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2011
setting.h
- Committer:
- Lightvalve
- Date:
- 2022-04-05
- Revision:
- 228:fb5b57e3f157
- Parent:
- 227:8ac5c6162bc1
- Child:
- 229:27eca07c9591
File content as of revision 228:fb5b57e3f157:
#include "mbed.h" #include "FastPWM.h" // pwm #define PIN_V PB_7 #define PIN_W PB_6 //#define PWM_ARR 0x465 // loop 80k, pwm 40k //#define PWM_ARR 0x8CA // loop 40k, pwm 20k #define PWM_ARR 0x1194 // loop 20k, pwm 10k 원래이거 //#define PWM_ARR 0x2328 // loop 10k, pwm 5k //#define PWM_ARR 0xAFC8 // loop 2 k, pwm 1k #define TMR3_COUNT 0xAFC8 // loop 2 k, pwm 1k //#define TMR2_COUNT 0x2710 // loop 500hz with prescale 18 #define TMR2_COUNT 0x4650 // loop 5 k #define FREQ_500 500.0f #define FREQ_1k 1000.0f #define FREQ_5k 5000.0f #define FREQ_10k 10000.0f #define FREQ_20k 20000.0f #define FREQ_40k 40000.0f #define DT_500 0.002f #define DT_1k 0.001f #define DT_5k 0.0002f #define DT_10k 0.0001f #define DT_20k 0.00005f #define DT_40k 0.000025f //#define TMR_FREQ_10k 10000 #define TMR_FREQ_5k 5000 extern DigitalOut check; extern DigitalOut check_2; extern AnalogOut dac_1; extern AnalogOut dac_2; extern float dtc_v; extern float dtc_w; // I2C extern I2C i2c; // SDA, SCL (for K22F) extern const int i2c_slave_addr1; extern unsigned int value; // 10bit output of reading sensor AS5510 // SPI extern SPI eeprom; //(SPI_MOSI, SPI_MISO, SPI_SCK); extern DigitalOut eeprom_cs; extern SPI enc; extern DigitalOut enc_cs; // UART extern Serial pc; //Serial pc(PA_9,PA_10); _ UART // CAN extern CAN can; extern CANMessage msg; // Board Information // User Function void CurrentControl(); void ValveControl(unsigned int ControlMode); /******************************************************************************* * COMMON Settings ******************************************************************************/ #define LATEST_VERSION 19032 /******************************************************************************* * COMMON CONSTANTS ******************************************************************************/ #define RAD_30 0.523598775598299f #define RAD_60 1.047197551196598f #define RAD_120 2.094395102393195f #define RAD_180 3.141592653589793f #define RAD_240 4.188790204786391f #define RAD_300 5.235987755982989f #define RAD_360 6.283185307179586f #define SYSFREQ 200000000 #define PBCLK 100000000 #define FALSE 0 #define TRUE 1 #define OUTPUT 0 #define INPUT 1 #define LOW 0 #define HIGH 1 #define DIGITAL 0 #define ANALOG 1 #define PI 3.141592653589793f #define D2R 0.017453292519943f #define R2D 57.295779513082323f /******************************************************************************* * HEADER INCLUDE ******************************************************************************/ /******************************************************************************* * VARIABLE ******************************************************************************/ // Board Information extern uint8_t BNO; extern uint8_t CONTROL_MODE; extern uint8_t OPERATING_MODE; extern uint8_t SENSING_MODE; extern uint8_t SUPPLY_PRESSURE_UPDATE; extern uint8_t CONTROL_UTILITY_MODE; extern uint8_t CURRENT_CONTROL_MODE; extern uint8_t FLAG_VALVE_DEADZONE; extern uint8_t REFERENCE_MODE; extern int16_t CAN_FREQ; extern int16_t DIR_JOINT_ENC; extern int16_t DIR_VALVE; extern int16_t DIR_VALVE_ENC; extern float SUPPLY_VOLTAGE; extern float VALVE_VOLTAGE_LIMIT; extern float P_GAIN_VALVE_POSITION; extern float I_GAIN_VALVE_POSITION; extern float D_GAIN_VALVE_POSITION; extern float P_GAIN_JOINT_POSITION; extern float I_GAIN_JOINT_POSITION; extern float D_GAIN_JOINT_POSITION; extern float P_GAIN_JOINT_TORQUE; extern float I_GAIN_JOINT_TORQUE; extern float D_GAIN_JOINT_TORQUE; extern float P_GAIN_JOINT_TORQUE_FF; extern float I_GAIN_JOINT_TORQUE_FF; extern float D_GAIN_JOINT_TORQUE_FF; extern int16_t K_SPRING; extern int16_t D_DAMPER; extern int16_t flag_delay_test; //extern float P_GAIN_VALVE_POSITION_OPP; //extern float I_GAIN_VALVE_POSITION_OPP; //extern float D_GAIN_VALVE_POSITION_OPP; //extern float P_GAIN_JOINT_POSITION_OPP; //extern float I_GAIN_JOINT_POSITION_OPP; //extern float D_GAIN_JOINT_POSITION_OPP; //extern float P_GAIN_JOINT_TORQUE_OPP; //extern float I_GAIN_JOINT_TORQUE_OPP; //extern float D_GAIN_JOINT_TORQUE_OPP; extern int16_t VALVE_DEADZONE_PLUS; extern int16_t VALVE_DEADZONE_MINUS; extern int16_t VELOCITY_COMP_GAIN; //extern int16_t COMPLIANCE_GAIN; extern int16_t VALVE_CENTER; extern int16_t VALVE_FF; extern int16_t BULK_MODULUS; extern int16_t CHAMBER_VOLUME_A; extern int16_t CHAMBER_VOLUME_B; extern int16_t PISTON_AREA_A; extern int16_t PISTON_AREA_B; extern float PISTON_AREA_alpha; extern float alpha3; extern float PRES_SUPPLY_NOM; extern float PRES_SUPPLY; extern int16_t ENC_LIMIT_PLUS; extern int16_t ENC_LIMIT_MINUS; extern int16_t STROKE; extern float Amm; extern float beta; extern float Ps; extern float Pt; extern float gamma_hat; extern float a_hat; extern float V_adapt; extern float x_4_des_old; //extern int16_t VALVE_LIMIT_PLUS; //extern int16_t VALVE_LIMIT_MINUS; extern float ENC_PULSE_PER_POSITION; extern float TORQUE_SENSOR_PULSE_PER_TORQUE; extern float PRES_SENSOR_A_PULSE_PER_BAR; extern float PRES_SENSOR_B_PULSE_PER_BAR; extern int16_t HOMEPOS_OFFSET; extern int HOMEPOS_VALVE_OPENING; extern float FRICTION; extern float REF_PERIOD; extern float REF_MAG; extern int REF_NUM; extern float DAC_REF; extern float DAC_RESOL; extern float REF_FORCE; extern float REF_TORQUE; extern float REF_POSITION; extern float REF_VELOCITY; extern float REF_POSITION_FINDHOME; extern int16_t REF_PWM; extern int16_t REF_VALVE_POSITION; extern int16_t REF_CURRENT; extern int REF_MOVE_TIME_5k; extern int INIT_REF_PWM; extern int INIT_REF_VALVE_POS; extern int INIT_REF_VEL; extern int INIT_REF_TORQUE; extern int INIT_REF_PRES_DIFF; extern int INIT_REF_CURRENT; extern unsigned int TMR2_COUNT_LED1; extern unsigned int TMR2_COUNT_LED2; extern unsigned int TMR2_COUNT_CAN_TX; extern unsigned int TMR3_COUNT_TEST; extern int num_err; extern int flag_err[8]; extern int flag_err_old[8]; extern int flag_err_rt; extern int flag_ref_enable; extern int flag_data_request[5]; extern int MODE_POS_FT_TRANS; extern int NN_Control_Flag; extern int cnt_buffer; extern float CUR_CURRENT_mA; extern float CUR_TORQUE_NM; extern float CUR_TORQUE_NM_PRESS; extern float FORCE_VREF; extern float PRES_A_VREF; extern float PRES_B_VREF; extern float VALVE_PWM_RAW_FB; extern float VALVE_PWM_RAW_FF; extern float VALVE_PWM_RAW; extern int VALVE_PWM_VALVE_DZ; extern float VALVE_GAIN_LPM_PER_V[10]; extern float VALVE_POS_VS_PWM[25]; extern long JOINT_VEL[100]; extern int VALVE_MAX_POS; extern int VALVE_MIN_POS; extern int VALVE_ELECTRIC_CENTER; extern int VALVE_POS_NUM; extern float VALVE_CENTER_OFFSET; extern float VALVE_DZ_MINUS_OFFSET; extern float VALVE_DZ_PLUS_OFFSET; extern int TMR3_COUNT_FINDHOME; extern int TMR3_COUNT_FLOWRATE; extern int TMR3_COUNT_DEADZONE; extern int TMR3_COUNT_PRES_NULL; extern int TMR3_COUNT_TORQUE_NULL; extern int TMR3_COUNT_PRES_CALIB; extern int TMR3_COUNT_REFERENCE; extern int TMR3_COUNT_JOINT; extern int TMR3_COUNT_ROTARY_FRIC_TUNE; extern float TUNING_TIME; extern float REFERENCE_FREQ; extern float REFERENCE_MAG; extern bool FLAG_FIND_HOME; extern int MODE_JUMP_STATUS; extern float CUR_PRES_DIFF_BAR; extern float CUR_PRES_A_sum; extern float CUR_PRES_B_sum; extern float CUR_PRES_A_mean; extern float CUR_PRES_B_mean; extern float PRES_A_NULL_pulse; extern float PRES_B_NULL_pulse; extern float FORCE_NULL_pulse; extern float Ref_Valve_Pos_Old; extern int VALVE_ID_timer; extern int VALVE_DZ_timer; extern int VALVE_FR_timer; extern int VALVE_HPL_timer; extern int VALVE_POS_TMP; extern int JOINT_VEL_TMP; extern int DDV_POS_AVG ; extern int VALVE_POS_AVG[50]; extern int VALVE_POS_AVG_OLD; extern int data_num; extern int ID_index; extern int DZ_index; extern int ID_index_array[50]; extern int first_check; extern float init_time; extern int DZ_case; extern int START_POS; extern int FINAL_POS; extern int DZ_DIRECTION; extern int FIRST_DZ; extern int SECOND_DZ; extern int DZ_NUM; extern int one_period_end; extern float Ref_Vel_Test; extern long TMR2_FOR_SLOW_LOGGING; //extern int velcount; extern char max_check; extern char min_check; extern float valve_pos_err, valve_pos_err_old, valve_pos_err_diff, valve_pos_err_sum; extern float joint_pos_err, joint_pos_err_old, joint_pos_err_diff, joint_pos_err_diff_fil, joint_pos_err_sum; extern float joint_torq_err, joint_torq_err_old, joint_torq_err_diff, joint_torq_err_sum; extern float VALVE_PWM_RAW_POS, VALVE_PWM_RAW_TORQ; extern float force_ref_filter; extern float CUR_FLOWRATE; extern float VALVE_FF_VOLTAGE; extern int pos_plus_end; extern int pos_minus_end; extern bool need_enc_init; extern int temp_time; extern float CUR_VELOCITY_sum; extern float temp_vel_sum; extern int DZ_dir; extern int DZ_temp_cnt; extern int DZ_temp_cnt2; extern int DZ_end; extern int flag_flowrate; extern int fl_temp_cnt; extern int fl_temp_cnt2; extern int cur_vel_sum; extern int cnt_finddz; extern int cnt_vel_finddz; extern int flag_finddz; extern int FINDDZ_VELOCITY; extern int FINDDZ_VELOCITY_OLD; extern int FINDDZ_POSITION; extern int FINDDZ_POSITION_OLD; extern double temp_VALVE_DEADZONE_PLUS; extern double temp_VALVE_DEADZONE_MINUS; extern float temp_pos_ref; extern float temp_pos_ref_offset; // valve gain extern int check_vel_pos_init; extern int check_vel_pos_fin; extern int check_vel_pos_interv; extern int valve_gain_repeat_cnt; extern float VALVE_VOLTAGE; extern float freq_fric_tune; extern uint32_t TMR3_COUNT_CAN_TX; // Current Control Variables extern double I_REF; extern double I_REF_fil; extern double I_REF_fil_DZ; extern double I_ERR; extern double I_ERR_INT; extern double I_REF_fil_old; extern double I_REF_fil_diff; // system id extern int cnt_sysid; extern double freq_sysid_Iref; extern int cnt_freq_test; extern int cnt_step_test; extern int buffer_data_size; extern int cnt_send_buffer; extern float freq_test_valve_ref; extern float ref_array[10000]; extern int pos_array[10000]; extern int flag_every_reference; extern int TMR3_COUNT_IREF; extern float CUR_CURRENT; extern float u_CUR[3]; extern int FINDHOME_STAGE; extern int FINDHOME_INIT; extern int FINDHOME_GOTOLIMIT; extern int FINDHOME_ZEROPOSE; extern int FINDDZ_STAGE; extern int FINDDZ_INIT; extern int FINDDZ_START1; extern int FINDDZ_START2; extern int FINDDZ_STOP; extern float alpha_trans; extern float V_out; extern float V_rem; extern float V_MAX; extern float PWM_out; extern double K_v; extern double C_d; extern double mV_PER_mA; extern double mV_PER_pulse; extern double mA_PER_pulse; extern int timer_while; extern int while_index; extern int RL_timer; extern float K_LPF; extern float D_LPF; extern float torq_sen_past; extern float torq_ref_past; extern float output_normalized;