HydraulicControlBoard_Rainbow_v1_2_copy - 2011

Users » Lightvalve » Code » HydraulicControlBoard_Rainbow_v1_2_copy

Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy

2011

main.cpp@58:64181f1d3e60, 2020-03-31 (annotated)

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

Who changed what in which revision?

User	Revision	Line number	New contents of line
GiJeongKim	0:51c43836c1d7	1	#include "mbed.h"
GiJeongKim	0:51c43836c1d7	2	#include "FastPWM.h"
GiJeongKim	0:51c43836c1d7	3	#include "INIT_HW.h"
jobuuu	2:a1c0a37df760	4	#include "function_CAN.h"
GiJeongKim	0:51c43836c1d7	5	#include "SPI_EEP_ENC.h"
GiJeongKim	0:51c43836c1d7	6	#include "I2C_AS5510.h"
GiJeongKim	0:51c43836c1d7	7	#include "setting.h"
Lightvalve	11:82d8768d7351	8	#include "function_utilities.h"
Lightvalve	16:903b5a4433b4	9	#include "stm32f4xx_flash.h"
Lightvalve	16:903b5a4433b4	10	#include "FlashWriter.h"
GiJeongKim	0:51c43836c1d7	11
Lightvalve	31:66738bfecec5	12	///191008////
Lightvalve	31:66738bfecec5	13
jobuuu	7:e9086c72bb22	14	// dac & check ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	15	DigitalOut check(PC_2);
GiJeongKim	0:51c43836c1d7	16	DigitalOut check_2(PC_3);
GiJeongKim	0:51c43836c1d7	17	AnalogOut dac_1(PA_4);
GiJeongKim	0:51c43836c1d7	18	AnalogOut dac_2(PA_5);
Lightvalve	14:8e7590227d22	19	AnalogIn adc1(PC_4); //pressure_1
Lightvalve	14:8e7590227d22	20	AnalogIn adc2(PB_0); //pressure_2
Lightvalve	14:8e7590227d22	21	AnalogIn adc3(PC_1); //current
GiJeongKim	0:51c43836c1d7	22
Lightvalve	24:ef6e1092e9e6	23
jobuuu	7:e9086c72bb22	24	// PWM ///////////////////////////////////////////
Lightvalve	30:8d561f16383b	25	float dtc_v=0.0f;
Lightvalve	30:8d561f16383b	26	float dtc_w=0.0f;
GiJeongKim	0:51c43836c1d7	27
jobuuu	7:e9086c72bb22	28	// I2C ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	29	I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
GiJeongKim	0:51c43836c1d7	30	const int i2c_slave_addr1 = 0x56;
GiJeongKim	0:51c43836c1d7	31	unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim	0:51c43836c1d7	32
jobuuu	7:e9086c72bb22	33	// SPI ///////////////////////////////////////////
Lightvalve	16:903b5a4433b4	34	//SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve	16:903b5a4433b4	35	//DigitalOut eeprom_cs(PB_12);
Lightvalve	16:903b5a4433b4	36	//FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector
GiJeongKim	0:51c43836c1d7	37	SPI enc(PC_12,PC_11,PC_10);
GiJeongKim	0:51c43836c1d7	38	DigitalOut enc_cs(PD_2);
Lightvalve	11:82d8768d7351	39	DigitalOut LED(PA_15);
GiJeongKim	0:51c43836c1d7	40
jobuuu	7:e9086c72bb22	41	// UART ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	42	Serial pc(PA_9,PA_10); // _ UART
GiJeongKim	0:51c43836c1d7	43
jobuuu	7:e9086c72bb22	44	// CAN ///////////////////////////////////////////
GiJeongKim	0:51c43836c1d7	45	CAN can(PB_8, PB_9, 1000000);
GiJeongKim	0:51c43836c1d7	46	CANMessage msg;
Lightvalve	11:82d8768d7351	47	void onMsgReceived()
Lightvalve	11:82d8768d7351	48	{
Lightvalve	11:82d8768d7351	49	CAN_RX_HANDLER();
Lightvalve	11:82d8768d7351	50	}
jobuuu	2:a1c0a37df760	51
jobuuu	7:e9086c72bb22	52	// Variables ///////////////////////////////////////////
jobuuu	7:e9086c72bb22	53	State pos;
jobuuu	7:e9086c72bb22	54	State vel;
jobuuu	7:e9086c72bb22	55	State Vout;
jobuuu	7:e9086c72bb22	56	State torq;
jobuuu	7:e9086c72bb22	57	State pres_A;
jobuuu	7:e9086c72bb22	58	State pres_B;
jobuuu	7:e9086c72bb22	59	State cur;
Lightvalve	14:8e7590227d22	60	State valve_pos;
Lightvalve	14:8e7590227d22	61
Lightvalve	14:8e7590227d22	62	State INIT_Vout;
Lightvalve	14:8e7590227d22	63	State INIT_Valve_Pos;
Lightvalve	14:8e7590227d22	64	State INIT_Pos;
Lightvalve	14:8e7590227d22	65	State INIT_torq;
jobuuu	5:a4319f79457b	66
Lightvalve	19:23b7c1ad8683	67	extern int CID_RX_CMD;
Lightvalve	19:23b7c1ad8683	68	extern int CID_RX_REF_POSITION;
Lightvalve	48:e7bcfc244d40	69	extern int CID_RX_REF_VALVE_POS;
Lightvalve	44:35fa6884d0c6	70	extern int CID_RX_REF_PWM;
Lightvalve	19:23b7c1ad8683	71
Lightvalve	19:23b7c1ad8683	72	extern int CID_TX_INFO;
Lightvalve	19:23b7c1ad8683	73	extern int CID_TX_POSITION;
Lightvalve	19:23b7c1ad8683	74	extern int CID_TX_TORQUE;
Lightvalve	19:23b7c1ad8683	75	extern int CID_TX_PRES;
Lightvalve	19:23b7c1ad8683	76	extern int CID_TX_VOUT;
Lightvalve	19:23b7c1ad8683	77	extern int CID_TX_VALVE_POSITION;
Lightvalve	19:23b7c1ad8683	78
jobuuu	7:e9086c72bb22	79	// =============================================================================
jobuuu	7:e9086c72bb22	80	// =============================================================================
jobuuu	7:e9086c72bb22	81	// =============================================================================
jobuuu	7:e9086c72bb22	82
Lightvalve	12:6f2531038ea4	83	/*******************************************************************************
Lightvalve	12:6f2531038ea4	84	* REFERENCE MODE
Lightvalve	12:6f2531038ea4	85	******************************************************************************/
Lightvalve	13:747daba9cf59	86	enum _REFERENCE_MODE {
Lightvalve	13:747daba9cf59	87	MODE_REF_NO_ACT = 0, //0
Lightvalve	12:6f2531038ea4	88	MODE_REF_DIRECT, //1
Lightvalve	12:6f2531038ea4	89	MODE_REF_COS_INC, //2
Lightvalve	12:6f2531038ea4	90	MODE_REF_LINE_INC, //3
Lightvalve	12:6f2531038ea4	91	MODE_REF_SIN_WAVE, //4
Lightvalve	12:6f2531038ea4	92	MODE_REF_SQUARE_WAVE, //5
Lightvalve	12:6f2531038ea4	93	};
Lightvalve	12:6f2531038ea4	94
Lightvalve	12:6f2531038ea4	95	/*******************************************************************************
Lightvalve	12:6f2531038ea4	96	* CONTROL MODE
Lightvalve	12:6f2531038ea4	97	******************************************************************************/
Lightvalve	13:747daba9cf59	98	enum _CONTROL_MODE {
Lightvalve	12:6f2531038ea4	99	//control mode
Lightvalve	12:6f2531038ea4	100	MODE_NO_ACT = 0, //0
Lightvalve	46:fdcb8bd86fd6	101	MODE_VALVE_POSITION_CONTROL, //1
Lightvalve	46:fdcb8bd86fd6	102	MODE_JOINT_CONTROL, //2
Lightvalve	49:3c630b5eba9f	103
Lightvalve	46:fdcb8bd86fd6	104	MODE_VALVE_OPEN_LOOP, //3
Lightvalve	12:6f2531038ea4	105	MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve	12:6f2531038ea4	106	MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve	13:747daba9cf59	107
Lightvalve	12:6f2531038ea4	108	MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve	12:6f2531038ea4	109	MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve	12:6f2531038ea4	110	MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve	13:747daba9cf59	111
Lightvalve	12:6f2531038ea4	112	MODE_TEST_CURRENT_CONTROL, //9
Lightvalve	12:6f2531038ea4	113	MODE_TEST_PWM_CONTROL, //10
Lightvalve	21:e5f1a43ea6f9	114
Lightvalve	14:8e7590227d22	115	MODE_CURRENT_CONTROL, //11
Lightvalve	14:8e7590227d22	116	MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve	14:8e7590227d22	117	MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve	13:747daba9cf59	118
Lightvalve	12:6f2531038ea4	119	//utility
Lightvalve	12:6f2531038ea4	120	MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve	12:6f2531038ea4	121	MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve	12:6f2531038ea4	122	MODE_FIND_HOME, //22
Lightvalve	55:f4819de54e7a	123	MODE_VALVE_GAIN_SETTING, //23
Lightvalve	12:6f2531038ea4	124	MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve	12:6f2531038ea4	125	MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve	12:6f2531038ea4	126	MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve	13:747daba9cf59	127
Lightvalve	12:6f2531038ea4	128	MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve	12:6f2531038ea4	129	MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve	12:6f2531038ea4	130	MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve	55:f4819de54e7a	131	MODE_SYSTEM_ID, //33
Lightvalve	12:6f2531038ea4	132	};
Lightvalve	12:6f2531038ea4	133
GiJeongKim	0:51c43836c1d7	134	int main()
GiJeongKim	0:51c43836c1d7	135	{
jobuuu	6:df07d3491e3a	136	/*********************************
jobuuu	1:e04e563be5ce	137	*** Initialization
jobuuu	6:df07d3491e3a	138	*********************************/
Lightvalve	55:f4819de54e7a	139	LED = 1;
Lightvalve	19:23b7c1ad8683	140	//pc.baud(9600);
Lightvalve	21:e5f1a43ea6f9	141
GiJeongKim	0:51c43836c1d7	142	// i2c init
Lightvalve	8:5d2eebdad025	143	i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve	8:5d2eebdad025	144	wait_ms(2); // Power Up wait
Lightvalve	8:5d2eebdad025	145	look_for_hardware_i2c(); // Hardware present
Lightvalve	8:5d2eebdad025	146	init_as5510(i2c_slave_addr1);
Lightvalve	11:82d8768d7351	147	make_delay();
jobuuu	2:a1c0a37df760	148
GiJeongKim	0:51c43836c1d7	149	// // spi init
Lightvalve	16:903b5a4433b4	150	//eeprom.format(8,3);
Lightvalve	16:903b5a4433b4	151	//eeprom.frequency(5000000); //5M
GiJeongKim	0:51c43836c1d7	152	enc.format(8,0);
GiJeongKim	0:51c43836c1d7	153	enc.frequency(5000000); //5M
Lightvalve	11:82d8768d7351	154	make_delay();
Lightvalve	21:e5f1a43ea6f9	155
Lightvalve	16:903b5a4433b4	156	//rom
Lightvalve	19:23b7c1ad8683	157	ROM_CALL_DATA();
Lightvalve	16:903b5a4433b4	158	make_delay();
Lightvalve	13:747daba9cf59	159
GiJeongKim	0:51c43836c1d7	160	// ADC init
jobuuu	5:a4319f79457b	161	Init_ADC();
Lightvalve	11:82d8768d7351	162	make_delay();
jobuuu	2:a1c0a37df760	163
GiJeongKim	0:51c43836c1d7	164	// Pwm init
GiJeongKim	0:51c43836c1d7	165	Init_PWM();
GiJeongKim	0:51c43836c1d7	166	TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	167	make_delay();
Lightvalve	13:747daba9cf59	168
Lightvalve	11:82d8768d7351	169	// TMR3 init
Lightvalve	11:82d8768d7351	170	Init_TMR3();
Lightvalve	11:82d8768d7351	171	TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve	11:82d8768d7351	172	make_delay();
Lightvalve	21:e5f1a43ea6f9	173
Lightvalve	49:3c630b5eba9f	174	// TMR2 init
Lightvalve	54:6f50d9d3bfee	175	// Init_TMR2();
Lightvalve	54:6f50d9d3bfee	176	// TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve	54:6f50d9d3bfee	177	// make_delay();
Lightvalve	21:e5f1a43ea6f9	178
GiJeongKim	0:51c43836c1d7	179	// CAN
jobuuu	2:a1c0a37df760	180	can.attach(&CAN_RX_HANDLER);
Lightvalve	11:82d8768d7351	181	CAN_ID_INIT();
Lightvalve	11:82d8768d7351	182	make_delay();
Lightvalve	34:bb2ca2fc2a8e	183
Lightvalve	23:59218d4a256d	184	//Timer priority
Lightvalve	23:59218d4a256d	185	NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve	55:f4819de54e7a	186	//NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve	52:647072f5307a	187	NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve	34:bb2ca2fc2a8e	188
Lightvalve	23:59218d4a256d	189	//can.reset();
Lightvalve	19:23b7c1ad8683	190	can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve	34:bb2ca2fc2a8e	191
GiJeongKim	0:51c43836c1d7	192	// spi _ enc
GiJeongKim	0:51c43836c1d7	193	spi_enc_set_init();
Lightvalve	11:82d8768d7351	194	make_delay();
Lightvalve	13:747daba9cf59	195
Lightvalve	11:82d8768d7351	196	//DAC init
Lightvalve	56:2eade98630e2	197	if (SENSING_MODE == 0) {
Lightvalve	56:2eade98630e2	198	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	56:2eade98630e2	199	dac_2 = 0.0f;
Lightvalve	56:2eade98630e2	200	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	201	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	56:2eade98630e2	202	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	56:2eade98630e2	203	}
Lightvalve	11:82d8768d7351	204	make_delay();
Lightvalve	13:747daba9cf59	205
Lightvalve	19:23b7c1ad8683	206	for (int i=0; i<50; i++) {
Lightvalve	11:82d8768d7351	207	if(i%2==0)
Lightvalve	38:118df027d851	208	ID_index_array[i] = - i * 0.5f;
Lightvalve	11:82d8768d7351	209	else
Lightvalve	38:118df027d851	210	ID_index_array[i] = (i+1) * 0.5f;
Lightvalve	11:82d8768d7351	211	}
Lightvalve	56:2eade98630e2	212
jobuuu	6:df07d3491e3a	213	/************************************
jobuuu	1:e04e563be5ce	214	*** Program is operating!
jobuuu	6:df07d3491e3a	215	*************************************/
GiJeongKim	0:51c43836c1d7	216	while(1) {
Lightvalve	55:f4819de54e7a	217	if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve	17:1865016ca2e7	218	//i2c
Lightvalve	17:1865016ca2e7	219	read_field(i2c_slave_addr1);
Lightvalve	17:1865016ca2e7	220	if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve	55:f4819de54e7a	221	// if(LED==1) {
Lightvalve	55:f4819de54e7a	222	// LED=0;
Lightvalve	55:f4819de54e7a	223	// } else
Lightvalve	55:f4819de54e7a	224	// LED = 1;
Lightvalve	17:1865016ca2e7	225	timer_while = 0;
Lightvalve	17:1865016ca2e7	226	}
Lightvalve	17:1865016ca2e7	227	timer_while ++;
GiJeongKim	0:51c43836c1d7	228	}
jobuuu	1:e04e563be5ce	229	}
jobuuu	1:e04e563be5ce	230
Lightvalve	33:91b17819ec30	231	float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve	14:8e7590227d22	232	{
Lightvalve	14:8e7590227d22	233
Lightvalve	13:747daba9cf59	234	int i = 0;
Lightvalve	47:889798ff9329	235	float Ref_Valve_Pos_FF = 0.0f;
Lightvalve	14:8e7590227d22	236	for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve	14:8e7590227d22	237	if(REF_JOINT_VEL >= min(JOINT_VEL[i],JOINT_VEL[i+1]) && REF_JOINT_VEL <= max(JOINT_VEL[i],JOINT_VEL[i+1])) {
Lightvalve	14:8e7590227d22	238	if(i==0) {
Lightvalve	49:3c630b5eba9f	239	if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve	55:f4819de54e7a	240	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	241	} else {
Lightvalve	55:f4819de54e7a	242	Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER;
Lightvalve	38:118df027d851	243	}
Lightvalve	14:8e7590227d22	244	} else {
Lightvalve	49:3c630b5eba9f	245	if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve	55:f4819de54e7a	246	Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	247	} else {
Lightvalve	55:f4819de54e7a	248	Ref_Valve_Pos_FF = ((float) 10(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]);
Lightvalve	38:118df027d851	249	}
Lightvalve	13:747daba9cf59	250	}
Lightvalve	13:747daba9cf59	251	break;
Lightvalve	13:747daba9cf59	252	}
Lightvalve	13:747daba9cf59	253	}
Lightvalve	14:8e7590227d22	254	if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	255	Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	256	} else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve	33:91b17819ec30	257	Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	258	}
Lightvalve	36:a46e63505ed8	259
Lightvalve	55:f4819de54e7a	260	Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve	13:747daba9cf59	261	return Ref_Valve_Pos_FF;
Lightvalve	49:3c630b5eba9f	262
Lightvalve	13:747daba9cf59	263	}
jobuuu	6:df07d3491e3a	264
jobuuu	6:df07d3491e3a	265
Lightvalve	30:8d561f16383b	266	void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve	14:8e7590227d22	267	{
Lightvalve	13:747daba9cf59	268	int i = 0;
Lightvalve	13:747daba9cf59	269
Lightvalve	38:118df027d851	270	if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve	38:118df027d851	271	REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve	38:118df027d851	272	} else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve	38:118df027d851	273	REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve	38:118df027d851	274	}
Lightvalve	38:118df027d851	275
Lightvalve	13:747daba9cf59	276	valve_pos_err = REF_VALVE_POS - value;
Lightvalve	13:747daba9cf59	277	valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve	13:747daba9cf59	278	valve_pos_err_old = valve_pos_err;
Lightvalve	13:747daba9cf59	279	valve_pos_err_sum += valve_pos_err;
Lightvalve	13:747daba9cf59	280	if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve	13:747daba9cf59	281	if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve	13:747daba9cf59	282
Lightvalve	13:747daba9cf59	283	VALVE_PWM_RAW_FB = P_GAIN_VALVE_POSITION * valve_pos_err + I_GAIN_VALVE_POSITION * valve_pos_err_sum + D_GAIN_VALVE_POSITION * valve_pos_err_diff;
Lightvalve	14:8e7590227d22	284
Lightvalve	18:b8adf1582ea3	285	for(i=0; i<24; i++) {
Lightvalve	14:8e7590227d22	286	if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve	14:8e7590227d22	287	if(i==0) {
Lightvalve	47:889798ff9329	288	VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve	14:8e7590227d22	289	} else {
Lightvalve	47:889798ff9329	290	VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1];
Lightvalve	13:747daba9cf59	291	}
Lightvalve	13:747daba9cf59	292	break;
Lightvalve	13:747daba9cf59	293	}
Lightvalve	13:747daba9cf59	294	}
Lightvalve	57:f308b1656d9c	295	Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve	13:747daba9cf59	296	}
Lightvalve	13:747daba9cf59	297
Lightvalve	14:8e7590227d22	298	#define LT_MAX_IDX 57
Lightvalve	30:8d561f16383b	299	float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f,
Lightvalve	34:bb2ca2fc2a8e	300	-19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve	34:bb2ca2fc2a8e	301	-9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	302	1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve	34:bb2ca2fc2a8e	303	11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve	34:bb2ca2fc2a8e	304	25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve	34:bb2ca2fc2a8e	305	}; // duty
Lightvalve	30:8d561f16383b	306	float LT_Voltage_Output[LT_MAX_IDX] = {-321.4f, -291.3f, -261.5f, -246.8f, -231.7f, -223.9f, -216.1f, -207.9f, -198.8f,
Lightvalve	34:bb2ca2fc2a8e	307	-196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve	34:bb2ca2fc2a8e	308	-156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve	34:bb2ca2fc2a8e	309	12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve	34:bb2ca2fc2a8e	310	173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve	34:bb2ca2fc2a8e	311	214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve	34:bb2ca2fc2a8e	312	}; // mV
Lightvalve	13:747daba9cf59	313
Lightvalve	30:8d561f16383b	314	float PWM_duty_byLT(float Ref_V)
Lightvalve	14:8e7590227d22	315	{
Lightvalve	30:8d561f16383b	316	float PWM_duty = 0.0f;
Lightvalve	13:747daba9cf59	317	if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve	30:8d561f16383b	318	PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve	13:747daba9cf59	319	} else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve	30:8d561f16383b	320	PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve	13:747daba9cf59	321	} else {
Lightvalve	13:747daba9cf59	322	int idx = 0;
Lightvalve	13:747daba9cf59	323	for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve	30:8d561f16383b	324	float ini_x = LT_Voltage_Output[idx];
Lightvalve	30:8d561f16383b	325	float fin_x = LT_Voltage_Output[idx+1];
Lightvalve	30:8d561f16383b	326	float ini_y = LT_PWM_duty[idx];
Lightvalve	30:8d561f16383b	327	float fin_y = LT_PWM_duty[idx+1];
Lightvalve	13:747daba9cf59	328	if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve	13:747daba9cf59	329	PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve	13:747daba9cf59	330	break;
Lightvalve	13:747daba9cf59	331	}
Lightvalve	13:747daba9cf59	332	}
Lightvalve	13:747daba9cf59	333	}
Lightvalve	14:8e7590227d22	334
Lightvalve	13:747daba9cf59	335	return PWM_duty;
Lightvalve	13:747daba9cf59	336	}
jobuuu	6:df07d3491e3a	337
Lightvalve	55:f4819de54e7a	338
Lightvalve	55:f4819de54e7a	339
Lightvalve	55:f4819de54e7a	340
Lightvalve	55:f4819de54e7a	341
jobuuu	2:a1c0a37df760	342	/*******************************************************************************
jobuuu	2:a1c0a37df760	343	TIMER INTERRUPT
jobuuu	2:a1c0a37df760	344	*******************************************************************************/
jobuuu	2:a1c0a37df760	345
Lightvalve	50:b46bed7fec80	346	float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve	50:b46bed7fec80	347	float DT_TMR4 = (float)DT_20k;
Lightvalve	55:f4819de54e7a	348	long CNT_TMR4 = 0;
Lightvalve	55:f4819de54e7a	349	int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu	1:e04e563be5ce	350	extern "C" void TIM4_IRQHandler(void)
jobuuu	1:e04e563be5ce	351	{
Lightvalve	19:23b7c1ad8683	352	if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve	21:e5f1a43ea6f9	353
Lightvalve	21:e5f1a43ea6f9	354	/*******************************************************
Lightvalve	21:e5f1a43ea6f9	355	*** Sensor Read & Data Handling
Lightvalve	21:e5f1a43ea6f9	356	********************************************************/
Lightvalve	13:747daba9cf59	357
Lightvalve	55:f4819de54e7a	358	//Encoder
Lightvalve	55:f4819de54e7a	359	if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve	55:f4819de54e7a	360	ENC_UPDATE();
Lightvalve	55:f4819de54e7a	361	}
Lightvalve	56:2eade98630e2	362
Lightvalve	56:2eade98630e2	363	ADC1->CR2 \|= 0x40000000;
Lightvalve	56:2eade98630e2	364	if (SENSING_MODE == 0) {
Lightvalve	56:2eade98630e2	365	// Torque Sensing (0~210)bar =============================================
Lightvalve	56:2eade98630e2	366	float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve	56:2eade98630e2	367	double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve	56:2eade98630e2	368	pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve	56:2eade98630e2	369	torq.sen = pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve	17:1865016ca2e7	370
Lightvalve	56:2eade98630e2	371	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	372	// Pressure Sensing (0~210)bar =============================================
Lightvalve	56:2eade98630e2	373	float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve	56:2eade98630e2	374	float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve	56:2eade98630e2	375	double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve	56:2eade98630e2	376	pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve	56:2eade98630e2	377	pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve	56:2eade98630e2	378	CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve	56:2eade98630e2	379	CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve	49:3c630b5eba9f	380
Lightvalve	56:2eade98630e2	381	if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve	56:2eade98630e2	382	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm
Lightvalve	56:2eade98630e2	383	} else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve	56:2eade98630e2	384	torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N
Lightvalve	56:2eade98630e2	385	}
Lightvalve	56:2eade98630e2	386	}
Lightvalve	56:2eade98630e2	387
Lightvalve	56:2eade98630e2	388	// //Pressure sensor A
Lightvalve	56:2eade98630e2	389	// ADC1->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	56:2eade98630e2	390	// //while((ADC1->SR & 0b10));
Lightvalve	56:2eade98630e2	391	// float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	56:2eade98630e2	392	// float pres_A_new = ((float)ADC1->DR);
Lightvalve	56:2eade98630e2	393	// pres_A.sen = pres_A.sen(1.0f-alpha_update_pres_A)+pres_A_new(alpha_update_pres_A);
Lightvalve	56:2eade98630e2	394	// torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later.
Lightvalve	56:2eade98630e2	395	//
Lightvalve	56:2eade98630e2	396	//
Lightvalve	56:2eade98630e2	397	// //Pressure sensor B
Lightvalve	56:2eade98630e2	398	// float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f100.0f));
Lightvalve	56:2eade98630e2	399	// float pres_B_new = ((float)ADC2->DR);
Lightvalve	56:2eade98630e2	400	// pres_B.sen = pres_B.sen(1.0f-alpha_update_pres_B)+pres_B_new(alpha_update_pres_B);
Lightvalve	56:2eade98630e2	401	// //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve	17:1865016ca2e7	402
Lightvalve	17:1865016ca2e7	403
Lightvalve	21:e5f1a43ea6f9	404	//Current
Lightvalve	21:e5f1a43ea6f9	405	//ADC3->CR2 \|= 0x40000000; // adc _ 12bit
Lightvalve	25:3e6b574cab5c	406	//int raw_cur = ADC3->DR;
Lightvalve	21:e5f1a43ea6f9	407	//while((ADC3->SR & 0b10));
Lightvalve	50:b46bed7fec80	408	float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f3.14f500.0f)); // f_cutoff : 500Hz
Lightvalve	30:8d561f16383b	409	float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve	30:8d561f16383b	410	cur.sen=cur.sen(1.0f-alpha_update_cur)+cur_new(alpha_update_cur);
Lightvalve	25:3e6b574cab5c	411	//cur.sen = raw_cur;
Lightvalve	56:2eade98630e2	412
Lightvalve	55:f4819de54e7a	413	CNT_TMR4++;
Lightvalve	21:e5f1a43ea6f9	414	}
Lightvalve	11:82d8768d7351	415	TIM4->SR = 0x0; // reset the status register
Lightvalve	11:82d8768d7351	416	}
Lightvalve	19:23b7c1ad8683	417
Lightvalve	19:23b7c1ad8683	418
Lightvalve	18:b8adf1582ea3	419	int j =0;
Lightvalve	52:647072f5307a	420	float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve	47:889798ff9329	421	float DT_TMR3 = (float)DT_5k;
Lightvalve	44:35fa6884d0c6	422	int cnt_trans = 0;
Lightvalve	47:889798ff9329	423	double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve	55:f4819de54e7a	424	int can_rest =0;
Lightvalve	47:889798ff9329	425
Lightvalve	11:82d8768d7351	426	extern "C" void TIM3_IRQHandler(void)
Lightvalve	21:e5f1a43ea6f9	427	{
Lightvalve	19:23b7c1ad8683	428	if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve	55:f4819de54e7a	429
Lightvalve	55:f4819de54e7a	430	if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve	55:f4819de54e7a	431	K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve	55:f4819de54e7a	432	mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve	55:f4819de54e7a	433	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	55:f4819de54e7a	434	mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve	55:f4819de54e7a	435	} else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	55:f4819de54e7a	436	K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve	55:f4819de54e7a	437	mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve	55:f4819de54e7a	438	mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve	55:f4819de54e7a	439	mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve	55:f4819de54e7a	440	}
Lightvalve	49:3c630b5eba9f	441
Lightvalve	49:3c630b5eba9f	442	if(MODE_POS_FT_TRANS == 1) {
Lightvalve	47:889798ff9329	443	alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	44:35fa6884d0c6	444	cnt_trans++;
Lightvalve	45:2694daea349b	445	torq.err_sum = 0;
Lightvalve	47:889798ff9329	446	if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve	44:35fa6884d0c6	447	MODE_POS_FT_TRANS = 2;
Lightvalve	49:3c630b5eba9f	448	} else if(MODE_POS_FT_TRANS == 3) {
Lightvalve	47:889798ff9329	449	alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve	44:35fa6884d0c6	450	cnt_trans++;
Lightvalve	45:2694daea349b	451	torq.err_sum = 0;
Lightvalve	47:889798ff9329	452	if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve	44:35fa6884d0c6	453	MODE_POS_FT_TRANS = 0;
Lightvalve	49:3c630b5eba9f	454	} else if(MODE_POS_FT_TRANS == 2) {
Lightvalve	56:2eade98630e2	455	alpha_trans = 1.0f;
Lightvalve	44:35fa6884d0c6	456	cnt_trans = 0;
Lightvalve	49:3c630b5eba9f	457	} else {
Lightvalve	56:2eade98630e2	458	alpha_trans = 0.0f;
Lightvalve	44:35fa6884d0c6	459	cnt_trans = 0;
Lightvalve	44:35fa6884d0c6	460	}
Lightvalve	44:35fa6884d0c6	461
Lightvalve	49:3c630b5eba9f	462
Lightvalve	55:f4819de54e7a	463	int UTILITY_MODE = 0;
Lightvalve	55:f4819de54e7a	464	int CONTROL_MODE = 0;
Lightvalve	56:2eade98630e2	465
Lightvalve	55:f4819de54e7a	466	if (CONTROL_UTILITY_MODE >= 20 \|\| CONTROL_UTILITY_MODE == 0) {
Lightvalve	55:f4819de54e7a	467	UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve	55:f4819de54e7a	468	CONTROL_MODE = MODE_NO_ACT;
Lightvalve	55:f4819de54e7a	469	} else {
Lightvalve	55:f4819de54e7a	470	CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve	55:f4819de54e7a	471	UTILITY_MODE = MODE_NO_ACT;
Lightvalve	55:f4819de54e7a	472	}
Lightvalve	54:6f50d9d3bfee	473
Lightvalve	54:6f50d9d3bfee	474
Lightvalve	54:6f50d9d3bfee	475
Lightvalve	55:f4819de54e7a	476	// UTILITY MODE ------------------------------------------------------------
Lightvalve	54:6f50d9d3bfee	477
Lightvalve	55:f4819de54e7a	478	switch (UTILITY_MODE) {
Lightvalve	55:f4819de54e7a	479	case MODE_NO_ACT: {
Lightvalve	13:747daba9cf59	480	break;
Lightvalve	13:747daba9cf59	481	}
Lightvalve	14:8e7590227d22	482
Lightvalve	14:8e7590227d22	483	case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	484	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	485	if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve	15:bd0d12728506	486	CUR_TORQUE_sum += torq.sen;
Lightvalve	19:23b7c1ad8683	487
Lightvalve	14:8e7590227d22	488	if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	489	CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve	13:747daba9cf59	490	CUR_TORQUE_sum = 0;
Lightvalve	14:8e7590227d22	491
Lightvalve	57:f308b1656d9c	492	TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean);
Lightvalve	19:23b7c1ad8683	493
Lightvalve	30:8d561f16383b	494	if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve	57:f308b1656d9c	495	if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve	49:3c630b5eba9f	496
Lightvalve	16:903b5a4433b4	497	//spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve	30:8d561f16383b	498	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	13:747daba9cf59	499	}
Lightvalve	13:747daba9cf59	500	} else {
Lightvalve	56:2eade98630e2	501	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	502	TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve	13:747daba9cf59	503	CUR_TORQUE_sum = 0;
Lightvalve	13:747daba9cf59	504	CUR_TORQUE_mean = 0;
Lightvalve	19:23b7c1ad8683	505
Lightvalve	16:903b5a4433b4	506	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	507
Lightvalve	30:8d561f16383b	508	dac_1 = TORQUE_VREF / 3.3f;
Lightvalve	14:8e7590227d22	509
Lightvalve	13:747daba9cf59	510	}
Lightvalve	14:8e7590227d22	511	TMR3_COUNT_TORQUE_NULL++;
Lightvalve	13:747daba9cf59	512	break;
Lightvalve	19:23b7c1ad8683	513	}
Lightvalve	14:8e7590227d22	514
Lightvalve	49:3c630b5eba9f	515	// case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve	49:3c630b5eba9f	516	// if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve	49:3c630b5eba9f	517	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	49:3c630b5eba9f	518	// else temp_time = 0;
Lightvalve	49:3c630b5eba9f	519	// }
Lightvalve	49:3c630b5eba9f	520	// if (need_enc_init) {
Lightvalve	49:3c630b5eba9f	521	// if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	522	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	523	// pos_plus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	524	// } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	525	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	526	// pos_minus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	527	// } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve	49:3c630b5eba9f	528	// temp_time = TMR_FREQ_5k;
Lightvalve	49:3c630b5eba9f	529	// }
Lightvalve	49:3c630b5eba9f	530	//
Lightvalve	49:3c630b5eba9f	531	// if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	532	// V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve	49:3c630b5eba9f	533	// VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve	49:3c630b5eba9f	534	//
Lightvalve	49:3c630b5eba9f	535	// } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve	49:3c630b5eba9f	536	// V_out = 0;
Lightvalve	49:3c630b5eba9f	537	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	49:3c630b5eba9f	538	// } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	539	// if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve	49:3c630b5eba9f	540	// else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve	49:3c630b5eba9f	541	// else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve	49:3c630b5eba9f	542	// else DZ_temp_cnt2 = DZ_end;
Lightvalve	49:3c630b5eba9f	543	// CUR_VELOCITY_sum = 0;
Lightvalve	49:3c630b5eba9f	544	// } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	545	// if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve	49:3c630b5eba9f	546	//
Lightvalve	49:3c630b5eba9f	547	// // Position of Dead Zone
Lightvalve	49:3c630b5eba9f	548	// // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve	49:3c630b5eba9f	549	// // \| / \| / \|/
Lightvalve	49:3c630b5eba9f	550	// // \| ______/ ___\|___/ ______/\|
Lightvalve	49:3c630b5eba9f	551	// // \|/ / \| / \|
Lightvalve	49:3c630b5eba9f	552	// // /\| / \| / \|
Lightvalve	49:3c630b5eba9f	553	// // 0V 0V 0V
Lightvalve	49:3c630b5eba9f	554	//
Lightvalve	49:3c630b5eba9f	555	// if (DZ_temp_cnt2 < DZ_end) {
Lightvalve	49:3c630b5eba9f	556	// if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve	49:3c630b5eba9f	557	// CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve	49:3c630b5eba9f	558	// } else {
Lightvalve	49:3c630b5eba9f	559	// V_out -= DZ_dir;
Lightvalve	49:3c630b5eba9f	560	// if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve	49:3c630b5eba9f	561	// CUR_VELOCITY_sum = 0;
Lightvalve	49:3c630b5eba9f	562	// }
Lightvalve	49:3c630b5eba9f	563	// if (DZ_temp_cnt == 5) {
Lightvalve	49:3c630b5eba9f	564	// if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve	49:3c630b5eba9f	565	// else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve	49:3c630b5eba9f	566	// DZ_dir = -DZ_dir;
Lightvalve	49:3c630b5eba9f	567	// DZ_temp_cnt = 0;
Lightvalve	49:3c630b5eba9f	568	// DZ_temp_cnt2++;
Lightvalve	49:3c630b5eba9f	569	// }
Lightvalve	49:3c630b5eba9f	570	// } else {
Lightvalve	49:3c630b5eba9f	571	// TMR3_COUNT_DEADZONE = -1;
Lightvalve	49:3c630b5eba9f	572	// VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve	49:3c630b5eba9f	573	// if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve	49:3c630b5eba9f	574	// VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	575	// VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve	49:3c630b5eba9f	576	// }
Lightvalve	49:3c630b5eba9f	577	// V_out = 0;
Lightvalve	49:3c630b5eba9f	578	//
Lightvalve	49:3c630b5eba9f	579	// ROM_RESET_DATA();
Lightvalve	49:3c630b5eba9f	580	//
Lightvalve	49:3c630b5eba9f	581	// //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve	49:3c630b5eba9f	582	// //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve	49:3c630b5eba9f	583	//
Lightvalve	49:3c630b5eba9f	584	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	585	// DZ_temp_cnt2 = 0;
Lightvalve	49:3c630b5eba9f	586	// }
Lightvalve	49:3c630b5eba9f	587	// }
Lightvalve	49:3c630b5eba9f	588	// TMR3_COUNT_DEADZONE++;
Lightvalve	49:3c630b5eba9f	589	// break;
Lightvalve	49:3c630b5eba9f	590	// }
Lightvalve	14:8e7590227d22	591
Lightvalve	14:8e7590227d22	592	case MODE_FIND_HOME: {
Lightvalve	29:69f3f5445d6d	593	if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve	14:8e7590227d22	594	cnt_findhome = 0;
Lightvalve	14:8e7590227d22	595	cnt_vel_findhome = 0;
Lightvalve	14:8e7590227d22	596	//REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve	57:f308b1656d9c	597	pos.ref = pos.sen;
Lightvalve	57:f308b1656d9c	598	vel.ref = 0.0f;
Lightvalve	29:69f3f5445d6d	599	FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve	29:69f3f5445d6d	600	} else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve	29:69f3f5445d6d	601	int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve	29:69f3f5445d6d	602	if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve	29:69f3f5445d6d	603	FINDHOME_POSITION = pos.sen;
Lightvalve	29:69f3f5445d6d	604	FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve	29:69f3f5445d6d	605	FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve	29:69f3f5445d6d	606	}
Lightvalve	29:69f3f5445d6d	607	cnt_findhome++;
Lightvalve	14:8e7590227d22	608
Lightvalve	29:69f3f5445d6d	609	if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve	29:69f3f5445d6d	610	cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve	29:69f3f5445d6d	611	} else {
Lightvalve	29:69f3f5445d6d	612	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	613	}
Lightvalve	19:23b7c1ad8683	614
Lightvalve	55:f4819de54e7a	615	if ((cnt_vel_findhome < 3TMR_FREQ_5k) && cnt_findhome < 10TMR_FREQ_5k) { // wait for 3sec
Lightvalve	29:69f3f5445d6d	616	//REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve	57:f308b1656d9c	617	if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 2.0f;
Lightvalve	57:f308b1656d9c	618	else pos.ref = pos.ref - 2.0f;
Lightvalve	57:f308b1656d9c	619
Lightvalve	57:f308b1656d9c	620	// pos.err = pos.ref_home_pos - pos.sen;
Lightvalve	57:f308b1656d9c	621	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	57:f308b1656d9c	622	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve	57:f308b1656d9c	623	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	57:f308b1656d9c	624	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	57:f308b1656d9c	625
Lightvalve	57:f308b1656d9c	626	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	57:f308b1656d9c	627	alpha_trans = 0.0f;
Lightvalve	57:f308b1656d9c	628
Lightvalve	34:bb2ca2fc2a8e	629
Lightvalve	29:69f3f5445d6d	630	} else {
Lightvalve	29:69f3f5445d6d	631	ENC_SET(HOMEPOS_OFFSET);
Lightvalve	29:69f3f5445d6d	632	INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve	29:69f3f5445d6d	633	REF_POSITION = 0;
Lightvalve	29:69f3f5445d6d	634	REF_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	635	FINDHOME_POSITION = 0;
Lightvalve	29:69f3f5445d6d	636	FINDHOME_POSITION_OLD = 0;
Lightvalve	29:69f3f5445d6d	637	FINDHOME_VELOCITY = 0;
Lightvalve	29:69f3f5445d6d	638	cnt_findhome = 0;
Lightvalve	29:69f3f5445d6d	639	cnt_vel_findhome = 0;
Lightvalve	29:69f3f5445d6d	640	FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve	29:69f3f5445d6d	641	}
Lightvalve	29:69f3f5445d6d	642	} else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve	29:69f3f5445d6d	643	int T_move = 2*TMR_FREQ_5k;
Lightvalve	57:f308b1656d9c	644	pos.ref = (0.0f - (float)INIT_REF_POS)0.5f(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve	57:f308b1656d9c	645	vel.ref = 0.0f;
Lightvalve	19:23b7c1ad8683	646
Lightvalve	29:69f3f5445d6d	647	// input for position control
Lightvalve	57:f308b1656d9c	648
Lightvalve	57:f308b1656d9c	649	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	57:f308b1656d9c	650	alpha_trans = 0.0f;
Lightvalve	57:f308b1656d9c	651	// pos.err = pos.ref - (float)pos.sen;
Lightvalve	57:f308b1656d9c	652	// float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve	57:f308b1656d9c	653	// VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve	57:f308b1656d9c	654	// valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve	57:f308b1656d9c	655	// VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	29:69f3f5445d6d	656
Lightvalve	29:69f3f5445d6d	657	cnt_findhome++;
Lightvalve	29:69f3f5445d6d	658	if (cnt_findhome >= T_move) {
Lightvalve	29:69f3f5445d6d	659	//REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve	29:69f3f5445d6d	660	cnt_findhome = 0;
Lightvalve	30:8d561f16383b	661	pos.ref = 0.0f;
Lightvalve	30:8d561f16383b	662	vel.ref = 0.0f;
Lightvalve	30:8d561f16383b	663	pos.ref_home_pos = 0.0f;
Lightvalve	30:8d561f16383b	664	vel.ref_home_pos = 0.0f;
Lightvalve	29:69f3f5445d6d	665	FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve	55:f4819de54e7a	666	CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve	29:69f3f5445d6d	667	}
Lightvalve	13:747daba9cf59	668	}
Lightvalve	19:23b7c1ad8683	669
Lightvalve	13:747daba9cf59	670	break;
Lightvalve	13:747daba9cf59	671	}
Lightvalve	14:8e7590227d22	672
Lightvalve	49:3c630b5eba9f	673	// case MODE_VALVE_GAIN_SETTING: {
Lightvalve	49:3c630b5eba9f	674	// if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve	49:3c630b5eba9f	675	// if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve	49:3c630b5eba9f	676	// else {
Lightvalve	49:3c630b5eba9f	677	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	678	// temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve	49:3c630b5eba9f	679	// }
Lightvalve	49:3c630b5eba9f	680	// }
Lightvalve	49:3c630b5eba9f	681	// if (need_enc_init) {
Lightvalve	49:3c630b5eba9f	682	// if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve	49:3c630b5eba9f	683	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	684	// pos_plus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	685	// } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	686	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	687	// pos_minus_end = pos.sen;
Lightvalve	49:3c630b5eba9f	688	// } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	689	// need_enc_init = false;
Lightvalve	49:3c630b5eba9f	690	// check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	49:3c630b5eba9f	691	// check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve	49:3c630b5eba9f	692	// check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve	49:3c630b5eba9f	693	// }
Lightvalve	49:3c630b5eba9f	694	// temp_time = TMR_FREQ_5k;
Lightvalve	49:3c630b5eba9f	695	// }
Lightvalve	49:3c630b5eba9f	696	// TMR3_COUNT_FLOWRATE++;
Lightvalve	49:3c630b5eba9f	697	// if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve	49:3c630b5eba9f	698	// if (flag_flowrate % 2 == 0) { // (+)
Lightvalve	49:3c630b5eba9f	699	// VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve	49:3c630b5eba9f	700	// V_out = VALVE_VOLTAGE;
Lightvalve	49:3c630b5eba9f	701	// if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve	49:3c630b5eba9f	702	// fl_temp_cnt++;
Lightvalve	49:3c630b5eba9f	703	// } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	49:3c630b5eba9f	704	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6pi/6553610000 0.5757=0.025250.020.0095260*1000
Lightvalve	49:3c630b5eba9f	705	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // PULSE/sec
Lightvalve	49:3c630b5eba9f	706	// fl_temp_cnt2++;
Lightvalve	49:3c630b5eba9f	707	// }
Lightvalve	49:3c630b5eba9f	708	// } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve	49:3c630b5eba9f	709	// VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve	49:3c630b5eba9f	710	// V_out = VALVE_VOLTAGE;
Lightvalve	49:3c630b5eba9f	711	// if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve	49:3c630b5eba9f	712	// fl_temp_cnt++;
Lightvalve	49:3c630b5eba9f	713	// } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve	49:3c630b5eba9f	714	// VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0f * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE);
Lightvalve	49:3c630b5eba9f	715	// // VALVE_GAIN_LPM_PER_V[flag_flowrate] = (float) TMR_FREQ_10k * (float) check_vel_pos_interv / (float) fl_temp_cnt / (-VALVE_VOLTAGE); // PULSE/sec
Lightvalve	49:3c630b5eba9f	716	// fl_temp_cnt2++;
Lightvalve	49:3c630b5eba9f	717	// }
Lightvalve	49:3c630b5eba9f	718	// }
Lightvalve	49:3c630b5eba9f	719	// if (fl_temp_cnt2 == 100) {
Lightvalve	49:3c630b5eba9f	720	//
Lightvalve	49:3c630b5eba9f	721	// ROM_RESET_DATA();
Lightvalve	49:3c630b5eba9f	722	//
Lightvalve	49:3c630b5eba9f	723	// //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve	49:3c630b5eba9f	724	// cur_vel_sum = 0;
Lightvalve	49:3c630b5eba9f	725	// fl_temp_cnt = 0;
Lightvalve	49:3c630b5eba9f	726	// fl_temp_cnt2 = 0;
Lightvalve	49:3c630b5eba9f	727	// flag_flowrate++;
Lightvalve	49:3c630b5eba9f	728	// }
Lightvalve	49:3c630b5eba9f	729	// if (flag_flowrate == 10) {
Lightvalve	49:3c630b5eba9f	730	// V_out = 0;
Lightvalve	49:3c630b5eba9f	731	// flag_flowrate = 0;
Lightvalve	49:3c630b5eba9f	732	// TMR3_COUNT_FLOWRATE = 0;
Lightvalve	49:3c630b5eba9f	733	// valve_gain_repeat_cnt++;
Lightvalve	49:3c630b5eba9f	734	// if (valve_gain_repeat_cnt >= 1) {
Lightvalve	49:3c630b5eba9f	735	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	736	// valve_gain_repeat_cnt = 0;
Lightvalve	49:3c630b5eba9f	737	// }
Lightvalve	49:3c630b5eba9f	738	//
Lightvalve	49:3c630b5eba9f	739	// }
Lightvalve	49:3c630b5eba9f	740	// break;
Lightvalve	49:3c630b5eba9f	741	// }
Lightvalve	49:3c630b5eba9f	742	//
Lightvalve	49:3c630b5eba9f	743	// }
Lightvalve	14:8e7590227d22	744	case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve	13:747daba9cf59	745	// DAC Voltage reference set
Lightvalve	14:8e7590227d22	746	if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve	14:8e7590227d22	747	CUR_PRES_A_sum += pres_A.sen;
Lightvalve	14:8e7590227d22	748	CUR_PRES_B_sum += pres_B.sen;
Lightvalve	14:8e7590227d22	749
Lightvalve	14:8e7590227d22	750	if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve	30:8d561f16383b	751	CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve	30:8d561f16383b	752	CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve	13:747daba9cf59	753	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	754	CUR_PRES_B_sum = 0;
Lightvalve	14:8e7590227d22	755
Lightvalve	38:118df027d851	756	float VREF_NullingGain = 0.0003f;
Lightvalve	56:2eade98630e2	757	PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve	56:2eade98630e2	758	PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve	14:8e7590227d22	759
Lightvalve	30:8d561f16383b	760	if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve	30:8d561f16383b	761	if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve	30:8d561f16383b	762	if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve	30:8d561f16383b	763	if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve	19:23b7c1ad8683	764
Lightvalve	30:8d561f16383b	765	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	766	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	13:747daba9cf59	767	}
Lightvalve	13:747daba9cf59	768	} else {
Lightvalve	55:f4819de54e7a	769	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	14:8e7590227d22	770	TMR3_COUNT_PRES_NULL = 0;
Lightvalve	13:747daba9cf59	771	CUR_PRES_A_sum = 0;
Lightvalve	13:747daba9cf59	772	CUR_PRES_B_sum = 0;
Lightvalve	13:747daba9cf59	773	CUR_PRES_A_mean = 0;
Lightvalve	13:747daba9cf59	774	CUR_PRES_B_mean = 0;
Lightvalve	14:8e7590227d22	775
Lightvalve	16:903b5a4433b4	776	ROM_RESET_DATA();
Lightvalve	19:23b7c1ad8683	777
Lightvalve	30:8d561f16383b	778	dac_1 = PRES_A_VREF / 3.3f;
Lightvalve	30:8d561f16383b	779	dac_2 = PRES_B_VREF / 3.3f;
Lightvalve	17:1865016ca2e7	780	//pc.printf("nulling end");
Lightvalve	13:747daba9cf59	781	}
Lightvalve	14:8e7590227d22	782	TMR3_COUNT_PRES_NULL++;
Lightvalve	13:747daba9cf59	783	break;
Lightvalve	13:747daba9cf59	784	}
Lightvalve	14:8e7590227d22	785
Lightvalve	49:3c630b5eba9f	786	// case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve	49:3c630b5eba9f	787	// if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	788	// V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	789	// if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	790	// CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve	49:3c630b5eba9f	791	// }
Lightvalve	49:3c630b5eba9f	792	// } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	793	// V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	794	// if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	795	// CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve	49:3c630b5eba9f	796	// }
Lightvalve	49:3c630b5eba9f	797	// } else {
Lightvalve	49:3c630b5eba9f	798	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	799	// TMR3_COUNT_PRES_CALIB = 0;
Lightvalve	49:3c630b5eba9f	800	// V_out = 0;
Lightvalve	49:3c630b5eba9f	801	// PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve	49:3c630b5eba9f	802	// PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	49:3c630b5eba9f	803	// PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve	49:3c630b5eba9f	804	// PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve	49:3c630b5eba9f	805	// CUR_PRES_A_sum = 0;
Lightvalve	49:3c630b5eba9f	806	// CUR_PRES_B_sum = 0;
Lightvalve	49:3c630b5eba9f	807	// CUR_PRES_A_mean = 0;
Lightvalve	49:3c630b5eba9f	808	// CUR_PRES_B_mean = 0;
Lightvalve	49:3c630b5eba9f	809	//
Lightvalve	49:3c630b5eba9f	810	// ROM_RESET_DATA();
Lightvalve	49:3c630b5eba9f	811	//
Lightvalve	49:3c630b5eba9f	812	// //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve	49:3c630b5eba9f	813	// //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve	49:3c630b5eba9f	814	// }
Lightvalve	49:3c630b5eba9f	815	// TMR3_COUNT_PRES_CALIB++;
Lightvalve	49:3c630b5eba9f	816	// break;
Lightvalve	49:3c630b5eba9f	817	// }
Lightvalve	19:23b7c1ad8683	818
Lightvalve	49:3c630b5eba9f	819	// case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve	49:3c630b5eba9f	820	// if (TMR3_COUNT_ROTARY_FRIC_TUNE % (5 * TMR_FREQ_5k) == 0) freq_fric_tune = 4.0f + 3.0f * sin(2 * 3.14159f * 0.5f * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f * 0.05f);
Lightvalve	49:3c630b5eba9f	821	// V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve	49:3c630b5eba9f	822	// if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	823	// else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	49:3c630b5eba9f	824	// TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve	49:3c630b5eba9f	825	// if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve	49:3c630b5eba9f	826	// TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve	49:3c630b5eba9f	827	// V_out = 0.0f;
Lightvalve	49:3c630b5eba9f	828	// CONTROL_MODE = MODE_NO_ACT;
Lightvalve	49:3c630b5eba9f	829	// }
Lightvalve	49:3c630b5eba9f	830	// break;
Lightvalve	49:3c630b5eba9f	831	// }
Lightvalve	14:8e7590227d22	832
Lightvalve	14:8e7590227d22	833	case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve	57:f308b1656d9c	834	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	835	VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve	14:8e7590227d22	836
Lightvalve	14:8e7590227d22	837	if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve	58:64181f1d3e60	838	Vout.ref = 3000.0f * sin(2.0f3.14fVALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve	14:8e7590227d22	839	} else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve	57:f308b1656d9c	840	Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve	14:8e7590227d22	841	} else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve	13:747daba9cf59	842	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	843	data_num = 0;
Lightvalve	14:8e7590227d22	844	} else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve	13:747daba9cf59	845	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	846	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	14:8e7590227d22	847	} else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve	57:f308b1656d9c	848	Vout.ref = 0.0f;
Lightvalve	57:f308b1656d9c	849	} else {
Lightvalve	13:747daba9cf59	850	VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve	13:747daba9cf59	851	VALVE_ID_timer = 0;
Lightvalve	13:747daba9cf59	852	ID_index= ID_index +1;
Lightvalve	13:747daba9cf59	853	}
Lightvalve	14:8e7590227d22	854
Lightvalve	17:1865016ca2e7	855	if(ID_index>=25) {
Lightvalve	13:747daba9cf59	856	int i;
Lightvalve	13:747daba9cf59	857	VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve	17:1865016ca2e7	858	for(i=0; i<25; i++) {
Lightvalve	13:747daba9cf59	859	VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve	14:8e7590227d22	860	if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	861	VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	862	VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve	14:8e7590227d22	863	} else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve	13:747daba9cf59	864	VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve	13:747daba9cf59	865	VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve	13:747daba9cf59	866	}
Lightvalve	13:747daba9cf59	867	}
Lightvalve	57:f308b1656d9c	868	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	869	ID_index = 0;
Lightvalve	55:f4819de54e7a	870	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	871	}
Lightvalve	14:8e7590227d22	872
Lightvalve	14:8e7590227d22	873
Lightvalve	13:747daba9cf59	874	break;
Lightvalve	13:747daba9cf59	875	}
Lightvalve	14:8e7590227d22	876
Lightvalve	14:8e7590227d22	877	case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve	57:f308b1656d9c	878	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	879	VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve	14:8e7590227d22	880	if(first_check == 0) {
Lightvalve	30:8d561f16383b	881	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	882	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	883	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	884	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	885	pos_plus_end = pos.sen;
Lightvalve	30:8d561f16383b	886	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	887	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	888	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	889	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	890	pos_minus_end = pos.sen;
Lightvalve	30:8d561f16383b	891	} else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	892	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	30:8d561f16383b	893	} else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	894	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	895	data_num = data_num + 1;
Lightvalve	13:747daba9cf59	896	VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve	30:8d561f16383b	897	} else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	898	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	13:747daba9cf59	899	DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve	14:8e7590227d22	900	START_POS = pos.sen;
Lightvalve	13:747daba9cf59	901	VALVE_POS_TMP = 0;
Lightvalve	13:747daba9cf59	902	data_num = 0;
Lightvalve	14:8e7590227d22	903
Lightvalve	30:8d561f16383b	904	} else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	905	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	906	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	907
Lightvalve	30:8d561f16383b	908	} else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	909	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	910	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	911
Lightvalve	30:8d561f16383b	912	} else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	913	valve_pos.ref = DDV_POS_AVG;
Lightvalve	14:8e7590227d22	914	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	915	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	916
Lightvalve	58:64181f1d3e60	917	if((FINAL_POS - START_POS)>200) {
Lightvalve	13:747daba9cf59	918	DZ_case = 1;
Lightvalve	58:64181f1d3e60	919	} else if((FINAL_POS - START_POS)<-200) {
Lightvalve	13:747daba9cf59	920	DZ_case = -1;
Lightvalve	14:8e7590227d22	921	} else {
Lightvalve	13:747daba9cf59	922	DZ_case = 0;
Lightvalve	13:747daba9cf59	923	}
Lightvalve	57:f308b1656d9c	924
Lightvalve	58:64181f1d3e60	925	CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve	49:3c630b5eba9f	926
Lightvalve	13:747daba9cf59	927	first_check = 1;
Lightvalve	13:747daba9cf59	928	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	929	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	930	Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve	13:747daba9cf59	931	DZ_NUM = 1;
Lightvalve	13:747daba9cf59	932	DZ_index = 1;
Lightvalve	14:8e7590227d22	933
Lightvalve	13:747daba9cf59	934	}
Lightvalve	19:23b7c1ad8683	935	} else {
Lightvalve	14:8e7590227d22	936	if((DZ_case == -1 && DZ_NUM == 1) \| (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve	30:8d561f16383b	937	if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	938	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	58:64181f1d3e60	939	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	940	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	941	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	942	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	943	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	944	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	945	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	946	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	947	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	948	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	949	}
Lightvalve	14:8e7590227d22	950	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	951
Lightvalve	30:8d561f16383b	952	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	953	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	954	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	955
Lightvalve	14:8e7590227d22	956	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	957	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	958	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	959	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	960	} else {
Lightvalve	13:747daba9cf59	961	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	13:747daba9cf59	962	}
Lightvalve	14:8e7590227d22	963
Lightvalve	13:747daba9cf59	964	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	965	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	966	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	967	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	968	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	969	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	970	DZ_index = 1;
Lightvalve	13:747daba9cf59	971	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	972	}
Lightvalve	13:747daba9cf59	973	}
Lightvalve	14:8e7590227d22	974	} else if((DZ_case == -1 && DZ_NUM == 2) \| (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve	30:8d561f16383b	975	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	976	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	58:64181f1d3e60	977	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	978	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	979	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	980	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	981	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	982	valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	983	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	984	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	985	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	986	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	987	}
Lightvalve	14:8e7590227d22	988	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	989
Lightvalve	30:8d561f16383b	990	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	991	Vout.ref = 0.0f;
Lightvalve	57:f308b1656d9c	992	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	993	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	994	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	995
Lightvalve	14:8e7590227d22	996	if((FINAL_POS - START_POS)>100) {
Lightvalve	58:64181f1d3e60	997	DZ_DIRECTION = 1 * DZ_case;
Lightvalve	14:8e7590227d22	998	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	58:64181f1d3e60	999	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	14:8e7590227d22	1000	} else {
Lightvalve	58:64181f1d3e60	1001	DZ_DIRECTION = -1 * DZ_case;
Lightvalve	13:747daba9cf59	1002	}
Lightvalve	14:8e7590227d22	1003
Lightvalve	13:747daba9cf59	1004	VALVE_DZ_timer = 0;
Lightvalve	58:64181f1d3e60	1005	DZ_index= DZ_index * 2;
Lightvalve	14:8e7590227d22	1006	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1007	SECOND_DZ = valve_pos.ref;
Lightvalve	55:f4819de54e7a	1008	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1009	first_check = 0;
Lightvalve	33:91b17819ec30	1010	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1011	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	19:23b7c1ad8683	1012
Lightvalve	16:903b5a4433b4	1013	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1014
Lightvalve	58:64181f1d3e60	1015	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1016	DZ_index = 1;
Lightvalve	13:747daba9cf59	1017	}
Lightvalve	13:747daba9cf59	1018	}
Lightvalve	14:8e7590227d22	1019	} else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve	30:8d561f16383b	1020	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	1021	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	58:64181f1d3e60	1022	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	1023	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1024	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1025	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1026	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1027	valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1028	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1029	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1030	} else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1031	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	13:747daba9cf59	1032	}
Lightvalve	14:8e7590227d22	1033	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	1034
Lightvalve	30:8d561f16383b	1035	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1036	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1037	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1038
Lightvalve	14:8e7590227d22	1039	if((FINAL_POS - START_POS)>100) {
Lightvalve	14:8e7590227d22	1040	DZ_DIRECTION = 1;
Lightvalve	14:8e7590227d22	1041	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	14:8e7590227d22	1042	DZ_DIRECTION = -1;
Lightvalve	14:8e7590227d22	1043	} else {
Lightvalve	13:747daba9cf59	1044	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1045	}
Lightvalve	13:747daba9cf59	1046	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1047	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1048	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1049	FIRST_DZ = valve_pos.ref;
Lightvalve	13:747daba9cf59	1050	DZ_NUM = 2;
Lightvalve	13:747daba9cf59	1051	Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve	13:747daba9cf59	1052	DZ_index = 1;
Lightvalve	13:747daba9cf59	1053	DZ_DIRECTION = 1;
Lightvalve	13:747daba9cf59	1054	}
Lightvalve	13:747daba9cf59	1055	}
Lightvalve	14:8e7590227d22	1056	} else {
Lightvalve	30:8d561f16383b	1057	if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	58:64181f1d3e60	1058	Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	58:64181f1d3e60	1059	//pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	58:64181f1d3e60	1060	//CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1061	} else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1062	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1063	} else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1064	valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve	14:8e7590227d22	1065	if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve	14:8e7590227d22	1066	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	14:8e7590227d22	1067	} else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	14:8e7590227d22	1068	valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve	13:747daba9cf59	1069	}
Lightvalve	14:8e7590227d22	1070	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	1071
Lightvalve	30:8d561f16383b	1072	} else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1073	Vout.ref = 0.0f;
Lightvalve	57:f308b1656d9c	1074	} else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1075	Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve	14:8e7590227d22	1076	FINAL_POS = pos.sen;
Lightvalve	58:64181f1d3e60	1077
Lightvalve	58:64181f1d3e60	1078	if((FINAL_POS - START_POS)>100) {
Lightvalve	13:747daba9cf59	1079	DZ_DIRECTION = 1;
Lightvalve	58:64181f1d3e60	1080	} else if((FINAL_POS - START_POS)<-100) {
Lightvalve	58:64181f1d3e60	1081	DZ_DIRECTION = -1;
Lightvalve	58:64181f1d3e60	1082	} else {
Lightvalve	13:747daba9cf59	1083	DZ_DIRECTION = 1;
Lightvalve	58:64181f1d3e60	1084	}
Lightvalve	14:8e7590227d22	1085
Lightvalve	13:747daba9cf59	1086	VALVE_DZ_timer = 0;
Lightvalve	13:747daba9cf59	1087	DZ_index= DZ_index *2;
Lightvalve	14:8e7590227d22	1088	if(DZ_index >= 128) {
Lightvalve	14:8e7590227d22	1089	SECOND_DZ = valve_pos.ref;
Lightvalve	55:f4819de54e7a	1090	VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve	13:747daba9cf59	1091	first_check = 0;
Lightvalve	33:91b17819ec30	1092	VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve	33:91b17819ec30	1093	VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve	57:f308b1656d9c	1094
Lightvalve	57:f308b1656d9c	1095	ROM_RESET_DATA();
Lightvalve	34:bb2ca2fc2a8e	1096
Lightvalve	55:f4819de54e7a	1097	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	13:747daba9cf59	1098	DZ_index = 1;
Lightvalve	13:747daba9cf59	1099	}
Lightvalve	13:747daba9cf59	1100	}
Lightvalve	13:747daba9cf59	1101	}
Lightvalve	14:8e7590227d22	1102	}
Lightvalve	13:747daba9cf59	1103	break;
Lightvalve	13:747daba9cf59	1104	}
Lightvalve	14:8e7590227d22	1105
Lightvalve	14:8e7590227d22	1106	case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve	57:f308b1656d9c	1107	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	13:747daba9cf59	1108	VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve	14:8e7590227d22	1109	if(first_check == 0) {
Lightvalve	30:8d561f16383b	1110	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1111	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	23:59218d4a256d	1112	//CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	30:8d561f16383b	1113	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1114	Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1115	pos_plus_end = pos.sen;
Lightvalve	14:8e7590227d22	1116	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve	30:8d561f16383b	1117	} else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1118	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	30:8d561f16383b	1119	} else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1120	// CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve	57:f308b1656d9c	1121	Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve	14:8e7590227d22	1122	pos_minus_end = pos.sen;
Lightvalve	13:747daba9cf59	1123	first_check = 1;
Lightvalve	13:747daba9cf59	1124	VALVE_FR_timer = 0;
Lightvalve	55:f4819de54e7a	1125	valve_pos.ref = (float) VALVE_CENTER;
Lightvalve	13:747daba9cf59	1126	ID_index = 0;
Lightvalve	13:747daba9cf59	1127	max_check = 0;
Lightvalve	13:747daba9cf59	1128	min_check = 0;
Lightvalve	13:747daba9cf59	1129	}
Lightvalve	14:8e7590227d22	1130	} else {
Lightvalve	30:8d561f16383b	1131	if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	57:f308b1656d9c	1132	//V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION;
Lightvalve	57:f308b1656d9c	1133	pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve	57:f308b1656d9c	1134	CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve	30:8d561f16383b	1135	} else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve	13:747daba9cf59	1136	data_num = 0;
Lightvalve	55:f4819de54e7a	1137	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1138
Lightvalve	14:8e7590227d22	1139	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	14:8e7590227d22	1140	START_POS = pos.sen;
Lightvalve	30:8d561f16383b	1141	} else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	55:f4819de54e7a	1142	valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve	14:8e7590227d22	1143	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	13:747daba9cf59	1144	data_num = data_num + 1;
Lightvalve	30:8d561f16383b	1145	if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve	14:8e7590227d22	1146	FINAL_POS = pos.sen;
Lightvalve	14:8e7590227d22	1147	one_period_end = 1;
Lightvalve	13:747daba9cf59	1148	}
Lightvalve	30:8d561f16383b	1149	} else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve	14:8e7590227d22	1150	FINAL_POS = pos.sen;
Lightvalve	13:747daba9cf59	1151	one_period_end = 1;
Lightvalve	57:f308b1656d9c	1152	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1153	}
Lightvalve	14:8e7590227d22	1154
Lightvalve	14:8e7590227d22	1155	if(one_period_end == 1) {
Lightvalve	14:8e7590227d22	1156	if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve	13:747daba9cf59	1157	max_check = 1;
Lightvalve	14:8e7590227d22	1158	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	13:747daba9cf59	1159	min_check = 1;
Lightvalve	13:747daba9cf59	1160	}
Lightvalve	13:747daba9cf59	1161	JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve	19:23b7c1ad8683	1162
Lightvalve	13:747daba9cf59	1163	VALVE_FR_timer = 0;
Lightvalve	13:747daba9cf59	1164	one_period_end = 0;
Lightvalve	13:747daba9cf59	1165	ID_index= ID_index +1;
Lightvalve	30:8d561f16383b	1166	V_out = 0.0f;
Lightvalve	13:747daba9cf59	1167	}
Lightvalve	14:8e7590227d22	1168
Lightvalve	14:8e7590227d22	1169	if(max_check == 1 && min_check == 1) {
Lightvalve	19:23b7c1ad8683	1170
Lightvalve	13:747daba9cf59	1171	VALVE_POS_NUM = ID_index;
Lightvalve	57:f308b1656d9c	1172	ROM_RESET_DATA();
Lightvalve	13:747daba9cf59	1173	ID_index = 0;
Lightvalve	13:747daba9cf59	1174	first_check = 0;
Lightvalve	13:747daba9cf59	1175	VALVE_FR_timer = 0;
Lightvalve	55:f4819de54e7a	1176	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	48:e7bcfc244d40	1177	// CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve	13:747daba9cf59	1178	}
Lightvalve	13:747daba9cf59	1179	}
Lightvalve	13:747daba9cf59	1180	break;
Lightvalve	13:747daba9cf59	1181	}
Lightvalve	56:2eade98630e2	1182
Lightvalve	55:f4819de54e7a	1183	case MODE_SYSTEM_ID: {
Lightvalve	55:f4819de54e7a	1184	freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve	55:f4819de54e7a	1185	valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve	55:f4819de54e7a	1186	CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve	55:f4819de54e7a	1187	cnt_sysid++;
Lightvalve	55:f4819de54e7a	1188	if (freq_sysid_Iref >= 300) {
Lightvalve	55:f4819de54e7a	1189	cnt_sysid = 0;
Lightvalve	55:f4819de54e7a	1190	CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve	55:f4819de54e7a	1191	}
Lightvalve	55:f4819de54e7a	1192	break;
Lightvalve	55:f4819de54e7a	1193	}
Lightvalve	56:2eade98630e2	1194
Lightvalve	56:2eade98630e2	1195
Lightvalve	55:f4819de54e7a	1196
Lightvalve	55:f4819de54e7a	1197	default:
Lightvalve	55:f4819de54e7a	1198	break;
Lightvalve	55:f4819de54e7a	1199	}
Lightvalve	55:f4819de54e7a	1200
Lightvalve	55:f4819de54e7a	1201	// CONTROL MODE ------------------------------------------------------------
Lightvalve	55:f4819de54e7a	1202
Lightvalve	55:f4819de54e7a	1203	switch (CONTROL_MODE) {
Lightvalve	55:f4819de54e7a	1204	case MODE_NO_ACT: {
Lightvalve	55:f4819de54e7a	1205	V_out = 0.0f;
Lightvalve	55:f4819de54e7a	1206	break;
Lightvalve	55:f4819de54e7a	1207	}
Lightvalve	55:f4819de54e7a	1208
Lightvalve	55:f4819de54e7a	1209	case MODE_VALVE_POSITION_CONTROL: {
Lightvalve	55:f4819de54e7a	1210	if (((OPERATING_MODE&0b110)>>1) == 0) { //Moog Valve
Lightvalve	55:f4819de54e7a	1211	I_REF = valve_pos.ref;
Lightvalve	55:f4819de54e7a	1212	} else if (((OPERATING_MODE&0b110)>>1) == 1) { //KNR Valve
Lightvalve	55:f4819de54e7a	1213	V_out = valve_pos.ref;
Lightvalve	55:f4819de54e7a	1214	} else { //SW Valve
Lightvalve	55:f4819de54e7a	1215	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	57:f308b1656d9c	1216	V_out = Vout.ref;
Lightvalve	55:f4819de54e7a	1217	}
Lightvalve	56:2eade98630e2	1218
Lightvalve	55:f4819de54e7a	1219	break;
Lightvalve	55:f4819de54e7a	1220	}
Lightvalve	55:f4819de54e7a	1221
Lightvalve	55:f4819de54e7a	1222	case MODE_JOINT_CONTROL: {
Lightvalve	55:f4819de54e7a	1223	double torq_ref = 0.0f;
Lightvalve	55:f4819de54e7a	1224	pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve	55:f4819de54e7a	1225	vel.err = (vel.ref - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve	55:f4819de54e7a	1226	pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve	55:f4819de54e7a	1227	torq_ref = torq.ref + (K_SPRING * pos.err * 0.01f + D_DAMPER * vel.err * 0.0001f) / ENC_PULSE_PER_POSITION; //[N]
Lightvalve	55:f4819de54e7a	1228
Lightvalve	55:f4819de54e7a	1229	// torque feedback
Lightvalve	56:2eade98630e2	1230	torq.err = (torq_ref)/(float)(TORQUE_SENSOR_PULSE_PER_TORQUE) - torq.sen; //[N]
Lightvalve	55:f4819de54e7a	1231	torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve	55:f4819de54e7a	1232
Lightvalve	55:f4819de54e7a	1233	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve	56:2eade98630e2	1234
Lightvalve	55:f4819de54e7a	1235	double I_REF_POS = 0.0f;
Lightvalve	55:f4819de54e7a	1236	double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve	55:f4819de54e7a	1237	double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve	55:f4819de54e7a	1238
Lightvalve	55:f4819de54e7a	1239	double temp_vel_pos = 0.0f;
Lightvalve	55:f4819de54e7a	1240	double temp_vel_torq = 0.0f;
Lightvalve	55:f4819de54e7a	1241	double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve	56:2eade98630e2	1242
Lightvalve	55:f4819de54e7a	1243	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	55:f4819de54e7a	1244	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	55:f4819de54e7a	1245	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	55:f4819de54e7a	1246	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	55:f4819de54e7a	1247	temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	55:f4819de54e7a	1248	// L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve	55:f4819de54e7a	1249	}
Lightvalve	55:f4819de54e7a	1250	if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	1251	else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	1252
Lightvalve	55:f4819de54e7a	1253	// velocity compensation for torque control
Lightvalve	55:f4819de54e7a	1254	if ((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve	55:f4819de54e7a	1255	I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve	55:f4819de54e7a	1256	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s
Lightvalve	55:f4819de54e7a	1257	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve	55:f4819de54e7a	1258	// L feedforward velocity
Lightvalve	55:f4819de54e7a	1259	} else if ((OPERATING_MODE && 0x01) == 1) {
Lightvalve	55:f4819de54e7a	1260	I_REF_FORCE_FB = 0.001f * 0.01f((double) P_GAIN_JOINT_TORQUE torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive.
Lightvalve	55:f4819de54e7a	1261	// temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	55:f4819de54e7a	1262	temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve	55:f4819de54e7a	1263	// L feedforward velocity
Lightvalve	55:f4819de54e7a	1264	}
Lightvalve	55:f4819de54e7a	1265	if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	1266	else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve	55:f4819de54e7a	1267	// L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve	55:f4819de54e7a	1268	// Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve	55:f4819de54e7a	1269	// Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve	55:f4819de54e7a	1270
Lightvalve	55:f4819de54e7a	1271	I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve	55:f4819de54e7a	1272
Lightvalve	55:f4819de54e7a	1273	} else {
Lightvalve	55:f4819de54e7a	1274	float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve	55:f4819de54e7a	1275
Lightvalve	55:f4819de54e7a	1276	VALVE_POS_RAW_FORCE_FB = alpha_trans(((float) P_GAIN_JOINT_TORQUE torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f
Lightvalve	55:f4819de54e7a	1277	+ DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref));
Lightvalve	55:f4819de54e7a	1278
Lightvalve	55:f4819de54e7a	1279	if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve	55:f4819de54e7a	1280	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve	55:f4819de54e7a	1281	} else {
Lightvalve	55:f4819de54e7a	1282	valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve	55:f4819de54e7a	1283	}
Lightvalve	55:f4819de54e7a	1284
Lightvalve	55:f4819de54e7a	1285	if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve	55:f4819de54e7a	1286	double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve	55:f4819de54e7a	1287	if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve	55:f4819de54e7a	1288	double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve	55:f4819de54e7a	1289	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	55:f4819de54e7a	1290	valve_pos.ref = VALVE_MAX_POS;
Lightvalve	55:f4819de54e7a	1291	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	55:f4819de54e7a	1292	} else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve	55:f4819de54e7a	1293	double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve	55:f4819de54e7a	1294	valve_pos_rem = valve_pos_rem * Ka;
Lightvalve	55:f4819de54e7a	1295	valve_pos.ref = VALVE_MIN_POS;
Lightvalve	55:f4819de54e7a	1296	torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve	55:f4819de54e7a	1297	}
Lightvalve	55:f4819de54e7a	1298	}
Lightvalve	58:64181f1d3e60	1299
Lightvalve	55:f4819de54e7a	1300	VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve	58:64181f1d3e60	1301
Lightvalve	58:64181f1d3e60	1302	Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve	58:64181f1d3e60	1303	V_out = (float) Vout.ref;
Lightvalve	55:f4819de54e7a	1304
Lightvalve	55:f4819de54e7a	1305	}
Lightvalve	56:2eade98630e2	1306
Lightvalve	55:f4819de54e7a	1307	break;
Lightvalve	55:f4819de54e7a	1308	}
Lightvalve	56:2eade98630e2	1309
Lightvalve	55:f4819de54e7a	1310	case MODE_VALVE_OPEN_LOOP: {
Lightvalve	55:f4819de54e7a	1311	V_out = (float) Vout.ref;
Lightvalve	55:f4819de54e7a	1312	break;
Lightvalve	55:f4819de54e7a	1313	}
Lightvalve	14:8e7590227d22	1314
Lightvalve	12:6f2531038ea4	1315	default:
Lightvalve	12:6f2531038ea4	1316	break;
Lightvalve	12:6f2531038ea4	1317	}
Lightvalve	14:8e7590227d22	1318
Lightvalve	55:f4819de54e7a	1319
Lightvalve	55:f4819de54e7a	1320	if (((OPERATING_MODE&0b110)>>1) == 0 \|\| ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve	56:2eade98630e2	1321
Lightvalve	55:f4819de54e7a	1322	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	1323	//////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve	55:f4819de54e7a	1324	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	1325	if (CURRENT_CONTROL_MODE) {
Lightvalve	55:f4819de54e7a	1326	double alpha_update_Iref = 1.0f / (1.0f + TMR_FREQ_5k / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve	55:f4819de54e7a	1327	I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve	55:f4819de54e7a	1328
Lightvalve	55:f4819de54e7a	1329	I_ERR = I_REF_fil - cur.sen;
Lightvalve	55:f4819de54e7a	1330	I_ERR_INT = I_ERR_INT + (I_ERR) * DT_TMR3;
Lightvalve	55:f4819de54e7a	1331
Lightvalve	55:f4819de54e7a	1332
Lightvalve	55:f4819de54e7a	1333	// Moog Valve Current Control Gain
Lightvalve	55:f4819de54e7a	1334	double R_model = 539.0f; // ohm
Lightvalve	55:f4819de54e7a	1335	double L_model = 1.2f;
Lightvalve	55:f4819de54e7a	1336	double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve	55:f4819de54e7a	1337	double KP_I = 0.1f * L_model*w0;
Lightvalve	55:f4819de54e7a	1338	double KI_I = 0.1f * R_model*w0;
Lightvalve	55:f4819de54e7a	1339
Lightvalve	55:f4819de54e7a	1340	// KNR Valve Current Control Gain
Lightvalve	55:f4819de54e7a	1341	if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve	55:f4819de54e7a	1342	R_model = 163.0f; // ohm
Lightvalve	55:f4819de54e7a	1343	L_model = 1.0f;
Lightvalve	55:f4819de54e7a	1344	w0 = 2.0f * 3.14f * 80.0f;
Lightvalve	55:f4819de54e7a	1345	KP_I = 1.0f * L_model*w0;
Lightvalve	55:f4819de54e7a	1346	KI_I = 0.08f * R_model*w0;
Lightvalve	55:f4819de54e7a	1347	}
Lightvalve	55:f4819de54e7a	1348
Lightvalve	55:f4819de54e7a	1349	double FF_gain = 1.0f;
Lightvalve	55:f4819de54e7a	1350
Lightvalve	55:f4819de54e7a	1351	VALVE_PWM_RAW = KP_I * I_ERR + KI_I * I_ERR_INT;
Lightvalve	55:f4819de54e7a	1352	// VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve	55:f4819de54e7a	1353	I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve	55:f4819de54e7a	1354	I_REF_fil_old = I_REF_fil;
Lightvalve	55:f4819de54e7a	1355	VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * TMR_FREQ_5k); // Unit : mV
Lightvalve	55:f4819de54e7a	1356	double V_MAX = 12000.; // Maximum Voltage : 12V = 12000mV
Lightvalve	55:f4819de54e7a	1357
Lightvalve	55:f4819de54e7a	1358	double Ka = 3.0f / KP_I;
Lightvalve	55:f4819de54e7a	1359	if (VALVE_PWM_RAW > V_MAX) {
Lightvalve	55:f4819de54e7a	1360	V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve	55:f4819de54e7a	1361	V_rem = Ka*V_rem;
Lightvalve	55:f4819de54e7a	1362	VALVE_PWM_RAW = V_MAX;
Lightvalve	55:f4819de54e7a	1363	I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve	55:f4819de54e7a	1364	} else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve	55:f4819de54e7a	1365	V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve	55:f4819de54e7a	1366	V_rem = Ka*V_rem;
Lightvalve	55:f4819de54e7a	1367	VALVE_PWM_RAW = -V_MAX;
Lightvalve	55:f4819de54e7a	1368	I_ERR_INT = I_ERR_INT - V_rem * DT_TMR3;
Lightvalve	55:f4819de54e7a	1369	}
Lightvalve	55:f4819de54e7a	1370	Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve	55:f4819de54e7a	1371	} else {
Lightvalve	55:f4819de54e7a	1372	VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve	55:f4819de54e7a	1373	Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve	55:f4819de54e7a	1374	}
Lightvalve	55:f4819de54e7a	1375
Lightvalve	55:f4819de54e7a	1376	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	1377	///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve	55:f4819de54e7a	1378	////////////////////////////////////////////////////////////////////////////
Lightvalve	55:f4819de54e7a	1379	// Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve	55:f4819de54e7a	1380	if (FLAG_VALVE_DEADZONE) {
Lightvalve	55:f4819de54e7a	1381	if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve	55:f4819de54e7a	1382	else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve	55:f4819de54e7a	1383
Lightvalve	55:f4819de54e7a	1384	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve	55:f4819de54e7a	1385
Lightvalve	55:f4819de54e7a	1386	} else {
Lightvalve	55:f4819de54e7a	1387	VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve	55:f4819de54e7a	1388	}
Lightvalve	55:f4819de54e7a	1389
Lightvalve	55:f4819de54e7a	1390	// Output Voltage Linearization
Lightvalve	55:f4819de54e7a	1391	double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve	55:f4819de54e7a	1392	double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve	55:f4819de54e7a	1393
Lightvalve	55:f4819de54e7a	1394	// Dead Zone Cancellation (Electrical dead-zone)
Lightvalve	55:f4819de54e7a	1395	if (CUR_PWM_lin > 0) V_out = (int) CUR_PWM_lin + 140;
Lightvalve	55:f4819de54e7a	1396	else if (CUR_PWM_lin < 0) V_out = (int) CUR_PWM_lin - 140;
Lightvalve	55:f4819de54e7a	1397	else V_out = CUR_PWM_lin;
Lightvalve	55:f4819de54e7a	1398	}
Lightvalve	56:2eade98630e2	1399
Lightvalve	56:2eade98630e2	1400
Lightvalve	14:8e7590227d22	1401
jobuuu	7:e9086c72bb22	1402	/*******************************************************
jobuuu	7:e9086c72bb22	1403	*** PWM
jobuuu	7:e9086c72bb22	1404	********************************************************/
Lightvalve	48:e7bcfc244d40	1405	if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	48:e7bcfc244d40	1406	V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	48:e7bcfc244d40	1407	} else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve	48:e7bcfc244d40	1408	V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve	27:a2254a485f23	1409	}
Lightvalve	48:e7bcfc244d40	1410	PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve	13:747daba9cf59	1411
Lightvalve	19:23b7c1ad8683	1412	// Saturation of output voltage to 12.0V
Lightvalve	30:8d561f16383b	1413	if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve	30:8d561f16383b	1414	else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve	13:747daba9cf59	1415
Lightvalve	30:8d561f16383b	1416	if (PWM_out>0.0f) {
Lightvalve	30:8d561f16383b	1417	dtc_v=0.0f;
jobuuu	1:e04e563be5ce	1418	dtc_w=PWM_out;
jobuuu	1:e04e563be5ce	1419	} else {
jobuuu	2:a1c0a37df760	1420	dtc_v=-PWM_out;
Lightvalve	30:8d561f16383b	1421	dtc_w=0.0f;
jobuuu	1:e04e563be5ce	1422	}
Lightvalve	13:747daba9cf59	1423
jobuuu	1:e04e563be5ce	1424	//pwm
Lightvalve	30:8d561f16383b	1425	TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve	30:8d561f16383b	1426	TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve	13:747daba9cf59	1427
Lightvalve	20:806196fda269	1428
Lightvalve	55:f4819de54e7a	1429	if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve	20:806196fda269	1430
Lightvalve	52:647072f5307a	1431	// Position, Velocity, and Torque (ID:1200)
Lightvalve	54:6f50d9d3bfee	1432	if (flag_data_request[0] == HIGH) {
Lightvalve	55:f4819de54e7a	1433	if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve	52:647072f5307a	1434	if (SENSING_MODE == 0) {
Lightvalve	56:2eade98630e2	1435	CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (pres_A.sen*10.0f));
Lightvalve	52:647072f5307a	1436	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	1437	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
Lightvalve	52:647072f5307a	1438	}
Lightvalve	55:f4819de54e7a	1439	} else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve	52:647072f5307a	1440	if (SENSING_MODE == 0) {
Lightvalve	58:64181f1d3e60	1441	CAN_TX_POSITION_FT((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) (pres_A.sen));
Lightvalve	52:647072f5307a	1442	} else if (SENSING_MODE == 1) {
Lightvalve	56:2eade98630e2	1443	CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/4.0f), (int16_t) (vel.sen/100.0f), (int16_t) ((pres_A.sen)5.0f), (int16_t) ((pres_B.sen)5.0f));
Lightvalve	52:647072f5307a	1444	}
Lightvalve	51:8ea76864368a	1445	}
Lightvalve	51:8ea76864368a	1446	}
Lightvalve	54:6f50d9d3bfee	1447	if (flag_data_request[1] == HIGH) {
Lightvalve	52:647072f5307a	1448	//valve position
Lightvalve	52:647072f5307a	1449	double t_value = 0;
Lightvalve	55:f4819de54e7a	1450	// if(value>=(float) VALVE_CENTER) {
Lightvalve	55:f4819de54e7a	1451	// t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve	55:f4819de54e7a	1452	// } else {
Lightvalve	55:f4819de54e7a	1453	// t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve	55:f4819de54e7a	1454	// }
Lightvalve	56:2eade98630e2	1455	if(OPERATING_MODE==5) {
Lightvalve	55:f4819de54e7a	1456	t_value = (double) value;
Lightvalve	56:2eade98630e2	1457	} else if(CURRENT_CONTROL_MODE==1) {
Lightvalve	55:f4819de54e7a	1458	t_value = cur.sen;
Lightvalve	56:2eade98630e2	1459	} else {
Lightvalve	55:f4819de54e7a	1460	t_value = V_out;
Lightvalve	52:647072f5307a	1461	}
Lightvalve	58:64181f1d3e60	1462	CAN_TX_TORQUE((int16_t) (t_value), (int16_t) (V_out)); //1300
Lightvalve	52:647072f5307a	1463	}
Lightvalve	56:2eade98630e2	1464
Lightvalve	56:2eade98630e2	1465
Lightvalve	54:6f50d9d3bfee	1466	if (flag_data_request[2] == HIGH) {
Lightvalve	54:6f50d9d3bfee	1467	//pressure A and B
Lightvalve	55:f4819de54e7a	1468	CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400
Lightvalve	53:b25725257569	1469	}
Lightvalve	56:2eade98630e2	1470
Lightvalve	55:f4819de54e7a	1471	//If it doesn't rest, below can can not work.
Lightvalve	55:f4819de54e7a	1472	for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve	55:f4819de54e7a	1473	;
Lightvalve	55:f4819de54e7a	1474	}
Lightvalve	56:2eade98630e2	1475
Lightvalve	54:6f50d9d3bfee	1476	if (flag_data_request[3] == HIGH) {
Lightvalve	52:647072f5307a	1477	//PWM
Lightvalve	55:f4819de54e7a	1478	CAN_TX_PWM((int16_t) cur.sen); //1500
Lightvalve	52:647072f5307a	1479	}
Lightvalve	55:f4819de54e7a	1480	//for (i = 0; i < 10000; i++) {
Lightvalve	55:f4819de54e7a	1481	// ;
Lightvalve	55:f4819de54e7a	1482	// }
Lightvalve	54:6f50d9d3bfee	1483	if (flag_data_request[4] == HIGH) {
Lightvalve	52:647072f5307a	1484	//valve position
Lightvalve	55:f4819de54e7a	1485	CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600
Lightvalve	52:647072f5307a	1486	}
Lightvalve	20:806196fda269	1487
Lightvalve	52:647072f5307a	1488	// Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve	51:8ea76864368a	1489	// if (flag_data_request[1] == HIGH) {
Lightvalve	51:8ea76864368a	1490	// CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve	51:8ea76864368a	1491	// }
Lightvalve	52:647072f5307a	1492	//if (flag_delay_test == 1){
Lightvalve	56:2eade98630e2	1493	//CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve	52:647072f5307a	1494	//}
Lightvalve	51:8ea76864368a	1495
Lightvalve	52:647072f5307a	1496	TMR2_COUNT_CAN_TX = 0;
Lightvalve	52:647072f5307a	1497	}
Lightvalve	52:647072f5307a	1498	TMR2_COUNT_CAN_TX++;
Lightvalve	51:8ea76864368a	1499
Lightvalve	20:806196fda269	1500	}
Lightvalve	51:8ea76864368a	1501	TIM3->SR = 0x0; // reset the status register
Lightvalve	51:8ea76864368a	1502
Lightvalve	56:2eade98630e2	1503	}

Repository toolbox

Export to desktop IDE

Build repository

Repository details

Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	01 Aug 2022
Imports:	0
Forks:	0
Commits:	245
Dependents:	0
Dependencies:	2
Followers:	1

main.cpp@58:64181f1d3e60, 2020-03-31 (annotated)

Who changed what in which revision?

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning