Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy

2011

Dependencies:   mbed FastPWM

main.cpp@226:4e660aa77eb7, 2021-07-13 (annotated)

Committer:
Lightvalve
Date:
Tue Jul 13 01:40:56 2021 +0000
Revision:
226:4e660aa77eb7
Parent:
225:c2cfe349f5c1
Child:
227:8ac5c6162bc1
210713

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 212:985dba42f261 1 //Hydraulic Control Board
Lightvalve 212:985dba42f261 2 //distributed by Sungwoo Kim
Lightvalve 212:985dba42f261 3 // 2020/12/28
jobuuu 216:763bbefcb79f 4 //revised by Buyoun Cho
Lightvalve 223:c831718303c9 5 // 2021/04/20
Lightvalve 212:985dba42f261 6
Lightvalve 212:985dba42f261 7 // 유의사항
Lightvalve 212:985dba42f261 8 // 소수 적을때 뒤에 f 꼭 붙이기
Lightvalve 212:985dba42f261 9 // CAN 선은 ground까지 있는 3상 선으로 써야함.
Lightvalve 212:985dba42f261 10 // 전원은 12~24V 인가.
Lightvalve 212:985dba42f261 11
GiJeongKim 0:51c43836c1d7 12 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 13 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 14 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 15 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 16 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 17 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 18 #include "setting.h"
Lightvalve 11:82d8768d7351 19 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 20 #include "stm32f4xx_flash.h"
Lightvalve 164:645207e160ca 21 #include "FlashWriter.h"
Lightvalve 165:42c938a40313 22 #include <string>
Lightvalve 165:42c938a40313 23 #include <iostream>
Lightvalve 174:d5377766d7ea 24 #include <cmath>
Lightvalve 59:bc8c8270f0ab 25
Lightvalve 59:bc8c8270f0ab 26 using namespace std;
Lightvalve 59:bc8c8270f0ab 27 Timer t;
GiJeongKim 0:51c43836c1d7 28
jobuuu 7:e9086c72bb22 29 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 30 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 31 DigitalOut check_2(PC_3);
jobuuu 218:2c3e5ecbe7e1 32 AnalogOut dac_1(PA_4); // 0.0f ~ 1.0f
jobuuu 218:2c3e5ecbe7e1 33 AnalogOut dac_2(PA_5); // 0.0f ~ 1.0f
Lightvalve 14:8e7590227d22 34 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 35 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 36 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 37
jobuuu 7:e9086c72bb22 38 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 39 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 40 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 41
jobuuu 7:e9086c72bb22 42 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 43 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
Lightvalve 212:985dba42f261 44 const int i2c_slave_addr1 = 0x56; // AS5510 address
GiJeongKim 0:51c43836c1d7 45 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 46
jobuuu 7:e9086c72bb22 47 // SPI ///////////////////////////////////////////
Lightvalve 165:42c938a40313 48 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 165:42c938a40313 49 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 50 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 51 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 52 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 53
jobuuu 7:e9086c72bb22 54 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 55 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 56
jobuuu 7:e9086c72bb22 57 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 58 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 59 CANMessage msg;
Lightvalve 11:82d8768d7351 60 void onMsgReceived()
Lightvalve 11:82d8768d7351 61 {
Lightvalve 11:82d8768d7351 62 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 63 }
jobuuu 2:a1c0a37df760 64
jobuuu 7:e9086c72bb22 65 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 66 State pos;
jobuuu 7:e9086c72bb22 67 State vel;
jobuuu 7:e9086c72bb22 68 State Vout;
jobuuu 218:2c3e5ecbe7e1 69 State force;
jobuuu 218:2c3e5ecbe7e1 70 State torq; // unit : N
Lightvalve 198:c70c5a9f17dd 71 State torq_dot;
jobuuu 218:2c3e5ecbe7e1 72 State pres_A; // unit : bar
jobuuu 7:e9086c72bb22 73 State pres_B;
jobuuu 218:2c3e5ecbe7e1 74 State cur; // unit : mA
Lightvalve 14:8e7590227d22 75 State valve_pos;
Lightvalve 226:4e660aa77eb7 76 State valve_pos_raw;
Lightvalve 14:8e7590227d22 77
Lightvalve 14:8e7590227d22 78 State INIT_Vout;
Lightvalve 14:8e7590227d22 79 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 80 State INIT_Pos;
Lightvalve 14:8e7590227d22 81 State INIT_torq;
jobuuu 5:a4319f79457b 82
Lightvalve 19:23b7c1ad8683 83 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 84 extern int CID_RX_REF_POSITION;
hyhoon 215:699c3e572283 85 extern int CID_RX_REF_OPENLOOP;
Lightvalve 44:35fa6884d0c6 86 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 87
Lightvalve 19:23b7c1ad8683 88 extern int CID_TX_INFO;
hyhoon 215:699c3e572283 89 extern int CID_TX_POS_VEL_TORQ;
hyhoon 215:699c3e572283 90 extern int CID_TX_PWM;
hyhoon 215:699c3e572283 91 extern int CID_TX_CURRENT;
Lightvalve 19:23b7c1ad8683 92 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 93 extern int CID_TX_VALVE_POSITION;
jeongyeseong 213:9c0becc196ba 94 extern int CID_TX_SOMETHING;
Lightvalve 19:23b7c1ad8683 95
hyhoon 215:699c3e572283 96 float temp_P_GAIN = 0.0f;
hyhoon 215:699c3e572283 97 float temp_I_GAIN = 0.0f;
hyhoon 215:699c3e572283 98 int temp_VELOCITY_COMP_GAIN = 0;
Lightvalve 223:c831718303c9 99 int logging = 0;
hyhoon 215:699c3e572283 100
Lightvalve 223:c831718303c9 101 inline float tanh_inv(float y)
Lightvalve 223:c831718303c9 102 {
Lightvalve 223:c831718303c9 103 if(y >= 1.0f - 0.000001f) y = 1.0f - 0.000001f;
Lightvalve 223:c831718303c9 104 if(y <= -1.0f + 0.000001f) y = -1.0f + 0.000001f;
jobuuu 218:2c3e5ecbe7e1 105 return log(sqrt((1.0f+y)/(1.0f-y)));
jobuuu 218:2c3e5ecbe7e1 106 }
jobuuu 218:2c3e5ecbe7e1 107
hyhoon 215:699c3e572283 108
Lightvalve 12:6f2531038ea4 109 /*******************************************************************************
Lightvalve 12:6f2531038ea4 110 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 111 ******************************************************************************/
Lightvalve 13:747daba9cf59 112 enum _REFERENCE_MODE {
Lightvalve 223:c831718303c9 113 MODE_REF_NO_ACT = 0,
Lightvalve 223:c831718303c9 114 MODE_REF_DIRECT,
Lightvalve 223:c831718303c9 115 MODE_REF_FINDHOME
Lightvalve 12:6f2531038ea4 116 };
Lightvalve 12:6f2531038ea4 117
Lightvalve 12:6f2531038ea4 118 /*******************************************************************************
Lightvalve 12:6f2531038ea4 119 * CONTROL MODE
Lightvalve 12:6f2531038ea4 120 ******************************************************************************/
Lightvalve 13:747daba9cf59 121 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 122 //control mode
Lightvalve 12:6f2531038ea4 123 MODE_NO_ACT = 0, //0
Lightvalve 46:fdcb8bd86fd6 124 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 46:fdcb8bd86fd6 125 MODE_JOINT_CONTROL, //2
Lightvalve 49:3c630b5eba9f 126
Lightvalve 46:fdcb8bd86fd6 127 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 136:a843f32ced33 128 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 166:bfc1fd2629d8 129 MODE_RL, //5
Lightvalve 13:747daba9cf59 130
Lightvalve 12:6f2531038ea4 131 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 132 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 133 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 134
Lightvalve 12:6f2531038ea4 135 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 136 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 137
Lightvalve 14:8e7590227d22 138 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 139 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 140 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 212:985dba42f261 141 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 142
Lightvalve 12:6f2531038ea4 143 //utility
Lightvalve 12:6f2531038ea4 144 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 145 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 146 MODE_FIND_HOME, //22
Lightvalve 55:f4819de54e7a 147 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 148 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 149 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 150 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 151
Lightvalve 212:985dba42f261 152 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 153 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 154 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 55:f4819de54e7a 155 MODE_SYSTEM_ID, //33
Lightvalve 164:645207e160ca 156 MODE_FREQ_TEST, //34
Lightvalve 164:645207e160ca 157 MODE_SEND_BUFFER, //35
Lightvalve 164:645207e160ca 158 MODE_SEND_OVER, //36
Lightvalve 164:645207e160ca 159 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 160 };
Lightvalve 12:6f2531038ea4 161
Lightvalve 63:a2d7c63419c2 162 void SystemClock_Config(void)
Lightvalve 63:a2d7c63419c2 163 {
Lightvalve 164:645207e160ca 164 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 164:645207e160ca 165 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 63:a2d7c63419c2 166
Lightvalve 212:985dba42f261 167 /* Configure the main internal regulator output voltage
Lightvalve 164:645207e160ca 168 */
Lightvalve 164:645207e160ca 169 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 164:645207e160ca 170 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 212:985dba42f261 171 /* Initializes the CPU, AHB and APB busses clocks
Lightvalve 164:645207e160ca 172 */
Lightvalve 164:645207e160ca 173 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 164:645207e160ca 174 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 164:645207e160ca 175 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 164:645207e160ca 176 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 164:645207e160ca 177 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 164:645207e160ca 178 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 164:645207e160ca 179 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 164:645207e160ca 180 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 164:645207e160ca 181 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 164:645207e160ca 182 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 164:645207e160ca 183 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 164:645207e160ca 184 //Error_Handler();
Lightvalve 164:645207e160ca 185 }
Lightvalve 164:645207e160ca 186 /** Activate the Over-Drive mode
Lightvalve 164:645207e160ca 187 */
Lightvalve 164:645207e160ca 188 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 164:645207e160ca 189 //Error_Handler();
Lightvalve 164:645207e160ca 190 }
Lightvalve 164:645207e160ca 191 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 164:645207e160ca 192 */
Lightvalve 164:645207e160ca 193 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 164:645207e160ca 194 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 164:645207e160ca 195 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 164:645207e160ca 196 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 164:645207e160ca 197 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 164:645207e160ca 198 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 63:a2d7c63419c2 199
Lightvalve 164:645207e160ca 200 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 164:645207e160ca 201 //Error_Handler();
Lightvalve 164:645207e160ca 202 }
Lightvalve 63:a2d7c63419c2 203 }
Lightvalve 63:a2d7c63419c2 204
Lightvalve 165:42c938a40313 205
GiJeongKim 0:51c43836c1d7 206 int main()
GiJeongKim 0:51c43836c1d7 207 {
jobuuu 6:df07d3491e3a 208 /*********************************
jobuuu 1:e04e563be5ce 209 *** Initialization
jobuuu 6:df07d3491e3a 210 *********************************/
hyhoon 214:82a3ca333004 211
Lightvalve 212:985dba42f261 212 HAL_Init();
Lightvalve 212:985dba42f261 213 SystemClock_Config();
hyhoon 214:82a3ca333004 214
Lightvalve 67:3995ffeaa786 215 LED = 0;
Lightvalve 59:bc8c8270f0ab 216 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 217
GiJeongKim 0:51c43836c1d7 218 // i2c init
Lightvalve 224:fd7961dfa78a 219 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 224:fd7961dfa78a 220 wait_ms(2); // Power Up wait
Lightvalve 224:fd7961dfa78a 221 look_for_hardware_i2c(); // Hardware present
Lightvalve 224:fd7961dfa78a 222 init_as5510(i2c_slave_addr1);
Lightvalve 224:fd7961dfa78a 223 make_delay();
jobuuu 2:a1c0a37df760 224
Lightvalve 212:985dba42f261 225 // spi init
hyhoon 215:699c3e572283 226 eeprom_cs = 1;
Lightvalve 165:42c938a40313 227 eeprom.format(8,3);
Lightvalve 165:42c938a40313 228 eeprom.frequency(5000000); //5M
hyhoon 215:699c3e572283 229 eeprom_cs = 0;
hyhoon 215:699c3e572283 230 make_delay();
hyhoon 215:699c3e572283 231
hyhoon 215:699c3e572283 232 enc_cs = 1; //sw add
GiJeongKim 0:51c43836c1d7 233 enc.format(8,0);
hyhoon 215:699c3e572283 234 enc.frequency(5000000); //10M
hyhoon 215:699c3e572283 235 enc_cs = 0; //sw add
hyhoon 215:699c3e572283 236
Lightvalve 11:82d8768d7351 237 make_delay();
Lightvalve 21:e5f1a43ea6f9 238
hyhoon 214:82a3ca333004 239 // spi _ enc
hyhoon 214:82a3ca333004 240 spi_enc_set_init();
hyhoon 214:82a3ca333004 241 make_delay();
hyhoon 214:82a3ca333004 242
hyhoon 214:82a3ca333004 243 ////// bno rom
Lightvalve 226:4e660aa77eb7 244 spi_eeprom_write(RID_BNO, (int16_t) 1);
Lightvalve 226:4e660aa77eb7 245 make_delay();
hyhoon 214:82a3ca333004 246 ////////
hyhoon 214:82a3ca333004 247
Lightvalve 212:985dba42f261 248 // rom
Lightvalve 19:23b7c1ad8683 249 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 250 make_delay();
Lightvalve 13:747daba9cf59 251
GiJeongKim 0:51c43836c1d7 252 // ADC init
jobuuu 5:a4319f79457b 253 Init_ADC();
Lightvalve 11:82d8768d7351 254 make_delay();
jobuuu 2:a1c0a37df760 255
GiJeongKim 0:51c43836c1d7 256 // Pwm init
GiJeongKim 0:51c43836c1d7 257 Init_PWM();
GiJeongKim 0:51c43836c1d7 258 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 259 make_delay();
Lightvalve 13:747daba9cf59 260
GiJeongKim 0:51c43836c1d7 261 // CAN
jobuuu 2:a1c0a37df760 262 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 263 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 264 make_delay();
Lightvalve 34:bb2ca2fc2a8e 265
hyhoon 214:82a3ca333004 266 //can.reset();
hyhoon 214:82a3ca333004 267 can.filter(msg.id, 0xFFFFF000, CANStandard);
hyhoon 214:82a3ca333004 268
hyhoon 214:82a3ca333004 269 // TMR3 init
hyhoon 214:82a3ca333004 270 Init_TMR3();
hyhoon 214:82a3ca333004 271 TIM3->CR1 ^= TIM_CR1_UDIS;
hyhoon 214:82a3ca333004 272 make_delay();
hyhoon 214:82a3ca333004 273
Lightvalve 23:59218d4a256d 274 //Timer priority
Lightvalve 23:59218d4a256d 275 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 52:647072f5307a 276 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 277
hyhoon 214:82a3ca333004 278
Lightvalve 11:82d8768d7351 279 //DAC init
Lightvalve 56:2eade98630e2 280 if (SENSING_MODE == 0) {
jobuuu 218:2c3e5ecbe7e1 281 dac_1 = FORCE_VREF / 3.3f;
Lightvalve 56:2eade98630e2 282 dac_2 = 0.0f;
Lightvalve 56:2eade98630e2 283 } else if (SENSING_MODE == 1) {
Lightvalve 226:4e660aa77eb7 284 // if (DIR_VALVE_ENC > 0) {
hyhoon 214:82a3ca333004 285 dac_1 = PRES_A_VREF / 3.3f;
hyhoon 214:82a3ca333004 286 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 226:4e660aa77eb7 287 // } else {
Lightvalve 226:4e660aa77eb7 288 // dac_1 = PRES_B_VREF / 3.3f;
Lightvalve 226:4e660aa77eb7 289 // dac_2 = PRES_A_VREF / 3.3f;
Lightvalve 226:4e660aa77eb7 290 // }
Lightvalve 56:2eade98630e2 291 }
Lightvalve 11:82d8768d7351 292 make_delay();
Lightvalve 13:747daba9cf59 293
Lightvalve 19:23b7c1ad8683 294 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 295 if(i%2==0)
Lightvalve 38:118df027d851 296 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 297 else
Lightvalve 38:118df027d851 298 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 299 }
Lightvalve 164:645207e160ca 300
jobuuu 6:df07d3491e3a 301 /************************************
jobuuu 1:e04e563be5ce 302 *** Program is operating!
jobuuu 6:df07d3491e3a 303 *************************************/
GiJeongKim 0:51c43836c1d7 304 while(1) {
Lightvalve 164:645207e160ca 305
Lightvalve 212:985dba42f261 306 // UART example
Lightvalve 212:985dba42f261 307 // if(timer_while==100000) {
Lightvalve 166:bfc1fd2629d8 308 // timer_while = 0;
Lightvalve 212:985dba42f261 309 // pc.printf("%f\n", value);
Lightvalve 166:bfc1fd2629d8 310 // }
Lightvalve 212:985dba42f261 311 // timer_while ++;
Lightvalve 164:645207e160ca 312
Lightvalve 212:985dba42f261 313 //i2c for SW valve
Lightvalve 224:fd7961dfa78a 314 if(OPERATING_MODE == 5) {
Lightvalve 224:fd7961dfa78a 315 read_field(i2c_slave_addr1);
Lightvalve 224:fd7961dfa78a 316 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 224:fd7961dfa78a 317 }
GiJeongKim 0:51c43836c1d7 318 }
jobuuu 1:e04e563be5ce 319 }
jobuuu 1:e04e563be5ce 320
Lightvalve 212:985dba42f261 321
Lightvalve 212:985dba42f261 322 // Velocity feedforward for SW valve
Lightvalve 33:91b17819ec30 323 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 324 {
Lightvalve 13:747daba9cf59 325 int i = 0;
Lightvalve 47:889798ff9329 326 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 327 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 328 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 329 if(i==0) {
Lightvalve 49:3c630b5eba9f 330 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 55:f4819de54e7a 331 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 332 } else {
Lightvalve 55:f4819de54e7a 333 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 334 }
Lightvalve 14:8e7590227d22 335 } else {
Lightvalve 49:3c630b5eba9f 336 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 55:f4819de54e7a 337 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 49:3c630b5eba9f 338 } else {
Lightvalve 55:f4819de54e7a 339 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 340 }
Lightvalve 13:747daba9cf59 341 }
Lightvalve 13:747daba9cf59 342 break;
Lightvalve 13:747daba9cf59 343 }
Lightvalve 13:747daba9cf59 344 }
Lightvalve 14:8e7590227d22 345 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 346 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 347 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 348 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 349 }
Lightvalve 36:a46e63505ed8 350
Lightvalve 212:985dba42f261 351 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve 13:747daba9cf59 352 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 353 }
jobuuu 6:df07d3491e3a 354
Lightvalve 212:985dba42f261 355 // Valve feedforward for SW valve
Lightvalve 30:8d561f16383b 356 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 357 {
Lightvalve 13:747daba9cf59 358 int i = 0;
Lightvalve 13:747daba9cf59 359
Lightvalve 38:118df027d851 360 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 361 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 362 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 363 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 364 }
Lightvalve 87:a7b45368ea0f 365 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 366 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 367 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 368 valve_pos_err_sum += valve_pos_err;
Lightvalve 87:a7b45368ea0f 369 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 87:a7b45368ea0f 370 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 371
Lightvalve 13:747daba9cf59 372 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 373
Lightvalve 18:b8adf1582ea3 374 for(i=0; i<24; i++) {
Lightvalve 87:a7b45368ea0f 375 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 376 if(i==0) {
Lightvalve 47:889798ff9329 377 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 378 } else {
Lightvalve 47:889798ff9329 379 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 380 }
Lightvalve 13:747daba9cf59 381 break;
Lightvalve 13:747daba9cf59 382 }
Lightvalve 13:747daba9cf59 383 }
Lightvalve 57:f308b1656d9c 384 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 385 }
Lightvalve 13:747daba9cf59 386
Lightvalve 226:4e660aa77eb7 387 // Valve feedforward for SW valve
Lightvalve 226:4e660aa77eb7 388 void VALVE_POS_CONTROL_DZ(float REF_VALVE_POS_10000)
Lightvalve 226:4e660aa77eb7 389 {
Lightvalve 226:4e660aa77eb7 390 int i = 0;
Lightvalve 226:4e660aa77eb7 391 float valve_pos_ref_dz = 0.0f;
Lightvalve 226:4e660aa77eb7 392 if(REF_VALVE_POS_10000 > 10000.0f) {
Lightvalve 226:4e660aa77eb7 393 REF_VALVE_POS_10000 = 10000.0f;
Lightvalve 226:4e660aa77eb7 394 } else if(REF_VALVE_POS_10000 < -10000.0f) {
Lightvalve 226:4e660aa77eb7 395 REF_VALVE_POS_10000 = -10000.0f;
Lightvalve 226:4e660aa77eb7 396 }
Lightvalve 226:4e660aa77eb7 397 if (REF_VALVE_POS_10000 >= 0) {
Lightvalve 226:4e660aa77eb7 398 valve_pos_ref_dz = REF_VALVE_POS_10000/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 226:4e660aa77eb7 399 } else {
Lightvalve 226:4e660aa77eb7 400 valve_pos_ref_dz = -REF_VALVE_POS_10000/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 226:4e660aa77eb7 401 }
Lightvalve 226:4e660aa77eb7 402 valve_pos_err = (float) (valve_pos_ref_dz - value);
Lightvalve 226:4e660aa77eb7 403 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 226:4e660aa77eb7 404 valve_pos_err_old = valve_pos_err;
Lightvalve 226:4e660aa77eb7 405 valve_pos_err_sum += valve_pos_err;
Lightvalve 226:4e660aa77eb7 406 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 226:4e660aa77eb7 407 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 226:4e660aa77eb7 408
Lightvalve 226:4e660aa77eb7 409 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 226:4e660aa77eb7 410
Lightvalve 226:4e660aa77eb7 411 for(i=0; i<24; i++) {
Lightvalve 226:4e660aa77eb7 412 if(valve_pos_ref_dz >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) valve_pos_ref_dz <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 226:4e660aa77eb7 413 if(i==0) {
Lightvalve 226:4e660aa77eb7 414 VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) valve_pos_ref_dz - VALVE_POS_VS_PWM[i]);
Lightvalve 226:4e660aa77eb7 415 } else {
Lightvalve 226:4e660aa77eb7 416 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) valve_pos_ref_dz - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve 226:4e660aa77eb7 417 }
Lightvalve 226:4e660aa77eb7 418 break;
Lightvalve 226:4e660aa77eb7 419 }
Lightvalve 226:4e660aa77eb7 420 }
Lightvalve 226:4e660aa77eb7 421 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 226:4e660aa77eb7 422 }
Lightvalve 226:4e660aa77eb7 423
Lightvalve 212:985dba42f261 424 // PWM duty vs. voltage output of L6205 in STM board
Lightvalve 14:8e7590227d22 425 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 426 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 427 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 428 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 429 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 430 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 431 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 432 }; // duty
Lightvalve 65:c2812cf26c38 433 float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f,
Lightvalve 65:c2812cf26c38 434 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 65:c2812cf26c38 435 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 65:c2812cf26c38 436 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 65:c2812cf26c38 437 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 65:c2812cf26c38 438 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 439 }; // mV
Lightvalve 13:747daba9cf59 440
Lightvalve 30:8d561f16383b 441 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 442 {
Lightvalve 30:8d561f16383b 443 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 444 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 445 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 446 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 447 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 448 } else {
Lightvalve 13:747daba9cf59 449 int idx = 0;
Lightvalve 13:747daba9cf59 450 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 451 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 452 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 453 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 454 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 455 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 456 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 457 break;
Lightvalve 13:747daba9cf59 458 }
Lightvalve 13:747daba9cf59 459 }
Lightvalve 13:747daba9cf59 460 }
Lightvalve 14:8e7590227d22 461
Lightvalve 13:747daba9cf59 462 return PWM_duty;
Lightvalve 13:747daba9cf59 463 }
jobuuu 6:df07d3491e3a 464
Lightvalve 55:f4819de54e7a 465
Lightvalve 55:f4819de54e7a 466
jobuuu 2:a1c0a37df760 467 /*******************************************************************************
jobuuu 2:a1c0a37df760 468 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 469 *******************************************************************************/
jobuuu 2:a1c0a37df760 470
jobuuu 218:2c3e5ecbe7e1 471 //------------------------------------------------
jobuuu 218:2c3e5ecbe7e1 472 // TMR4 : Sensor Read & Data Handling
jobuuu 218:2c3e5ecbe7e1 473 //-----------------------------------------------
Lightvalve 50:b46bed7fec80 474 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 50:b46bed7fec80 475 float DT_TMR4 = (float)DT_20k;
Lightvalve 55:f4819de54e7a 476 long CNT_TMR4 = 0;
Lightvalve 55:f4819de54e7a 477 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 478 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 479 {
Lightvalve 19:23b7c1ad8683 480 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 13:747daba9cf59 481
jobuuu 218:2c3e5ecbe7e1 482 // Current ===================================================
jobuuu 218:2c3e5ecbe7e1 483 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 223:c831718303c9 484
jobuuu 218:2c3e5ecbe7e1 485 cur.UpdateSen(((float)ADC3->DR-2047.5f)/2047.5f*10.0f, FREQ_TMR4, 500.0f); // unit : mA
jobuuu 218:2c3e5ecbe7e1 486
jobuuu 218:2c3e5ecbe7e1 487 // Encoder ===================================================
Lightvalve 55:f4819de54e7a 488 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 55:f4819de54e7a 489 ENC_UPDATE();
Lightvalve 55:f4819de54e7a 490 }
Lightvalve 59:bc8c8270f0ab 491
jobuuu 218:2c3e5ecbe7e1 492 // Force or Pressure Transducer =============================================
Lightvalve 59:bc8c8270f0ab 493 ADC1->CR2 |= 0x40000000;
jobuuu 218:2c3e5ecbe7e1 494 if (SENSING_MODE == 0) { // Force sensing
jobuuu 218:2c3e5ecbe7e1 495 force.UpdateSen((((float)ADC1->DR) - 2047.5f)/TORQUE_SENSOR_PULSE_PER_TORQUE, FREQ_TMR4, 100.0f); // unit : N
jobuuu 218:2c3e5ecbe7e1 496 } else if (SENSING_MODE == 1) { // Pressure sensing
jobuuu 218:2c3e5ecbe7e1 497 float pres_A_new, pres_B_new;
Lightvalve 226:4e660aa77eb7 498 // if (DIR_VALVE_ENC > 0) {
jobuuu 218:2c3e5ecbe7e1 499 pres_A_new = (((float)ADC1->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 220:2976cf1b4252 500 pres_B_new = (((float)ADC2->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 226:4e660aa77eb7 501 // } else {
Lightvalve 226:4e660aa77eb7 502 // pres_A_new = (((float)ADC2->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 226:4e660aa77eb7 503 // pres_B_new = (((float)ADC1->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 226:4e660aa77eb7 504 // }
jobuuu 218:2c3e5ecbe7e1 505 pres_A.UpdateSen(pres_A_new,FREQ_TMR4,200.0f);
jobuuu 218:2c3e5ecbe7e1 506 pres_B.UpdateSen(pres_B_new,FREQ_TMR4,200.0f);
Lightvalve 49:3c630b5eba9f 507
Lightvalve 226:4e660aa77eb7 508 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 223:c831718303c9 509 float torq_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 220:2976cf1b4252 510 torq.UpdateSen(torq_new,FREQ_TMR4,1000.0f); // unit : Nm
Lightvalve 226:4e660aa77eb7 511 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
jobuuu 218:2c3e5ecbe7e1 512 float force_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.1f; // mm^2*bar >> N
Lightvalve 220:2976cf1b4252 513 force.UpdateSen(force_new,FREQ_TMR4,1000.0f); // unit : N
Lightvalve 56:2eade98630e2 514 }
Lightvalve 56:2eade98630e2 515 }
Lightvalve 59:bc8c8270f0ab 516
Lightvalve 55:f4819de54e7a 517 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 518 }
Lightvalve 11:82d8768d7351 519 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 520 }
Lightvalve 19:23b7c1ad8683 521
Lightvalve 19:23b7c1ad8683 522
Lightvalve 18:b8adf1582ea3 523 int j =0;
Lightvalve 52:647072f5307a 524 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 47:889798ff9329 525 float DT_TMR3 = (float)DT_5k;
Lightvalve 44:35fa6884d0c6 526 int cnt_trans = 0;
Lightvalve 47:889798ff9329 527 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 55:f4819de54e7a 528 int can_rest =0;
Lightvalve 47:889798ff9329 529
Lightvalve 11:82d8768d7351 530 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 531 {
Lightvalve 19:23b7c1ad8683 532 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 55:f4819de54e7a 533
Lightvalve 49:3c630b5eba9f 534 if(MODE_POS_FT_TRANS == 1) {
jobuuu 218:2c3e5ecbe7e1 535 if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
Lightvalve 47:889798ff9329 536 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 44:35fa6884d0c6 537 cnt_trans++;
Lightvalve 221:2ec0de8590d3 538 torq.err_int = 0.0f;
Lightvalve 221:2ec0de8590d3 539 force.err_int = 0.0f;
Lightvalve 47:889798ff9329 540 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 44:35fa6884d0c6 541 MODE_POS_FT_TRANS = 2;
Lightvalve 49:3c630b5eba9f 542 } else if(MODE_POS_FT_TRANS == 3) {
jobuuu 218:2c3e5ecbe7e1 543 if (alpha_trans == 0.0f) MODE_POS_FT_TRANS = 0;
Lightvalve 47:889798ff9329 544 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 44:35fa6884d0c6 545 cnt_trans++;
Lightvalve 221:2ec0de8590d3 546 torq.err_int = 0.0f;
Lightvalve 221:2ec0de8590d3 547 force.err_int = 0.0f;
Lightvalve 47:889798ff9329 548 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 44:35fa6884d0c6 549 MODE_POS_FT_TRANS = 0;
Lightvalve 49:3c630b5eba9f 550 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 56:2eade98630e2 551 alpha_trans = 1.0f;
Lightvalve 44:35fa6884d0c6 552 cnt_trans = 0;
Lightvalve 49:3c630b5eba9f 553 } else {
Lightvalve 56:2eade98630e2 554 alpha_trans = 0.0f;
Lightvalve 44:35fa6884d0c6 555 cnt_trans = 0;
Lightvalve 44:35fa6884d0c6 556 }
Lightvalve 44:35fa6884d0c6 557
Lightvalve 49:3c630b5eba9f 558
jobuuu 218:2c3e5ecbe7e1 559 // Reference Update ==========================================================
hyhoon 215:699c3e572283 560 switch (REFERENCE_MODE) {
hyhoon 215:699c3e572283 561 case MODE_REF_NO_ACT: {
hyhoon 215:699c3e572283 562 break;
hyhoon 215:699c3e572283 563 }
hyhoon 215:699c3e572283 564 case MODE_REF_DIRECT: {
hyhoon 215:699c3e572283 565 pos.ref = REF_POSITION;
hyhoon 215:699c3e572283 566 vel.ref = REF_VELOCITY;
hyhoon 215:699c3e572283 567 torq.ref = REF_TORQUE;
jobuuu 218:2c3e5ecbe7e1 568 force.ref = REF_FORCE;
jobuuu 218:2c3e5ecbe7e1 569 break;
jobuuu 218:2c3e5ecbe7e1 570 }
jobuuu 218:2c3e5ecbe7e1 571 case MODE_REF_FINDHOME: {
jobuuu 218:2c3e5ecbe7e1 572 pos.ref = REF_POSITION_FINDHOME;
jobuuu 218:2c3e5ecbe7e1 573 vel.ref = 0.0f;
jobuuu 218:2c3e5ecbe7e1 574 torq.ref = 0.0f;
jobuuu 218:2c3e5ecbe7e1 575 force.ref = 0.0f;
hyhoon 215:699c3e572283 576 break;
hyhoon 215:699c3e572283 577 }
hyhoon 215:699c3e572283 578 default:
hyhoon 215:699c3e572283 579 break;
hyhoon 215:699c3e572283 580 }
hyhoon 215:699c3e572283 581
Lightvalve 225:c2cfe349f5c1 582 if (((OPERATING_MODE&0b110)>>1) == 0) {
jobuuu 218:2c3e5ecbe7e1 583 K_v = 1.03f; // Q = K_v*sqrt(deltaP)*tanh(C_d*Xv);
Lightvalve 223:c831718303c9 584 C_d = 0.16f;
jobuuu 218:2c3e5ecbe7e1 585 mV_PER_mA = 500.0f; // 5000mV/10mA
jobuuu 218:2c3e5ecbe7e1 586 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 218:2c3e5ecbe7e1 587 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 225:c2cfe349f5c1 588 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
jobuuu 218:2c3e5ecbe7e1 589 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
jobuuu 218:2c3e5ecbe7e1 590 mV_PER_mA = 166.6666f; // 5000mV/30mA
jobuuu 218:2c3e5ecbe7e1 591 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 218:2c3e5ecbe7e1 592 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 225:c2cfe349f5c1 593 } else if (((OPERATING_MODE&0b110)>>1) == 2) {
Lightvalve 225:c2cfe349f5c1 594 C_d = 0.0000845f; // Q = C_d * Valve_pos * sqrt(deltaP*alpha/(1+alpha)) : Valve_pos = 10000, deltaP = 70, alpha = 1 -> Q = 5
jobuuu 218:2c3e5ecbe7e1 595 }
Lightvalve 223:c831718303c9 596
jobuuu 218:2c3e5ecbe7e1 597 // =====================================================================
jobuuu 218:2c3e5ecbe7e1 598 // CONTROL LOOP --------------------------------------------------------
jobuuu 218:2c3e5ecbe7e1 599 // =====================================================================
Lightvalve 55:f4819de54e7a 600 int UTILITY_MODE = 0;
Lightvalve 55:f4819de54e7a 601 int CONTROL_MODE = 0;
Lightvalve 56:2eade98630e2 602
Lightvalve 55:f4819de54e7a 603 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 55:f4819de54e7a 604 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 55:f4819de54e7a 605 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 606 } else {
Lightvalve 55:f4819de54e7a 607 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 55:f4819de54e7a 608 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 55:f4819de54e7a 609 }
Lightvalve 55:f4819de54e7a 610 // UTILITY MODE ------------------------------------------------------------
Lightvalve 55:f4819de54e7a 611 switch (UTILITY_MODE) {
Lightvalve 55:f4819de54e7a 612 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 613 break;
Lightvalve 13:747daba9cf59 614 }
Lightvalve 14:8e7590227d22 615
Lightvalve 223:c831718303c9 616 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 223:c831718303c9 617 static float FORCE_pulse_sum = 0.0;
Lightvalve 223:c831718303c9 618 static float PresA_pulse_sum = 0.0;
Lightvalve 223:c831718303c9 619 static float PresB_pulse_sum = 0.0;
Lightvalve 223:c831718303c9 620
Lightvalve 13:747daba9cf59 621 // DAC Voltage reference set
Lightvalve 220:2976cf1b4252 622 float VREF_TuningGain = -0.000003f;
jobuuu 218:2c3e5ecbe7e1 623 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
jobuuu 218:2c3e5ecbe7e1 624 LED = 1;
jobuuu 218:2c3e5ecbe7e1 625 if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
jobuuu 218:2c3e5ecbe7e1 626 FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 218:2c3e5ecbe7e1 627 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 218:2c3e5ecbe7e1 628 float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
jobuuu 218:2c3e5ecbe7e1 629 FORCE_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 630
jobuuu 218:2c3e5ecbe7e1 631 FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
jobuuu 218:2c3e5ecbe7e1 632 if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
jobuuu 218:2c3e5ecbe7e1 633 if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
jobuuu 218:2c3e5ecbe7e1 634 dac_1 = FORCE_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 635 }
Lightvalve 223:c831718303c9 636 } else if (SENSING_MODE == 1) { // Pressure Sensor
jobuuu 218:2c3e5ecbe7e1 637 PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
jobuuu 218:2c3e5ecbe7e1 638 PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
jobuuu 218:2c3e5ecbe7e1 639 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 218:2c3e5ecbe7e1 640 float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
jobuuu 218:2c3e5ecbe7e1 641 float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
jobuuu 218:2c3e5ecbe7e1 642 PresA_pulse_sum = 0.0f;
jobuuu 218:2c3e5ecbe7e1 643 PresB_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 644
jobuuu 218:2c3e5ecbe7e1 645 PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
jobuuu 218:2c3e5ecbe7e1 646 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
jobuuu 218:2c3e5ecbe7e1 647 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
jobuuu 218:2c3e5ecbe7e1 648 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 649 PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
jobuuu 218:2c3e5ecbe7e1 650 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 223:c831718303c9 651 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
jobuuu 218:2c3e5ecbe7e1 652 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 653 }
Lightvalve 13:747daba9cf59 654 }
jobuuu 218:2c3e5ecbe7e1 655 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 656 } else {
jobuuu 218:2c3e5ecbe7e1 657 if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
jobuuu 218:2c3e5ecbe7e1 658 FORCE_pulse_sum = 0.0f;
jobuuu 218:2c3e5ecbe7e1 659 dac_1 = FORCE_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 660 spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
jobuuu 218:2c3e5ecbe7e1 661 } else if (SENSING_MODE == 1) {
jobuuu 218:2c3e5ecbe7e1 662 PresA_pulse_sum = 0.0f;
jobuuu 218:2c3e5ecbe7e1 663 PresB_pulse_sum = 0.0f;
jobuuu 218:2c3e5ecbe7e1 664 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 665 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 218:2c3e5ecbe7e1 666 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
jobuuu 218:2c3e5ecbe7e1 667 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
jobuuu 218:2c3e5ecbe7e1 668 }
Lightvalve 56:2eade98630e2 669 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 670 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 671 }
Lightvalve 13:747daba9cf59 672 break;
Lightvalve 19:23b7c1ad8683 673 }
Lightvalve 14:8e7590227d22 674
Lightvalve 223:c831718303c9 675 case MODE_FIND_HOME: {
jobuuu 218:2c3e5ecbe7e1 676 static int cnt_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 677 static int cnt_terminate_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 678 static float FINDHOME_POSITION_pulse = 0.0f;
jobuuu 218:2c3e5ecbe7e1 679 static float FINDHOME_POSITION_pulse_OLD = 0.0f;
jobuuu 218:2c3e5ecbe7e1 680 static float FINDHOME_VELOCITY_pulse = 0.0f;
Lightvalve 223:c831718303c9 681 static float REF_POSITION_FINDHOME_INIT = 0.0f;
jobuuu 218:2c3e5ecbe7e1 682
Lightvalve 29:69f3f5445d6d 683 if (FINDHOME_STAGE == FINDHOME_INIT) {
jobuuu 218:2c3e5ecbe7e1 684 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 14:8e7590227d22 685 cnt_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 686 cnt_terminate_findhome = 0;
Lightvalve 57:f308b1656d9c 687 pos.ref = pos.sen;
Lightvalve 57:f308b1656d9c 688 vel.ref = 0.0f;
jobuuu 218:2c3e5ecbe7e1 689 REF_POSITION_FINDHOME = pos.ref;
Lightvalve 29:69f3f5445d6d 690 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 691 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
jobuuu 218:2c3e5ecbe7e1 692 int cnt_check_enc = (TMR_FREQ_5k/20); // 5000/20 = 250tic = 50msec
Lightvalve 29:69f3f5445d6d 693 if(cnt_findhome%cnt_check_enc == 0) {
jobuuu 218:2c3e5ecbe7e1 694 FINDHOME_POSITION_pulse = pos.sen*ENC_PULSE_PER_POSITION;
jobuuu 218:2c3e5ecbe7e1 695 FINDHOME_VELOCITY_pulse = FINDHOME_POSITION_pulse - FINDHOME_POSITION_pulse_OLD;
jobuuu 218:2c3e5ecbe7e1 696 FINDHOME_POSITION_pulse_OLD = FINDHOME_POSITION_pulse;
Lightvalve 29:69f3f5445d6d 697 }
Lightvalve 29:69f3f5445d6d 698 cnt_findhome++;
Lightvalve 14:8e7590227d22 699
jobuuu 218:2c3e5ecbe7e1 700 if (fabs(FINDHOME_VELOCITY_pulse) <= 1) {
jobuuu 218:2c3e5ecbe7e1 701 cnt_terminate_findhome = cnt_terminate_findhome + 1;
Lightvalve 29:69f3f5445d6d 702 } else {
jobuuu 218:2c3e5ecbe7e1 703 cnt_terminate_findhome = 0;
Lightvalve 29:69f3f5445d6d 704 }
Lightvalve 19:23b7c1ad8683 705
jobuuu 218:2c3e5ecbe7e1 706 if ((cnt_terminate_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
jobuuu 218:2c3e5ecbe7e1 707 double GOTOHOME_SPEED = 10.0f; // 20mm/s or 20deg/s
hyhoon 214:82a3ca333004 708 if (HOMEPOS_OFFSET > 0) {
Lightvalve 223:c831718303c9 709 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME + GOTOHOME_SPEED*DT_5k;
hyhoon 214:82a3ca333004 710 } else {
jobuuu 218:2c3e5ecbe7e1 711 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME - GOTOHOME_SPEED*DT_5k;
hyhoon 214:82a3ca333004 712 }
Lightvalve 57:f308b1656d9c 713 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 57:f308b1656d9c 714 alpha_trans = 0.0f;
Lightvalve 29:69f3f5445d6d 715 } else {
jobuuu 218:2c3e5ecbe7e1 716 ENC_SET((long)((long)HOMEPOS_OFFSET*10));
jobuuu 218:2c3e5ecbe7e1 717 REF_POSITION_FINDHOME_INIT = (float)((long)HOMEPOS_OFFSET*10);
jobuuu 218:2c3e5ecbe7e1 718 FINDHOME_POSITION_pulse = 0;
jobuuu 218:2c3e5ecbe7e1 719 FINDHOME_POSITION_pulse_OLD = 0;
jobuuu 218:2c3e5ecbe7e1 720 FINDHOME_VELOCITY_pulse = 0;
Lightvalve 223:c831718303c9 721
Lightvalve 29:69f3f5445d6d 722 cnt_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 723 cnt_terminate_findhome = 0;
jobuuu 218:2c3e5ecbe7e1 724 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 725 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 726 }
Lightvalve 29:69f3f5445d6d 727 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 223:c831718303c9 728
Lightvalve 220:2976cf1b4252 729 // int T_move = 2*TMR_FREQ_5k;
Lightvalve 220:2976cf1b4252 730 int T_move = 10000;
Lightvalve 220:2976cf1b4252 731 REF_POSITION_FINDHOME = ((0.0f - REF_POSITION_FINDHOME_INIT)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)REF_POSITION_FINDHOME_INIT)/ENC_PULSE_PER_POSITION;
Lightvalve 223:c831718303c9 732
Lightvalve 29:69f3f5445d6d 733 cnt_findhome++;
Lightvalve 223:c831718303c9 734
Lightvalve 220:2976cf1b4252 735 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 220:2976cf1b4252 736 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 220:2976cf1b4252 737 alpha_trans = 0.0f;
Lightvalve 223:c831718303c9 738
Lightvalve 29:69f3f5445d6d 739 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 740 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 741 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 742 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 55:f4819de54e7a 743 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
jobuuu 218:2c3e5ecbe7e1 744 REFERENCE_MODE = MODE_REF_DIRECT;
hyhoon 214:82a3ca333004 745 }
Lightvalve 13:747daba9cf59 746 }
Lightvalve 13:747daba9cf59 747 break;
Lightvalve 13:747daba9cf59 748 }
Lightvalve 225:c2cfe349f5c1 749
Lightvalve 225:c2cfe349f5c1 750 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 225:c2cfe349f5c1 751 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 225:c2cfe349f5c1 752 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 225:c2cfe349f5c1 753
Lightvalve 225:c2cfe349f5c1 754 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 225:c2cfe349f5c1 755 Vout.ref = 3000.0f * sin(2.0f*3.14159f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 225:c2cfe349f5c1 756 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 225:c2cfe349f5c1 757 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 225:c2cfe349f5c1 758 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 225:c2cfe349f5c1 759 VALVE_POS_TMP = 0;
Lightvalve 225:c2cfe349f5c1 760 data_num = 0;
Lightvalve 225:c2cfe349f5c1 761 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 225:c2cfe349f5c1 762 data_num = data_num + 1;
Lightvalve 225:c2cfe349f5c1 763 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 225:c2cfe349f5c1 764 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 225:c2cfe349f5c1 765 Vout.ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 766 } else {
Lightvalve 225:c2cfe349f5c1 767 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 225:c2cfe349f5c1 768 VALVE_ID_timer = 0;
Lightvalve 225:c2cfe349f5c1 769 ID_index= ID_index +1;
Lightvalve 225:c2cfe349f5c1 770 }
Lightvalve 225:c2cfe349f5c1 771
Lightvalve 225:c2cfe349f5c1 772 if(ID_index>=25) {
Lightvalve 225:c2cfe349f5c1 773 int i;
Lightvalve 225:c2cfe349f5c1 774 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 225:c2cfe349f5c1 775 for(i=0; i<25; i++) {
Lightvalve 225:c2cfe349f5c1 776 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 225:c2cfe349f5c1 777 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 225:c2cfe349f5c1 778 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 225:c2cfe349f5c1 779 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 780 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 225:c2cfe349f5c1 781 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 225:c2cfe349f5c1 782 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 225:c2cfe349f5c1 783 }
Lightvalve 225:c2cfe349f5c1 784 }
Lightvalve 225:c2cfe349f5c1 785 VALVE_ELECTRIC_CENTER = VALVE_POS_VS_PWM[0];
Lightvalve 225:c2cfe349f5c1 786 spi_eeprom_write(RID_VALVE_ELECTRIC_CENTER, (int16_t) VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 787 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 225:c2cfe349f5c1 788 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 225:c2cfe349f5c1 789 for(int i=0; i<25; i++) {
Lightvalve 225:c2cfe349f5c1 790 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 225:c2cfe349f5c1 791 }
Lightvalve 225:c2cfe349f5c1 792 ID_index = 0;
Lightvalve 225:c2cfe349f5c1 793 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 794 }
Lightvalve 225:c2cfe349f5c1 795
Lightvalve 225:c2cfe349f5c1 796
Lightvalve 225:c2cfe349f5c1 797 break;
Lightvalve 225:c2cfe349f5c1 798 }
Lightvalve 225:c2cfe349f5c1 799 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 225:c2cfe349f5c1 800 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 225:c2cfe349f5c1 801 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 225:c2cfe349f5c1 802 if(first_check == 0) {
Lightvalve 225:c2cfe349f5c1 803 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 804 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 225:c2cfe349f5c1 805 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 806 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 225:c2cfe349f5c1 807 pos_plus_end = pos.sen;
Lightvalve 225:c2cfe349f5c1 808 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 809 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 225:c2cfe349f5c1 810 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 811 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 225:c2cfe349f5c1 812 pos_minus_end = pos.sen;
Lightvalve 225:c2cfe349f5c1 813 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 814 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 815 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 816 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 817 data_num = data_num + 1;
Lightvalve 225:c2cfe349f5c1 818 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 225:c2cfe349f5c1 819 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 820 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 821 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 225:c2cfe349f5c1 822 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 823 VALVE_POS_TMP = 0;
Lightvalve 225:c2cfe349f5c1 824 data_num = 0;
Lightvalve 225:c2cfe349f5c1 825
Lightvalve 225:c2cfe349f5c1 826 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 827 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 226:4e660aa77eb7 828 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 829
Lightvalve 225:c2cfe349f5c1 830 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 831 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 226:4e660aa77eb7 832 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 833
Lightvalve 225:c2cfe349f5c1 834 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 835 valve_pos_raw.ref = DDV_POS_AVG;
Lightvalve 226:4e660aa77eb7 836 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 837 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 838
Lightvalve 226:4e660aa77eb7 839 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 840 DZ_case = 1;
Lightvalve 226:4e660aa77eb7 841 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 842 DZ_case = -1;
Lightvalve 225:c2cfe349f5c1 843 } else {
Lightvalve 225:c2cfe349f5c1 844 DZ_case = 0;
Lightvalve 225:c2cfe349f5c1 845 }
Lightvalve 225:c2cfe349f5c1 846
Lightvalve 225:c2cfe349f5c1 847 first_check = 1;
Lightvalve 225:c2cfe349f5c1 848 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 849 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 850 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 225:c2cfe349f5c1 851 DZ_NUM = 1;
Lightvalve 225:c2cfe349f5c1 852 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 853
Lightvalve 225:c2cfe349f5c1 854 }
Lightvalve 225:c2cfe349f5c1 855 } else {
Lightvalve 225:c2cfe349f5c1 856 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 225:c2cfe349f5c1 857 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 858 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 859 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 860 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 861 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 862 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 226:4e660aa77eb7 863 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 226:4e660aa77eb7 864 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 226:4e660aa77eb7 865 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 226:4e660aa77eb7 866 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 867 }
Lightvalve 226:4e660aa77eb7 868 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 869
Lightvalve 225:c2cfe349f5c1 870 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 871 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 872 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 873
Lightvalve 226:4e660aa77eb7 874 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 875 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 226:4e660aa77eb7 876 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 877 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 225:c2cfe349f5c1 878 } else {
Lightvalve 225:c2cfe349f5c1 879 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 225:c2cfe349f5c1 880 }
Lightvalve 225:c2cfe349f5c1 881
Lightvalve 225:c2cfe349f5c1 882 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 883 DZ_index= DZ_index *2;
Lightvalve 225:c2cfe349f5c1 884 if(DZ_index >= 128) {
Lightvalve 226:4e660aa77eb7 885 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 886 DZ_NUM = 2;
Lightvalve 225:c2cfe349f5c1 887 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 225:c2cfe349f5c1 888 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 889 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 890 }
Lightvalve 225:c2cfe349f5c1 891 }
Lightvalve 225:c2cfe349f5c1 892 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 225:c2cfe349f5c1 893 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 894 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 895 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 896 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 897 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 898 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 226:4e660aa77eb7 899 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 226:4e660aa77eb7 900 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 226:4e660aa77eb7 901 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 226:4e660aa77eb7 902 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 903 }
Lightvalve 226:4e660aa77eb7 904 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 905
Lightvalve 225:c2cfe349f5c1 906 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 907 Vout.ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 908 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 909 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 910 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 911
Lightvalve 226:4e660aa77eb7 912 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 913 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 226:4e660aa77eb7 914 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 915 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 225:c2cfe349f5c1 916 } else {
Lightvalve 225:c2cfe349f5c1 917 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 225:c2cfe349f5c1 918 }
Lightvalve 225:c2cfe349f5c1 919
Lightvalve 225:c2cfe349f5c1 920 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 921 DZ_index= DZ_index * 2;
Lightvalve 225:c2cfe349f5c1 922 if(DZ_index >= 128) {
Lightvalve 226:4e660aa77eb7 923 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 924 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 225:c2cfe349f5c1 925 first_check = 0;
Lightvalve 225:c2cfe349f5c1 926 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 225:c2cfe349f5c1 927 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 225:c2cfe349f5c1 928
Lightvalve 225:c2cfe349f5c1 929 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 225:c2cfe349f5c1 930 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 225:c2cfe349f5c1 931 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 225:c2cfe349f5c1 932
Lightvalve 225:c2cfe349f5c1 933 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 934 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 935 }
Lightvalve 225:c2cfe349f5c1 936 }
Lightvalve 225:c2cfe349f5c1 937 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 225:c2cfe349f5c1 938 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 939 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 940 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 941 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 942 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 943 valve_pos_raw.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 226:4e660aa77eb7 944 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 226:4e660aa77eb7 945 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 226:4e660aa77eb7 946 } else if(valve_pos_raw.ref >= VALVE_MAX_POS) {
Lightvalve 226:4e660aa77eb7 947 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 948 }
Lightvalve 226:4e660aa77eb7 949 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 950
Lightvalve 225:c2cfe349f5c1 951 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 952 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 953 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 954
Lightvalve 226:4e660aa77eb7 955 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 956 DZ_DIRECTION = 1;
Lightvalve 226:4e660aa77eb7 957 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 958 DZ_DIRECTION = -1;
Lightvalve 225:c2cfe349f5c1 959 } else {
Lightvalve 225:c2cfe349f5c1 960 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 961 }
Lightvalve 225:c2cfe349f5c1 962 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 963 DZ_index= DZ_index *2;
Lightvalve 225:c2cfe349f5c1 964 if(DZ_index >= 128) {
Lightvalve 226:4e660aa77eb7 965 FIRST_DZ = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 966 DZ_NUM = 2;
Lightvalve 225:c2cfe349f5c1 967 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 225:c2cfe349f5c1 968 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 969 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 970 }
Lightvalve 225:c2cfe349f5c1 971 }
Lightvalve 225:c2cfe349f5c1 972 } else {
Lightvalve 225:c2cfe349f5c1 973 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 974 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 225:c2cfe349f5c1 975 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 976 START_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 977 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 978 valve_pos_raw.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 226:4e660aa77eb7 979 if(valve_pos_raw.ref <= VALVE_MIN_POS) {
Lightvalve 226:4e660aa77eb7 980 valve_pos_raw.ref = VALVE_MIN_POS;
Lightvalve 226:4e660aa77eb7 981 } else if(valve_pos_raw.ref > VALVE_MAX_POS) {
Lightvalve 226:4e660aa77eb7 982 valve_pos_raw.ref = VALVE_MAX_POS;
Lightvalve 225:c2cfe349f5c1 983 }
Lightvalve 226:4e660aa77eb7 984 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 225:c2cfe349f5c1 985
Lightvalve 225:c2cfe349f5c1 986 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 987 Vout.ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 988 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 226:4e660aa77eb7 989 Ref_Valve_Pos_Old = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 990 FINAL_POS = pos.sen;
Lightvalve 225:c2cfe349f5c1 991
Lightvalve 226:4e660aa77eb7 992 if((FINAL_POS - START_POS)>1) {
Lightvalve 225:c2cfe349f5c1 993 DZ_DIRECTION = -1;
Lightvalve 226:4e660aa77eb7 994 } else if((FINAL_POS - START_POS)<-1) {
Lightvalve 225:c2cfe349f5c1 995 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 996 } else {
Lightvalve 225:c2cfe349f5c1 997 DZ_DIRECTION = 1;
Lightvalve 225:c2cfe349f5c1 998 }
Lightvalve 225:c2cfe349f5c1 999
Lightvalve 225:c2cfe349f5c1 1000 VALVE_DZ_timer = 0;
Lightvalve 225:c2cfe349f5c1 1001 DZ_index= DZ_index *2;
Lightvalve 225:c2cfe349f5c1 1002 if(DZ_index >= 128) {
Lightvalve 226:4e660aa77eb7 1003 SECOND_DZ = valve_pos_raw.ref;
Lightvalve 225:c2cfe349f5c1 1004 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 225:c2cfe349f5c1 1005 first_check = 0;
Lightvalve 225:c2cfe349f5c1 1006 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 225:c2cfe349f5c1 1007 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 225:c2cfe349f5c1 1008
Lightvalve 225:c2cfe349f5c1 1009 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 225:c2cfe349f5c1 1010 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 225:c2cfe349f5c1 1011 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 225:c2cfe349f5c1 1012
Lightvalve 225:c2cfe349f5c1 1013 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1014 DZ_index = 1;
Lightvalve 225:c2cfe349f5c1 1015 }
Lightvalve 225:c2cfe349f5c1 1016 }
Lightvalve 225:c2cfe349f5c1 1017 }
Lightvalve 225:c2cfe349f5c1 1018 }
Lightvalve 225:c2cfe349f5c1 1019 break;
Lightvalve 225:c2cfe349f5c1 1020 }
Lightvalve 226:4e660aa77eb7 1021
Lightvalve 225:c2cfe349f5c1 1022 case MODE_STEP_TEST: {
Lightvalve 225:c2cfe349f5c1 1023 float valve_pos_ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 1024 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 1025 valve_pos_ref = 0.0f;
Lightvalve 225:c2cfe349f5c1 1026 } else {
Lightvalve 225:c2cfe349f5c1 1027 valve_pos_ref = 10000.0f;
Lightvalve 225:c2cfe349f5c1 1028 }
Lightvalve 225:c2cfe349f5c1 1029 if(valve_pos_ref >= 0) {
Lightvalve 226:4e660aa77eb7 1030 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 225:c2cfe349f5c1 1031 } else {
Lightvalve 226:4e660aa77eb7 1032 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 225:c2cfe349f5c1 1033 }
Lightvalve 226:4e660aa77eb7 1034
Lightvalve 226:4e660aa77eb7 1035 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 226:4e660aa77eb7 1036
Lightvalve 225:c2cfe349f5c1 1037 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 225:c2cfe349f5c1 1038 if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 225:c2cfe349f5c1 1039 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1040 } else {
Lightvalve 225:c2cfe349f5c1 1041 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1042 }
Lightvalve 225:c2cfe349f5c1 1043
Lightvalve 226:4e660aa77eb7 1044 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 225:c2cfe349f5c1 1045 cnt_step_test++;
Lightvalve 225:c2cfe349f5c1 1046 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 225:c2cfe349f5c1 1047 buffer_data_size = cnt_step_test;
Lightvalve 225:c2cfe349f5c1 1048 cnt_step_test = 0;
Lightvalve 225:c2cfe349f5c1 1049 cnt_send_buffer = 0;
Lightvalve 225:c2cfe349f5c1 1050 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 225:c2cfe349f5c1 1051 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1052 }
Lightvalve 225:c2cfe349f5c1 1053 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 225:c2cfe349f5c1 1054 // {
Lightvalve 225:c2cfe349f5c1 1055 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1056 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1057 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 225:c2cfe349f5c1 1058 // }
Lightvalve 225:c2cfe349f5c1 1059
Lightvalve 225:c2cfe349f5c1 1060 break;
Lightvalve 225:c2cfe349f5c1 1061 }
Lightvalve 225:c2cfe349f5c1 1062 case MODE_SEND_OVER: {
Lightvalve 225:c2cfe349f5c1 1063 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 225:c2cfe349f5c1 1064 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1065 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1066 break;
Lightvalve 225:c2cfe349f5c1 1067 }
Lightvalve 226:4e660aa77eb7 1068
Lightvalve 225:c2cfe349f5c1 1069 case MODE_FREQ_TEST: {
Lightvalve 225:c2cfe349f5c1 1070 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 225:c2cfe349f5c1 1071 if(valve_pos_ref >= 0) {
Lightvalve 226:4e660aa77eb7 1072 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 225:c2cfe349f5c1 1073 } else {
Lightvalve 226:4e660aa77eb7 1074 valve_pos_raw.ref = (double)VALVE_ELECTRIC_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 225:c2cfe349f5c1 1075 }
Lightvalve 226:4e660aa77eb7 1076
Lightvalve 226:4e660aa77eb7 1077 VALVE_POS_CONTROL(valve_pos_raw.ref);
Lightvalve 226:4e660aa77eb7 1078
Lightvalve 225:c2cfe349f5c1 1079 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 225:c2cfe349f5c1 1080 if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 225:c2cfe349f5c1 1081 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1082 } else {
Lightvalve 225:c2cfe349f5c1 1083 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1084 }
Lightvalve 225:c2cfe349f5c1 1085
Lightvalve 226:4e660aa77eb7 1086 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 225:c2cfe349f5c1 1087 cnt_freq_test++;
Lightvalve 225:c2cfe349f5c1 1088 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 225:c2cfe349f5c1 1089 buffer_data_size = cnt_freq_test;
Lightvalve 225:c2cfe349f5c1 1090 cnt_freq_test = 0;
Lightvalve 225:c2cfe349f5c1 1091 cnt_send_buffer = 0;
Lightvalve 225:c2cfe349f5c1 1092 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 225:c2cfe349f5c1 1093 if (freq_test_valve_ref >= 400) {
Lightvalve 225:c2cfe349f5c1 1094 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1095 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1096 CAN_TX_VOUT((int16_t) (1)); //1300
Lightvalve 225:c2cfe349f5c1 1097 }
Lightvalve 225:c2cfe349f5c1 1098 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 225:c2cfe349f5c1 1099 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 225:c2cfe349f5c1 1100
Lightvalve 225:c2cfe349f5c1 1101 }
Lightvalve 225:c2cfe349f5c1 1102 break;
Lightvalve 225:c2cfe349f5c1 1103 }
Lightvalve 225:c2cfe349f5c1 1104
Lightvalve 55:f4819de54e7a 1105 default:
Lightvalve 55:f4819de54e7a 1106 break;
Lightvalve 55:f4819de54e7a 1107 }
Lightvalve 55:f4819de54e7a 1108
Lightvalve 55:f4819de54e7a 1109 // CONTROL MODE ------------------------------------------------------------
Lightvalve 55:f4819de54e7a 1110 switch (CONTROL_MODE) {
Lightvalve 55:f4819de54e7a 1111 case MODE_NO_ACT: {
Lightvalve 55:f4819de54e7a 1112 V_out = 0.0f;
Lightvalve 55:f4819de54e7a 1113 break;
Lightvalve 55:f4819de54e7a 1114 }
Lightvalve 55:f4819de54e7a 1115
Lightvalve 55:f4819de54e7a 1116 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 65:c2812cf26c38 1117 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 226:4e660aa77eb7 1118 VALVE_POS_CONTROL_DZ(valve_pos.ref);
Lightvalve 57:f308b1656d9c 1119 V_out = Vout.ref;
Lightvalve 65:c2812cf26c38 1120 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 223:c831718303c9 1121 V_out = valve_pos.ref;
Lightvalve 164:645207e160ca 1122 } else {
jobuuu 218:2c3e5ecbe7e1 1123 I_REF = valve_pos.ref * 0.001f; // Unit : pulse >> mA
jobuuu 218:2c3e5ecbe7e1 1124 float I_MAX = 10.0f; // Max : 10mA
jobuuu 218:2c3e5ecbe7e1 1125 if (I_REF > I_MAX) {
jobuuu 218:2c3e5ecbe7e1 1126 I_REF = I_MAX;
jobuuu 218:2c3e5ecbe7e1 1127 } else if (I_REF < -I_MAX) {
jobuuu 218:2c3e5ecbe7e1 1128 I_REF = -I_MAX;
jobuuu 218:2c3e5ecbe7e1 1129 }
Lightvalve 55:f4819de54e7a 1130 }
Lightvalve 55:f4819de54e7a 1131 break;
Lightvalve 55:f4819de54e7a 1132 }
Lightvalve 55:f4819de54e7a 1133
Lightvalve 223:c831718303c9 1134 case MODE_JOINT_CONTROL: {
Lightvalve 55:f4819de54e7a 1135
jobuuu 218:2c3e5ecbe7e1 1136 float temp_vel_pos = 0.0f; // desired velocity for position control
Lightvalve 223:c831718303c9 1137 float temp_vel_FT = 0.0f; // desired velocity for force/torque control
Lightvalve 223:c831718303c9 1138 float temp_vel_ff = 0.0f; // desired velocity for feedforward control
jobuuu 218:2c3e5ecbe7e1 1139 float temp_vel = 0.0f;
Lightvalve 56:2eade98630e2 1140
jobuuu 218:2c3e5ecbe7e1 1141 float wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 223:c831718303c9 1142
jobuuu 218:2c3e5ecbe7e1 1143 pos.err = pos.ref - pos.sen; // Unit : mm or deg
jobuuu 218:2c3e5ecbe7e1 1144 vel.err = vel.ref - vel.sen; // Unit : mm/s or deg/s
Lightvalve 223:c831718303c9 1145
jobuuu 218:2c3e5ecbe7e1 1146 // position control command ===============================================================================================================================================
Lightvalve 226:4e660aa77eb7 1147 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 223:c831718303c9 1148 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err) * PI / 180.0f; // rad/s
Lightvalve 223:c831718303c9 1149 // L when P-gain = 100, f_cut = 10Hz
jobuuu 218:2c3e5ecbe7e1 1150 } else {
Lightvalve 223:c831718303c9 1151 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 223:c831718303c9 1152 // L when P-gain = 100, f_cut = 10Hz
jobuuu 218:2c3e5ecbe7e1 1153 }
Lightvalve 55:f4819de54e7a 1154
jobuuu 218:2c3e5ecbe7e1 1155 // torque control command ===============================================================================================================================================
jobuuu 218:2c3e5ecbe7e1 1156 float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
Lightvalve 226:4e660aa77eb7 1157 K_LPF = (1.0f-alpha_SpringDamper) * K_LPF + alpha_SpringDamper * K_SPRING;
Lightvalve 226:4e660aa77eb7 1158 D_LPF = (1.0f-alpha_SpringDamper) * D_LPF + alpha_SpringDamper * D_DAMPER;
Lightvalve 223:c831718303c9 1159
Lightvalve 226:4e660aa77eb7 1160 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
Lightvalve 226:4e660aa77eb7 1161 float torq_ref_act = torq.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : Nm
jobuuu 218:2c3e5ecbe7e1 1162 torq.err = torq_ref_act - torq.sen;
jobuuu 218:2c3e5ecbe7e1 1163 torq.err_int += torq.err/((float)TMR_FREQ_5k);
Lightvalve 223:c831718303c9 1164 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * torq.err + I_GAIN_JOINT_TORQUE * torq.err_int); // Nm >> rad/s
Lightvalve 55:f4819de54e7a 1165 } else {
Lightvalve 226:4e660aa77eb7 1166 float force_ref_act = force.ref + K_LPF * pos.err + D_LPF * vel.err; // unit : N
jobuuu 218:2c3e5ecbe7e1 1167 force.err = force_ref_act - force.sen;
Lightvalve 226:4e660aa77eb7 1168 // force.err = 0.0f - force.sen;
jobuuu 218:2c3e5ecbe7e1 1169 force.err_int += force.err/((float)TMR_FREQ_5k);
Lightvalve 223:c831718303c9 1170 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * force.err + I_GAIN_JOINT_TORQUE * force.err_int); // N >> mm/s
jobuuu 218:2c3e5ecbe7e1 1171 }
Lightvalve 223:c831718303c9 1172
Lightvalve 223:c831718303c9 1173
Lightvalve 223:c831718303c9 1174 // velocity feedforward command ========================================================================================================================================
Lightvalve 226:4e660aa77eb7 1175 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Mode
jobuuu 218:2c3e5ecbe7e1 1176 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref * PI / 180.0f; // rad/s
jobuuu 218:2c3e5ecbe7e1 1177 } else {
jobuuu 218:2c3e5ecbe7e1 1178 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref; // mm/s
jobuuu 218:2c3e5ecbe7e1 1179 }
Lightvalve 164:645207e160ca 1180
Lightvalve 223:c831718303c9 1181 // command integration =================================================================================================================================================
jobuuu 218:2c3e5ecbe7e1 1182 temp_vel = (1.0f - alpha_trans) * temp_vel_pos + alpha_trans * temp_vel_FT + temp_vel_ff; // Position Control + Torque Control + Velocity Feedforward
Lightvalve 225:c2cfe349f5c1 1183
Lightvalve 223:c831718303c9 1184 float Qact = 0.0f; // required flow rate
Lightvalve 225:c2cfe349f5c1 1185 float valve_pos_pulse = 0.0f;
jobuuu 218:2c3e5ecbe7e1 1186 if( temp_vel > 0.0f ) {
jobuuu 218:2c3e5ecbe7e1 1187 Qact = temp_vel * ((float)PISTON_AREA_A * 0.00006f); // mm^3/sec >> LPM
Lightvalve 225:c2cfe349f5c1 1188 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 225:c2cfe349f5c1 1189 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f))))/C_d;
Lightvalve 226:4e660aa77eb7 1190 // I_REF = Qact*2.0f;
Lightvalve 225:c2cfe349f5c1 1191 } else { // SW valve
Lightvalve 225:c2cfe349f5c1 1192 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)));
Lightvalve 225:c2cfe349f5c1 1193 }
jobuuu 218:2c3e5ecbe7e1 1194 } else {
jobuuu 218:2c3e5ecbe7e1 1195 Qact = temp_vel * ((float)PISTON_AREA_B * 0.00006f); // mm^3/sec >> LPM
Lightvalve 225:c2cfe349f5c1 1196 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 225:c2cfe349f5c1 1197 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f))))/C_d;
Lightvalve 226:4e660aa77eb7 1198 // I_REF = Qact*2.0f;
Lightvalve 225:c2cfe349f5c1 1199 } else { // SW valve
Lightvalve 225:c2cfe349f5c1 1200 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)));
Lightvalve 225:c2cfe349f5c1 1201 }
jobuuu 218:2c3e5ecbe7e1 1202 }
Lightvalve 225:c2cfe349f5c1 1203
Lightvalve 225:c2cfe349f5c1 1204
Lightvalve 225:c2cfe349f5c1 1205
Lightvalve 225:c2cfe349f5c1 1206
Lightvalve 225:c2cfe349f5c1 1207 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 225:c2cfe349f5c1 1208
Lightvalve 225:c2cfe349f5c1 1209 float I_MAX = 10.0f; // Maximum Current : 10mA
Lightvalve 225:c2cfe349f5c1 1210 // Anti-windup for FT
Lightvalve 225:c2cfe349f5c1 1211 // if (I_GAIN_JOINT_TORQUE != 0.0f) {
Lightvalve 225:c2cfe349f5c1 1212 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 225:c2cfe349f5c1 1213 float Ka = 2.0f;
Lightvalve 225:c2cfe349f5c1 1214 if (I_REF > I_MAX) {
Lightvalve 225:c2cfe349f5c1 1215 float I_rem = I_REF - I_MAX;
Lightvalve 225:c2cfe349f5c1 1216 I_REF = I_MAX;
Lightvalve 225:c2cfe349f5c1 1217 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 225:c2cfe349f5c1 1218 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 225:c2cfe349f5c1 1219 } else if (I_REF < -I_MAX) {
Lightvalve 225:c2cfe349f5c1 1220 double I_rem = I_REF - (-I_MAX);
Lightvalve 225:c2cfe349f5c1 1221 I_REF = -I_MAX;
Lightvalve 225:c2cfe349f5c1 1222 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 225:c2cfe349f5c1 1223 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 225:c2cfe349f5c1 1224 }
Lightvalve 225:c2cfe349f5c1 1225 } else {
Lightvalve 225:c2cfe349f5c1 1226 if(I_REF > I_MAX) {
Lightvalve 225:c2cfe349f5c1 1227 I_REF = I_MAX;
Lightvalve 225:c2cfe349f5c1 1228 } else if (I_REF < -I_MAX) {
Lightvalve 225:c2cfe349f5c1 1229 I_REF = -I_MAX;
Lightvalve 225:c2cfe349f5c1 1230 }
Lightvalve 55:f4819de54e7a 1231 }
Lightvalve 225:c2cfe349f5c1 1232 } else { //SW valve
Lightvalve 225:c2cfe349f5c1 1233 float Valve_pos_MAX = 10000.0f; // Maximum Valve Pos : 10000
Lightvalve 225:c2cfe349f5c1 1234 // Anti-windup for FT
Lightvalve 225:c2cfe349f5c1 1235 // if (I_GAIN_JOINT_TORQUE != 0.0f) {
Lightvalve 225:c2cfe349f5c1 1236 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 225:c2cfe349f5c1 1237 float Ka = 2.0f;
Lightvalve 225:c2cfe349f5c1 1238 if (valve_pos_pulse > Valve_pos_MAX) {
Lightvalve 225:c2cfe349f5c1 1239 float valve_pos_rem = valve_pos_pulse - Valve_pos_MAX;
Lightvalve 225:c2cfe349f5c1 1240 valve_pos_pulse = Valve_pos_MAX;
Lightvalve 225:c2cfe349f5c1 1241 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 225:c2cfe349f5c1 1242 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 225:c2cfe349f5c1 1243 } else if (valve_pos_pulse < -Valve_pos_MAX) {
Lightvalve 225:c2cfe349f5c1 1244 double valve_pos_rem = valve_pos_pulse - (-Valve_pos_MAX);
Lightvalve 225:c2cfe349f5c1 1245 valve_pos_pulse = -Valve_pos_MAX;
Lightvalve 225:c2cfe349f5c1 1246 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 225:c2cfe349f5c1 1247 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 225:c2cfe349f5c1 1248 }
Lightvalve 225:c2cfe349f5c1 1249 } else {
Lightvalve 225:c2cfe349f5c1 1250 if(valve_pos_pulse > 10000.0f) {
Lightvalve 225:c2cfe349f5c1 1251 valve_pos_pulse = 10000.0f;
Lightvalve 225:c2cfe349f5c1 1252 } else if(valve_pos_pulse < -10000.0f) {
Lightvalve 225:c2cfe349f5c1 1253 valve_pos_pulse = -10000.0f;
Lightvalve 225:c2cfe349f5c1 1254 }
Lightvalve 223:c831718303c9 1255 }
Lightvalve 226:4e660aa77eb7 1256 // if (valve_pos_pulse >= 0) {
Lightvalve 226:4e660aa77eb7 1257 // valve_pos.ref = valve_pos_pulse/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 226:4e660aa77eb7 1258 // } else {
Lightvalve 226:4e660aa77eb7 1259 // valve_pos.ref = -valve_pos_pulse/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 226:4e660aa77eb7 1260 // }
Lightvalve 226:4e660aa77eb7 1261 VALVE_POS_CONTROL_DZ(valve_pos_pulse);
Lightvalve 225:c2cfe349f5c1 1262 V_out = Vout.ref;
Lightvalve 55:f4819de54e7a 1263 }
Lightvalve 55:f4819de54e7a 1264 break;
Lightvalve 55:f4819de54e7a 1265 }
Lightvalve 56:2eade98630e2 1266
Lightvalve 55:f4819de54e7a 1267 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 55:f4819de54e7a 1268 V_out = (float) Vout.ref;
Lightvalve 55:f4819de54e7a 1269 break;
Lightvalve 55:f4819de54e7a 1270 }
Lightvalve 164:645207e160ca 1271
jobuuu 218:2c3e5ecbe7e1 1272 // case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
jobuuu 218:2c3e5ecbe7e1 1273 //
jobuuu 218:2c3e5ecbe7e1 1274 // float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
jobuuu 218:2c3e5ecbe7e1 1275 // float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
jobuuu 218:2c3e5ecbe7e1 1276 //
jobuuu 218:2c3e5ecbe7e1 1277 // V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
jobuuu 218:2c3e5ecbe7e1 1278 //
jobuuu 218:2c3e5ecbe7e1 1279 // //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
jobuuu 218:2c3e5ecbe7e1 1280 // float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
jobuuu 218:2c3e5ecbe7e1 1281 //
jobuuu 218:2c3e5ecbe7e1 1282 // float g3_prime = 0.0f;
jobuuu 218:2c3e5ecbe7e1 1283 // if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
jobuuu 218:2c3e5ecbe7e1 1284 // g3_prime = 1.0f;
jobuuu 218:2c3e5ecbe7e1 1285 // } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
jobuuu 218:2c3e5ecbe7e1 1286 // g3_prime = -1.0f;
jobuuu 218:2c3e5ecbe7e1 1287 // } else {
jobuuu 218:2c3e5ecbe7e1 1288 // if ((value-VALVE_CENTER) > 0) {
jobuuu 218:2c3e5ecbe7e1 1289 // g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
jobuuu 218:2c3e5ecbe7e1 1290 //// g3_prime = sqrt(Ps-Pt);
jobuuu 218:2c3e5ecbe7e1 1291 // } else {
jobuuu 218:2c3e5ecbe7e1 1292 // g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
jobuuu 218:2c3e5ecbe7e1 1293 //// g3_prime = sqrt(Ps-Pt);
jobuuu 218:2c3e5ecbe7e1 1294 // }
jobuuu 218:2c3e5ecbe7e1 1295 // }
jobuuu 218:2c3e5ecbe7e1 1296 // float tau = 0.01f;
jobuuu 218:2c3e5ecbe7e1 1297 // float K_valve = 0.0004f;
jobuuu 218:2c3e5ecbe7e1 1298 //
jobuuu 218:2c3e5ecbe7e1 1299 // float x_v = 0.0f; //x_v : -1~1
jobuuu 218:2c3e5ecbe7e1 1300 // if(value>=VALVE_CENTER) {
jobuuu 218:2c3e5ecbe7e1 1301 // x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jobuuu 218:2c3e5ecbe7e1 1302 // } else {
jobuuu 218:2c3e5ecbe7e1 1303 // x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jobuuu 218:2c3e5ecbe7e1 1304 // }
jobuuu 218:2c3e5ecbe7e1 1305 // float f4 = -x_v/tau;
jobuuu 218:2c3e5ecbe7e1 1306 // float g4 = K_valve/tau;
jobuuu 218:2c3e5ecbe7e1 1307 //
jobuuu 218:2c3e5ecbe7e1 1308 // float torq_ref_dot = torq.ref_diff * 500.0f;
jobuuu 218:2c3e5ecbe7e1 1309 //
jobuuu 218:2c3e5ecbe7e1 1310 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
jobuuu 218:2c3e5ecbe7e1 1311 // vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
jobuuu 218:2c3e5ecbe7e1 1312 // pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
jobuuu 218:2c3e5ecbe7e1 1313 //
jobuuu 218:2c3e5ecbe7e1 1314 // torq.err = torq.ref - torq.sen; //[N]
jobuuu 218:2c3e5ecbe7e1 1315 // torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
jobuuu 218:2c3e5ecbe7e1 1316 //
jobuuu 218:2c3e5ecbe7e1 1317 // float k3 = 2000.0f; //2000 //20000
jobuuu 218:2c3e5ecbe7e1 1318 // float k4 = 10.0f;
jobuuu 218:2c3e5ecbe7e1 1319 // float rho3 = 3.2f;
jobuuu 218:2c3e5ecbe7e1 1320 // float rho4 = 10000000.0f; //25000000.0f;
jobuuu 218:2c3e5ecbe7e1 1321 // float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
jobuuu 218:2c3e5ecbe7e1 1322 // if (x_4_des > 1) x_4_des = 1;
jobuuu 218:2c3e5ecbe7e1 1323 // else if (x_4_des < -1) x_4_des = -1;
jobuuu 218:2c3e5ecbe7e1 1324 //
jobuuu 218:2c3e5ecbe7e1 1325 // if (x_4_des > 0) {
jobuuu 218:2c3e5ecbe7e1 1326 // valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
jobuuu 218:2c3e5ecbe7e1 1327 // } else {
jobuuu 218:2c3e5ecbe7e1 1328 // valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
jobuuu 218:2c3e5ecbe7e1 1329 // }
jobuuu 218:2c3e5ecbe7e1 1330 //
jobuuu 218:2c3e5ecbe7e1 1331 // float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
jobuuu 218:2c3e5ecbe7e1 1332 // x_4_des_old = x_4_des;
jobuuu 218:2c3e5ecbe7e1 1333 // V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
jobuuu 218:2c3e5ecbe7e1 1334 //
jobuuu 218:2c3e5ecbe7e1 1335 // float rho_a = 0.00001f;
jobuuu 218:2c3e5ecbe7e1 1336 // float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
jobuuu 218:2c3e5ecbe7e1 1337 // a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
jobuuu 218:2c3e5ecbe7e1 1338 //
jobuuu 218:2c3e5ecbe7e1 1339 // if(a_hat > -3000000.0f) a_hat = -3000000.0f;
jobuuu 218:2c3e5ecbe7e1 1340 // else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
jobuuu 218:2c3e5ecbe7e1 1341 //
jobuuu 218:2c3e5ecbe7e1 1342 // break;
jobuuu 218:2c3e5ecbe7e1 1343 // }
Lightvalve 166:bfc1fd2629d8 1344
Lightvalve 12:6f2531038ea4 1345 default:
Lightvalve 12:6f2531038ea4 1346 break;
Lightvalve 12:6f2531038ea4 1347 }
Lightvalve 14:8e7590227d22 1348
Lightvalve 55:f4819de54e7a 1349
Lightvalve 55:f4819de54e7a 1350 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 56:2eade98630e2 1351
Lightvalve 55:f4819de54e7a 1352 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1353 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 55:f4819de54e7a 1354 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1355 if (CURRENT_CONTROL_MODE) {
Lightvalve 65:c2812cf26c38 1356 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 55:f4819de54e7a 1357 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 55:f4819de54e7a 1358
jobuuu 218:2c3e5ecbe7e1 1359 if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
jobuuu 218:2c3e5ecbe7e1 1360 else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
jobuuu 218:2c3e5ecbe7e1 1361 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
Lightvalve 223:c831718303c9 1362
hyhoon 214:82a3ca333004 1363 I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve 65:c2812cf26c38 1364 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 55:f4819de54e7a 1365
Lightvalve 55:f4819de54e7a 1366
Lightvalve 55:f4819de54e7a 1367 // Moog Valve Current Control Gain
Lightvalve 65:c2812cf26c38 1368 double R_model = 500.0f; // ohm
Lightvalve 55:f4819de54e7a 1369 double L_model = 1.2f;
Lightvalve 55:f4819de54e7a 1370 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 55:f4819de54e7a 1371 double KP_I = 0.1f * L_model*w0;
Lightvalve 55:f4819de54e7a 1372 double KI_I = 0.1f * R_model*w0;
Lightvalve 55:f4819de54e7a 1373
Lightvalve 55:f4819de54e7a 1374 // KNR Valve Current Control Gain
Lightvalve 55:f4819de54e7a 1375 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 55:f4819de54e7a 1376 R_model = 163.0f; // ohm
Lightvalve 55:f4819de54e7a 1377 L_model = 1.0f;
Lightvalve 55:f4819de54e7a 1378 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 55:f4819de54e7a 1379 KP_I = 1.0f * L_model*w0;
Lightvalve 55:f4819de54e7a 1380 KI_I = 0.08f * R_model*w0;
Lightvalve 55:f4819de54e7a 1381 }
Lightvalve 55:f4819de54e7a 1382
Lightvalve 55:f4819de54e7a 1383 double FF_gain = 1.0f;
Lightvalve 55:f4819de54e7a 1384
Lightvalve 65:c2812cf26c38 1385 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon 214:82a3ca333004 1386 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon 214:82a3ca333004 1387 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 65:c2812cf26c38 1388 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
hyhoon 214:82a3ca333004 1389 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 226:4e660aa77eb7 1390 double V_MAX = VALVE_VOLTAGE_LIMIT*1000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 55:f4819de54e7a 1391
Lightvalve 55:f4819de54e7a 1392 double Ka = 3.0f / KP_I;
Lightvalve 55:f4819de54e7a 1393 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 55:f4819de54e7a 1394 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 55:f4819de54e7a 1395 V_rem = Ka*V_rem;
Lightvalve 55:f4819de54e7a 1396 VALVE_PWM_RAW = V_MAX;
Lightvalve 222:bd00f763acb1 1397 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 222:bd00f763acb1 1398 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 55:f4819de54e7a 1399 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 55:f4819de54e7a 1400 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 55:f4819de54e7a 1401 V_rem = Ka*V_rem;
Lightvalve 55:f4819de54e7a 1402 VALVE_PWM_RAW = -V_MAX;
Lightvalve 222:bd00f763acb1 1403 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 222:bd00f763acb1 1404 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 55:f4819de54e7a 1405 }
Lightvalve 55:f4819de54e7a 1406 } else {
Lightvalve 55:f4819de54e7a 1407 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 55:f4819de54e7a 1408 }
Lightvalve 55:f4819de54e7a 1409
Lightvalve 55:f4819de54e7a 1410 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1411 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 55:f4819de54e7a 1412 ////////////////////////////////////////////////////////////////////////////
Lightvalve 55:f4819de54e7a 1413
Lightvalve 55:f4819de54e7a 1414 // Output Voltage Linearization
hyhoon 214:82a3ca333004 1415 double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve 65:c2812cf26c38 1416 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 55:f4819de54e7a 1417
Lightvalve 55:f4819de54e7a 1418 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 65:c2812cf26c38 1419 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 65:c2812cf26c38 1420 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 65:c2812cf26c38 1421 else V_out = (float) (CUR_PWM_lin);
Lightvalve 223:c831718303c9 1422
Lightvalve 164:645207e160ca 1423 } else { //////////////////////////sw valve
Lightvalve 212:985dba42f261 1424 // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve 133:79885a39c161 1425 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 133:79885a39c161 1426 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 133:79885a39c161 1427 else V_out = 0.0f;
Lightvalve 87:a7b45368ea0f 1428 }
Lightvalve 164:645207e160ca 1429
jobuuu 218:2c3e5ecbe7e1 1430 ////////////////////////////////////////////////////////////////////
jobuuu 218:2c3e5ecbe7e1 1431 /////////////////// PWM Command ///////////////////////////////////
jobuuu 218:2c3e5ecbe7e1 1432 ////////////////////////////////////////////////////////////////////
Lightvalve 164:645207e160ca 1433 if(DIR_VALVE<0) {
Lightvalve 65:c2812cf26c38 1434 V_out = -V_out;
Lightvalve 65:c2812cf26c38 1435 }
Lightvalve 164:645207e160ca 1436
Lightvalve 48:e7bcfc244d40 1437 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 48:e7bcfc244d40 1438 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 48:e7bcfc244d40 1439 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 48:e7bcfc244d40 1440 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1441 }
Lightvalve 212:985dba42f261 1442 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve 13:747daba9cf59 1443
Lightvalve 212:985dba42f261 1444 // Saturation of output voltage
Lightvalve 30:8d561f16383b 1445 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1446 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1447
Lightvalve 30:8d561f16383b 1448 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1449 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1450 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1451 } else {
jobuuu 2:a1c0a37df760 1452 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1453 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1454 }
Lightvalve 13:747daba9cf59 1455
jobuuu 1:e04e563be5ce 1456 //pwm
Lightvalve 30:8d561f16383b 1457 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1458 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 65:c2812cf26c38 1459
jobuuu 218:2c3e5ecbe7e1 1460 ////////////////////////////////////////////////////////////////////////////
jobuuu 218:2c3e5ecbe7e1 1461 ////////////////////// Data transmission through CAN //////////////////////
Lightvalve 223:c831718303c9 1462 ////////////////////////////////////////////////////////////////////////////
Lightvalve 223:c831718303c9 1463
hyhoon 214:82a3ca333004 1464 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 223:c831718303c9 1465
hyhoon 214:82a3ca333004 1466 // Position, Velocity, and Torque (ID:1200)
hyhoon 214:82a3ca333004 1467 if (flag_data_request[0] == HIGH) {
Lightvalve 225:c2cfe349f5c1 1468
hyhoon 214:82a3ca333004 1469 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 220:2976cf1b4252 1470 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 223:c831718303c9 1471 // CAN_TX_POSITION_FT((int16_t) (PRES_B_VREF*10.0f*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (pres_B.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 223:c831718303c9 1472
hyhoon 214:82a3ca333004 1473 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 220:2976cf1b4252 1474 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 225:c2cfe349f5c1 1475 // CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (valve_pos_can*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
hyhoon 214:82a3ca333004 1476 }
hyhoon 214:82a3ca333004 1477 }
hyhoon 214:82a3ca333004 1478
jobuuu 218:2c3e5ecbe7e1 1479 // Valve Position (ID:1300)
Lightvalve 54:6f50d9d3bfee 1480 if (flag_data_request[1] == HIGH) {
Lightvalve 226:4e660aa77eb7 1481 // CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
Lightvalve 226:4e660aa77eb7 1482 CAN_TX_PWM((int16_t)(alpha3));
Lightvalve 52:647072f5307a 1483 }
Lightvalve 56:2eade98630e2 1484
jobuuu 218:2c3e5ecbe7e1 1485 // Others : Pressure A, B, Supply Pressure, etc. (for Debugging) (ID:1400)
Lightvalve 166:bfc1fd2629d8 1486 if (flag_data_request[2] == HIGH) {
Lightvalve 225:c2cfe349f5c1 1487 float valve_pos_can = 0.0f;
Lightvalve 225:c2cfe349f5c1 1488 if(value >= VALVE_ELECTRIC_CENTER) {
Lightvalve 225:c2cfe349f5c1 1489 valve_pos_can = 10000.0f*((float)value-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1490 } else {
Lightvalve 225:c2cfe349f5c1 1491 valve_pos_can = -10000.0f*((float)value -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1492 }
Lightvalve 225:c2cfe349f5c1 1493 float valve_pos_ref_can = 0.0f;
Lightvalve 225:c2cfe349f5c1 1494 if(valve_pos.ref >= VALVE_ELECTRIC_CENTER) {
Lightvalve 225:c2cfe349f5c1 1495 valve_pos_ref_can = 10000.0f*((float)valve_pos.ref-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1496 } else {
Lightvalve 225:c2cfe349f5c1 1497 valve_pos_ref_can = -10000.0f*((float)valve_pos.ref -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 225:c2cfe349f5c1 1498 }
Lightvalve 226:4e660aa77eb7 1499
Lightvalve 226:4e660aa77eb7 1500 valve_pos_ref_can = (float)valve_pos.ref;
Lightvalve 226:4e660aa77eb7 1501
Lightvalve 225:c2cfe349f5c1 1502 CAN_TX_CURRENT((int16_t) valve_pos_can, (int16_t) valve_pos_ref_can);
Lightvalve 52:647072f5307a 1503 }
Lightvalve 20:806196fda269 1504
Lightvalve 52:647072f5307a 1505 TMR2_COUNT_CAN_TX = 0;
Lightvalve 52:647072f5307a 1506 }
Lightvalve 52:647072f5307a 1507 TMR2_COUNT_CAN_TX++;
Lightvalve 51:8ea76864368a 1508
Lightvalve 20:806196fda269 1509 }
Lightvalve 51:8ea76864368a 1510 TIM3->SR = 0x0; // reset the status register
Lightvalve 51:8ea76864368a 1511
Lightvalve 56:2eade98630e2 1512 }