4433b4 | 447 | DIR_JOINT_ENC = flashReadInt(Rom_Sector, RID_JOINT_ENC_DIR); |
Lightvalve | 16:903b5a4433b4 | 448 | DIR_VALVE = flashReadInt(Rom_Sector, RID_VALVE_DIR); |
Lightvalve | 16:903b5a4433b4 | 449 | DIR_VALVE_ENC = flashReadInt(Rom_Sector, RID_VALVE_ENC_DIR); |
Lightvalve | 30:8d561f16383b | 450 | SUPPLY_VOLTAGE = (float) (flashReadInt(Rom_Sector, RID_VOLATGE_SUPPLY)) *0.1f; |
Lightvalve | 30:8d561f16383b | 451 | SUPPLY_VOLTAGE = 12000.0f; |
Lightvalve | 30:8d561f16383b | 452 | VALVE_VOLTAGE_LIMIT = (float) (flashReadInt(Rom_Sector, RID_VOLTAGE_VALVE)) * 0.1f; |
Lightvalve | 30:8d561f16383b | 453 | VALVE_VOLTAGE_LIMIT = 12000.0f; |
Lightvalve | 16:903b5a4433b4 | 454 | P_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 455 | I_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 456 | D_GAIN_VALVE_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_VALVE_POSITION); |
Lightvalve | 16:903b5a4433b4 | 457 | P_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 458 | I_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 459 | D_GAIN_JOINT_POSITION = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_POSITION); |
Lightvalve | 16:903b5a4433b4 | 460 | P_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_P_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 461 | I_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_I_GAIN_JOINT_TORQUE); |
Lightvalve | 16:903b5a4433b4 | 462 | D_GAIN_JOINT_TORQUE = flashReadInt(Rom_Sector, RID_D_GAIN_JOINT_TORQUE); |
Lightvalve | 33:91b17819ec30 | 463 | VALVE_DEADZONE_PLUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_PLUS)) * 0.1f; |
Lightvalve | 33:91b17819ec30 | 464 | VALVE_DEADZONE_MINUS = (float) (flashReadInt(Rom_Sector, RID_VALVE_DEADZONE_MINUS)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 465 | VELOCITY_COMP_GAIN = flashReadInt(Rom_Sector, RID_VELOCITY_COMP_GAIN); |
Lightvalve | 16:903b5a4433b4 | 466 | COMPLIANCE_GAIN = flashReadInt(Rom_Sector, RID_COMPLIANCE_GAIN); |
Lightvalve | 16:903b5a4433b4 | 467 | VALVE_CENTER = flashReadInt(Rom_Sector, RID_VALVE_CNETER); |
Lightvalve | 16:903b5a4433b4 | 468 | VALVE_FF = flashReadInt(Rom_Sector, RID_VALVE_FF); |
Lightvalve | 16:903b5a4433b4 | 469 | BULK_MODULUS = flashReadInt(Rom_Sector, RID_BULK_MODULUS); |
Lightvalve | 16:903b5a4433b4 | 470 | CHAMBER_VOLUME_A = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_A); |
Lightvalve | 16:903b5a4433b4 | 471 | CHAMBER_VOLUME_B = flashReadInt(Rom_Sector, RID_CHAMBER_VOLUME_B); |
Lightvalve | 16:903b5a4433b4 | 472 | PISTON_AREA_A = flashReadInt(Rom_Sector, RID_PISTON_AREA_A); |
Lightvalve | 16:903b5a4433b4 | 473 | PISTON_AREA_B = flashReadInt(Rom_Sector, RID_PISTON_AREA_B); |
Lightvalve | 30:8d561f16383b | 474 | PISTON_AREA_alpha = (float)PISTON_AREA_B/(float)PISTON_AREA_A; |
Lightvalve | 16:903b5a4433b4 | 475 | PRES_SUPPLY = flashReadInt(Rom_Sector, RID_PRES_SUPPLY); |
Lightvalve | 16:903b5a4433b4 | 476 | PRES_RETURN = flashReadInt(Rom_Sector, RID_PRES_RETURN); |
Lightvalve | 16:903b5a4433b4 | 477 | ENC_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_MINUS); |
Lightvalve | 16:903b5a4433b4 | 478 | ENC_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_ENC_LIMIT_PLUS); |
Lightvalve | 16:903b5a4433b4 | 479 | STROKE = flashReadInt(Rom_Sector, RID_STROKE); |
Lightvalve | 16:903b5a4433b4 | 480 | VALVE_LIMIT_MINUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_MINUS); |
Lightvalve | 16:903b5a4433b4 | 481 | VALVE_LIMIT_PLUS = flashReadInt(Rom_Sector, RID_VALVE_LIMIT_PLUS); |
Lightvalve | 16:903b5a4433b4 | 482 | ENC_PULSE_PER_POSITION = flashReadInt(Rom_Sector, RID_ENC_PULSE_PER_POSITION); |
Lightvalve | 43:fe7d5cfd2eea | 483 | ENC_PULSE_PER_POSITION = (float) 1024.0f; |
Lightvalve | 16:903b5a4433b4 | 484 | TORQUE_SENSOR_PULSE_PER_TORQUE = flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_PULSE_PER_TORQUE); |
Lightvalve | 43:fe7d5cfd2eea | 485 | TORQUE_SENSOR_PULSE_PER_TORQUE = (float) 2048.0f/5000.0f; |
Lightvalve | 30:8d561f16383b | 486 | PRES_SENSOR_A_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_A_PULSE_PER_BAR)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 487 | PRES_SENSOR_A_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 488 | PRES_SENSOR_B_PULSE_PER_BAR = (float) (flashReadInt(Rom_Sector, RID_PRES_SENSOR_B_PULSE_PER_BAR)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 489 | PRES_SENSOR_B_PULSE_PER_BAR = 4096.0f / 200.0f; |
Lightvalve | 30:8d561f16383b | 490 | FRICTION = (float) (flashReadInt(Rom_Sector, RID_FRICTION)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 491 | HOMEPOS_OFFSET = flashReadInt(Rom_Sector, RID_HOMEPOS_OFFSET); |
Lightvalve | 16:903b5a4433b4 | 492 | HOMEPOS_VALVE_OPENING = flashReadInt(Rom_Sector, RID_HOMEPOS_VALVE_OPENING); |
Lightvalve | 30:8d561f16383b | 493 | TORQUE_VREF = (float) (flashReadInt(Rom_Sector, RID_TORQUE_SENSOR_VREF)) *0.001f; |
Lightvalve | 32:4b8c0fedaf2c | 494 | PRES_A_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_A_SENSOR_VREF) * 0.001f; |
Lightvalve | 32:4b8c0fedaf2c | 495 | PRES_B_VREF = (float) flashReadInt(Rom_Sector, RID_PRES_B_SENSOR_VREF) * 0.001f; |
Lightvalve | 30:8d561f16383b | 496 | VALVE_GAIN_LPM_PER_V[0] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_1)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 497 | VALVE_GAIN_LPM_PER_V[2] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_2)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 498 | VALVE_GAIN_LPM_PER_V[4] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_3)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 499 | VALVE_GAIN_LPM_PER_V[6] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_4)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 500 | VALVE_GAIN_LPM_PER_V[8] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_PLUS_5)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 501 | VALVE_GAIN_LPM_PER_V[1] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_1)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 502 | VALVE_GAIN_LPM_PER_V[3] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_2)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 503 | VALVE_GAIN_LPM_PER_V[5] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_3)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 504 | VALVE_GAIN_LPM_PER_V[7] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_4)) * 0.01f; |
Lightvalve | 30:8d561f16383b | 505 | VALVE_GAIN_LPM_PER_V[9] = (float) (flashReadInt(Rom_Sector, RID_VALVE_GAIN_MINUS_5)) * 0.01f; |
Lightvalve | 34:bb2ca2fc2a8e | 506 | for(int i=0; i<25; i++) { |
Lightvalve | 30:8d561f16383b | 507 | VALVE_POS_VS_PWM[i] = (float) (flashReadInt(Rom_Sector, RID_VALVE_POS_VS_PWM_0 + i)); |
Lightvalve | 16:903b5a4433b4 | 508 | } |
Lightvalve | 34:bb2ca2fc2a8e | 509 | for(int i=0; i<100; i++) { |
Lightvalve | 16:903b5a4433b4 | 510 | JOINT_VEL[i] = ( ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0 + i)) & 0xFFFF) | ((flashReadInt(Rom_Sector, RID_VALVE_POS_VS_FLOWRATE_0_1 + i)) & 0xFFFF) << 16 ) ; |
Lightvalve | 16:903b5a4433b4 | 511 | } |
Lightvalve | 16:903b5a4433b4 | 512 | VALVE_MAX_POS = flashReadInt(Rom_Sector, RID_VALVE_MAX_POS); |
Lightvalve | 16:903b5a4433b4 | 513 | VALVE_MIN_POS = flashReadInt(Rom_Sector, RID_VALVE_MIN_POS); |
Lightvalve | 33:91b17819ec30 | 514 | DDV_CENTER = (float) (flashReadInt(Rom_Sector, RID_DDV_CENTER)) * 0.1f; |
Lightvalve | 16:903b5a4433b4 | 515 | VALVE_POS_NUM = flashReadInt(Rom_Sector, RID_VALVE_POS_NUM); |
Lightvalve | 11:82d8768d7351 | 516 | |
Lightvalve | 11:82d8768d7351 | 517 | } |
Lightvalve | 11:82d8768d7351 | 518 | |
Lightvalve | 11:82d8768d7351 | 519 | /******************************************************************************* |
Lightvalve | 11:82d8768d7351 | 520 | * ENCODER functions |
Lightvalve | 11:82d8768d7351 | 521 | ******************************************************************************/ |
Lightvalve | 11:82d8768d7351 | 522 | // A-KHA |
Lightvalve | 30:8d561f16383b | 523 | #define KF_G1_11 0.083920206005350f |
Lightvalve | 30:8d561f16383b | 524 | #define KF_G1_12 0.000013905329560f |
Lightvalve | 30:8d561f16383b | 525 | #define KF_G1_21 -0.000575742328210f |
Lightvalve | 30:8d561f16383b | 526 | #define KF_G1_22 0.799999939711725f |
Lightvalve | 11:82d8768d7351 | 527 | // K |
Lightvalve | 30:8d561f16383b | 528 | #define KF_G2_11 0.916079793994650f |
Lightvalve | 30:8d561f16383b | 529 | #define KF_G2_12 0.000002878711641f |
Lightvalve | 30:8d561f16383b | 530 | #define KF_G2_21 0.000575742328210f |
Lightvalve | 30:8d561f16383b | 531 | #define KF_G2_22 0.199999945139809f |
Lightvalve | 11:82d8768d7351 | 532 | |
Lightvalve | 30:8d561f16383b | 533 | float KF_Y_11 = 0.0f; |
Lightvalve | 30:8d561f16383b | 534 | float KF_Y_21 = 0.0f; |
Lightvalve | 30:8d561f16383b | 535 | float KF_X_11 = 0.0f; |
Lightvalve | 30:8d561f16383b | 536 | float KF_X_21 = 0.0f; |
Lightvalve | 11:82d8768d7351 | 537 | |
Lightvalve | 11:82d8768d7351 | 538 | long ENC_pos_old = 0, ENC_pos_cur = 0, ENC_pos_diff = 0; |
Lightvalve | 11:82d8768d7351 | 539 | long ENC_RAW = 0, ENC_VEL_RAW = 0, ENC_VEL_KF = 0; |
Lightvalve | 11:82d8768d7351 | 540 | long enc_offset = 0; |
Lightvalve | 11:82d8768d7351 | 541 | |
Lightvalve | 34:bb2ca2fc2a8e | 542 | void ENC_UPDATE(void) |
Lightvalve | 34:bb2ca2fc2a8e | 543 | { |
Lightvalve | 11:82d8768d7351 | 544 | |
Lightvalve | 11:82d8768d7351 | 545 | ENC_pos_cur = spi_enc_read(); |
Lightvalve | 11:82d8768d7351 | 546 | ENC_pos_diff = ENC_pos_cur - ENC_pos_old; |
Lightvalve | 11:82d8768d7351 | 547 | |
Lightvalve | 11:82d8768d7351 | 548 | if (ENC_pos_diff > 1300 || ENC_pos_diff<-1300) { |
Lightvalve | 11:82d8768d7351 | 549 | //MOT_E_STOP(0); |
Lightvalve | 11:82d8768d7351 | 550 | } |
Lightvalve | 11:82d8768d7351 | 551 | |
Lightvalve | 12:6f2531038ea4 | 552 | ENC_VEL_RAW = (int32_t) (ENC_pos_diff * TMR_FREQ_5k); |
Lightvalve | 11:82d8768d7351 | 553 | |
Lightvalve | 11:82d8768d7351 | 554 | KF_Y_11 = ENC_pos_cur; |
Lightvalve | 11:82d8768d7351 | 555 | KF_Y_21 = ENC_VEL_RAW; |
Lightvalve | 11:82d8768d7351 | 556 | KF_X_11 = KF_G1_11 * KF_X_11 + KF_G1_12 * KF_X_21 + KF_G2_11 * KF_Y_11 + KF_G2_12*KF_Y_21; |
Lightvalve | 11:82d8768d7351 | 557 | KF_X_21 = KF_G1_21 * KF_X_11 + KF_G1_22 * KF_X_21 + KF_G2_21 * KF_Y_11 + KF_G2_22*KF_Y_21; |
Lightvalve | 12:6f2531038ea4 | 558 | ENC_VEL_KF = (int32_t) KF_X_21; |
Lightvalve | 11:82d8768d7351 | 559 | |
Lightvalve | 14:8e7590227d22 | 560 | pos.sen = (DIR_JOINT_ENC) * ENC_pos_cur + enc_offset; |
Lightvalve | 11:82d8768d7351 | 561 | // CUR_POSITION = (DIR_JOINT_ENC) * ENC_pos_cur; |
Lightvalve | 14:8e7590227d22 | 562 | vel.sen = (DIR_JOINT_ENC) * ENC_VEL_KF; |
Lightvalve | 11:82d8768d7351 | 563 | |
Lightvalve | 11:82d8768d7351 | 564 | // CUR_POSITION = ENC_pos_cur; |
Lightvalve | 11:82d8768d7351 | 565 | // CUR_VELOCITY = ENC_VEL_KF; |
Lightvalve | 11:82d8768d7351 | 566 | |
Lightvalve | 11:82d8768d7351 | 567 | ENC_pos_old = ENC_pos_cur; |
Lightvalve | 11:82d8768d7351 | 568 | } |
Lightvalve | 11:82d8768d7351 | 569 | |
Lightvalve | 34:bb2ca2fc2a8e | 570 | void ENC_SET_ZERO(void) |
Lightvalve | 34:bb2ca2fc2a8e | 571 | { |
Lightvalve | 11:82d8768d7351 | 572 | |
Lightvalve | 11:82d8768d7351 | 573 | spi_enc_set_clear(); |
Lightvalve | 11:82d8768d7351 | 574 | CUR_POSITION = 0; |
Lightvalve | 11:82d8768d7351 | 575 | ENC_pos_old = ENC_pos_cur = 0; |
Lightvalve | 11:82d8768d7351 | 576 | |
Lightvalve | 11:82d8768d7351 | 577 | } |
Lightvalve | 11:82d8768d7351 | 578 | |
Lightvalve | 34:bb2ca2fc2a8e | 579 | void ENC_SET(int32_t value_e) |
Lightvalve | 34:bb2ca2fc2a8e | 580 | { |
Lightvalve | 11:82d8768d7351 | 581 | spi_enc_set_clear(); |
Lightvalve | 13:747daba9cf59 | 582 | enc_offset = value_e; |
Lightvalve | 13:747daba9cf59 | 583 | CUR_POSITION = value_e; |
Lightvalve | 13:747daba9cf59 | 584 | ENC_pos_old = ENC_pos_cur = value_e; |
Lightvalve | 11:82d8768d7351 | 585 | |
Lightvalve | 11:82d8768d7351 | 586 | } |
Lightvalve | 18:b8adf1582ea3 | 587 | |
Lightvalve | 19:23b7c1ad8683 | 588 | |
Lightvalve | 30:8d561f16383b | 589 |