Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy

2011

Dependencies:   mbed FastPWM

main.cpp@31:66738bfecec5, 2019-10-08 (annotated)

Committer:
Lightvalve
Date:
Tue Oct 08 07:15:05 2019 +0000
Revision:
31:66738bfecec5
Parent:
30:8d561f16383b
Child:
32:4b8c0fedaf2c
191008finalfinalfianl

Who changed what in which revision?

UserRevisionLine numberNew contents of line
GiJeongKim 0:51c43836c1d7 1 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 2 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 3 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 4 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 5 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 6 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 7 #include "setting.h"
Lightvalve 11:82d8768d7351 8 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 9 #include "stm32f4xx_flash.h"
Lightvalve 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 30:8d561f16383b 67 float V_out=0.0f;
Lightvalve 30:8d561f16383b 68 float V_rem=0.0f; // for anti-windup
Lightvalve 30:8d561f16383b 69 float V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
jobuuu 5:a4319f79457b 70
Lightvalve 30:8d561f16383b 71 float PWM_out=0.0f;
Lightvalve 12:6f2531038ea4 72
Lightvalve 17:1865016ca2e7 73 int timer_while = 0;
Lightvalve 17:1865016ca2e7 74 int while_index = 0;
Lightvalve 17:1865016ca2e7 75
Lightvalve 19:23b7c1ad8683 76
Lightvalve 19:23b7c1ad8683 77 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 78 extern int CID_RX_REF_POSITION;
Lightvalve 19:23b7c1ad8683 79 extern int CID_RX_REF_TORQUE;
Lightvalve 19:23b7c1ad8683 80 extern int CID_RX_REF_PRES_DIFF;
Lightvalve 19:23b7c1ad8683 81 extern int CID_RX_REF_VOUT;
Lightvalve 19:23b7c1ad8683 82 extern int CID_RX_REF_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 83 extern int CID_RX_REF_CURRENT;
Lightvalve 19:23b7c1ad8683 84
Lightvalve 19:23b7c1ad8683 85 extern int CID_TX_INFO;
Lightvalve 19:23b7c1ad8683 86 extern int CID_TX_POSITION;
Lightvalve 19:23b7c1ad8683 87 extern int CID_TX_TORQUE;
Lightvalve 19:23b7c1ad8683 88 extern int CID_TX_PRES;
Lightvalve 19:23b7c1ad8683 89 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 90 extern int CID_TX_VALVE_POSITION;
Lightvalve 19:23b7c1ad8683 91
jobuuu 7:e9086c72bb22 92 // =============================================================================
jobuuu 7:e9086c72bb22 93 // =============================================================================
jobuuu 7:e9086c72bb22 94 // =============================================================================
jobuuu 7:e9086c72bb22 95
Lightvalve 12:6f2531038ea4 96 /*******************************************************************************
Lightvalve 12:6f2531038ea4 97 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 98 ******************************************************************************/
Lightvalve 13:747daba9cf59 99 enum _REFERENCE_MODE {
Lightvalve 13:747daba9cf59 100 MODE_REF_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 101 MODE_REF_DIRECT, //1
Lightvalve 12:6f2531038ea4 102 MODE_REF_COS_INC, //2
Lightvalve 12:6f2531038ea4 103 MODE_REF_LINE_INC, //3
Lightvalve 12:6f2531038ea4 104 MODE_REF_SIN_WAVE, //4
Lightvalve 12:6f2531038ea4 105 MODE_REF_SQUARE_WAVE, //5
Lightvalve 12:6f2531038ea4 106 };
Lightvalve 12:6f2531038ea4 107
Lightvalve 12:6f2531038ea4 108 /*******************************************************************************
Lightvalve 12:6f2531038ea4 109 * CONTROL MODE
Lightvalve 12:6f2531038ea4 110 ******************************************************************************/
Lightvalve 13:747daba9cf59 111 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 112 //control mode
Lightvalve 12:6f2531038ea4 113 MODE_NO_ACT = 0, //0
Lightvalve 12:6f2531038ea4 114 MODE_VALVE_OPEN_LOOP, //1
Lightvalve 12:6f2531038ea4 115 MODE_VALVE_POSITION_CONTROL, //2
Lightvalve 13:747daba9cf59 116
Lightvalve 12:6f2531038ea4 117 MODE_JOINT_POSITION_TORQUE_CONTROL_PWM, //3
Lightvalve 12:6f2531038ea4 118 MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4
Lightvalve 12:6f2531038ea4 119 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5
Lightvalve 13:747daba9cf59 120
Lightvalve 12:6f2531038ea4 121 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 122 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 123 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 124
Lightvalve 12:6f2531038ea4 125 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 126 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 127
Lightvalve 14:8e7590227d22 128 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 129 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 130 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 13:747daba9cf59 131
Lightvalve 12:6f2531038ea4 132 //utility
Lightvalve 12:6f2531038ea4 133 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 134 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 135 MODE_FIND_HOME, //22
Lightvalve 12:6f2531038ea4 136 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 137 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 138 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 139 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 140
Lightvalve 12:6f2531038ea4 141 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 142 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 143 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 12:6f2531038ea4 144 };
Lightvalve 12:6f2531038ea4 145
GiJeongKim 0:51c43836c1d7 146 int main()
GiJeongKim 0:51c43836c1d7 147 {
jobuuu 6:df07d3491e3a 148 /*********************************
jobuuu 1:e04e563be5ce 149 *** Initialization
jobuuu 6:df07d3491e3a 150 *********************************/
Lightvalve 19:23b7c1ad8683 151 //LED = 1;
Lightvalve 19:23b7c1ad8683 152 //pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 153
GiJeongKim 0:51c43836c1d7 154 // i2c init
Lightvalve 8:5d2eebdad025 155 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 156 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 157 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 158 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 159 make_delay();
jobuuu 2:a1c0a37df760 160
GiJeongKim 0:51c43836c1d7 161 // // spi init
Lightvalve 16:903b5a4433b4 162 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 163 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 164 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 165 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 166 make_delay();
Lightvalve 21:e5f1a43ea6f9 167
Lightvalve 16:903b5a4433b4 168 //rom
Lightvalve 19:23b7c1ad8683 169 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 170 make_delay();
Lightvalve 13:747daba9cf59 171
GiJeongKim 0:51c43836c1d7 172 // ADC init
jobuuu 5:a4319f79457b 173 Init_ADC();
Lightvalve 11:82d8768d7351 174 make_delay();
jobuuu 2:a1c0a37df760 175
GiJeongKim 0:51c43836c1d7 176 // Pwm init
GiJeongKim 0:51c43836c1d7 177 Init_PWM();
GiJeongKim 0:51c43836c1d7 178 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 179 make_delay();
Lightvalve 13:747daba9cf59 180
Lightvalve 11:82d8768d7351 181 // TMR3 init
Lightvalve 11:82d8768d7351 182 Init_TMR3();
Lightvalve 11:82d8768d7351 183 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 184 make_delay();
Lightvalve 21:e5f1a43ea6f9 185
Lightvalve 20:806196fda269 186 // TMR5 init
Lightvalve 23:59218d4a256d 187 Init_TMR2();
Lightvalve 23:59218d4a256d 188 TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 20:806196fda269 189 make_delay();
Lightvalve 21:e5f1a43ea6f9 190
GiJeongKim 0:51c43836c1d7 191 // CAN
jobuuu 2:a1c0a37df760 192 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 193 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 194 make_delay();
Lightvalve 23:59218d4a256d 195
Lightvalve 23:59218d4a256d 196 //Timer priority
Lightvalve 23:59218d4a256d 197 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 23:59218d4a256d 198 NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 23:59218d4a256d 199 NVIC_SetPriority(TIM4_IRQn, 4);
Lightvalve 23:59218d4a256d 200
Lightvalve 23:59218d4a256d 201 //can.reset();
Lightvalve 19:23b7c1ad8683 202 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 23:59218d4a256d 203
GiJeongKim 0:51c43836c1d7 204 // spi _ enc
GiJeongKim 0:51c43836c1d7 205 spi_enc_set_init();
Lightvalve 11:82d8768d7351 206 make_delay();
Lightvalve 13:747daba9cf59 207
Lightvalve 11:82d8768d7351 208 //DAC init
Lightvalve 16:903b5a4433b4 209 dac_1 = PRES_A_VREF / 3.3;
Lightvalve 16:903b5a4433b4 210 dac_2 = PRES_B_VREF / 3.3;
Lightvalve 11:82d8768d7351 211 make_delay();
Lightvalve 13:747daba9cf59 212
Lightvalve 19:23b7c1ad8683 213 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 214 if(i%2==0)
Lightvalve 11:82d8768d7351 215 ID_index_array[i] = - i * 0.5;
Lightvalve 11:82d8768d7351 216 else
Lightvalve 11:82d8768d7351 217 ID_index_array[i] = (i+1) * 0.5;
Lightvalve 11:82d8768d7351 218 }
Lightvalve 13:747daba9cf59 219
jobuuu 6:df07d3491e3a 220 /************************************
jobuuu 1:e04e563be5ce 221 *** Program is operating!
jobuuu 6:df07d3491e3a 222 *************************************/
GiJeongKim 0:51c43836c1d7 223 while(1) {
Lightvalve 21:e5f1a43ea6f9 224 if(timer_while==1000) {
Lightvalve 28:2a62d73e3dd0 225 //pc.printf("cmd %d\n ");
Lightvalve 17:1865016ca2e7 226 //i2c
Lightvalve 17:1865016ca2e7 227 read_field(i2c_slave_addr1);
Lightvalve 17:1865016ca2e7 228 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 21:e5f1a43ea6f9 229
Lightvalve 19:23b7c1ad8683 230 // if(LED==1) {
Lightvalve 19:23b7c1ad8683 231 // LED=0;
Lightvalve 19:23b7c1ad8683 232 // } else
Lightvalve 19:23b7c1ad8683 233 // LED = 1;
Lightvalve 17:1865016ca2e7 234 timer_while = 0;
Lightvalve 21:e5f1a43ea6f9 235
Lightvalve 17:1865016ca2e7 236 }
Lightvalve 17:1865016ca2e7 237 timer_while ++;
GiJeongKim 0:51c43836c1d7 238 }
jobuuu 1:e04e563be5ce 239 }
jobuuu 1:e04e563be5ce 240
Lightvalve 30:8d561f16383b 241 int DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 242 {
Lightvalve 14:8e7590227d22 243
Lightvalve 13:747daba9cf59 244 int i = 0;
Lightvalve 13:747daba9cf59 245 int Ref_Valve_Pos_FF = DDV_CENTER;
Lightvalve 14:8e7590227d22 246 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 247 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 248 if(i==0) {
Lightvalve 30:8d561f16383b 249 Ref_Valve_Pos_FF = ((int) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + DDV_CENTER;
Lightvalve 14:8e7590227d22 250 } else {
Lightvalve 30:8d561f16383b 251 Ref_Valve_Pos_FF = ((int) 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])) + DDV_CENTER + 10*ID_index_array[i-1];
Lightvalve 13:747daba9cf59 252 }
Lightvalve 13:747daba9cf59 253 break;
Lightvalve 13:747daba9cf59 254 }
Lightvalve 13:747daba9cf59 255 }
Lightvalve 14:8e7590227d22 256 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 257 Ref_Valve_Pos_FF = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 258 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 13:747daba9cf59 259 Ref_Valve_Pos_FF = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 260 }
Lightvalve 26:8317d883d4f2 261
Lightvalve 30:8d561f16383b 262 Ref_Valve_Pos_FF = (int) ( (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - DDV_CENTER) + (float) DDV_CENTER);
Lightvalve 26:8317d883d4f2 263
Lightvalve 13:747daba9cf59 264 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 265 }
jobuuu 6:df07d3491e3a 266
jobuuu 6:df07d3491e3a 267
Lightvalve 30:8d561f16383b 268 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 269 {
Lightvalve 13:747daba9cf59 270 int i = 0;
Lightvalve 13:747daba9cf59 271
Lightvalve 13:747daba9cf59 272 valve_pos_err = REF_VALVE_POS - value;
Lightvalve 13:747daba9cf59 273 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 274 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 275 valve_pos_err_sum += valve_pos_err;
Lightvalve 13:747daba9cf59 276 if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000;
Lightvalve 13:747daba9cf59 277 if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000;
Lightvalve 13:747daba9cf59 278
Lightvalve 13:747daba9cf59 279 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 280
Lightvalve 14:8e7590227d22 281 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 282 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 283 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 284 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 285 }
Lightvalve 23:59218d4a256d 286
Lightvalve 23:59218d4a256d 287
Lightvalve 23:59218d4a256d 288 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[0])
Lightvalve 23:59218d4a256d 289 // {
Lightvalve 23:59218d4a256d 290 // if(REF_VALVE_POS <= VALVE_POS_VS_PWM[1]) {
Lightvalve 30:8d561f16383b 291 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[1] - VALVE_POS_VS_PWM[0]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[0]);
Lightvalve 23:59218d4a256d 292 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[3]) {
Lightvalve 30:8d561f16383b 293 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[3] - VALVE_POS_VS_PWM[1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[1]) + 3000.0* (float) ID_index_array[1];
Lightvalve 23:59218d4a256d 294 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[5]) {
Lightvalve 30:8d561f16383b 295 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[5] - VALVE_POS_VS_PWM[3]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[3]) + 3000.0* (float) ID_index_array[3];
Lightvalve 23:59218d4a256d 296 // }else if(REF_VALVE_POS <= VALVE_POS_VS_PWM[7]) {
Lightvalve 30:8d561f16383b 297 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[7] - VALVE_POS_VS_PWM[5]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[5]) + 3000.0* (float) ID_index_array[5];
Lightvalve 23:59218d4a256d 298 // }else
Lightvalve 23:59218d4a256d 299 // VALVE_PWM_RAW_FF = 12000.0;
Lightvalve 23:59218d4a256d 300 // }
Lightvalve 23:59218d4a256d 301 // else
Lightvalve 23:59218d4a256d 302 // {
Lightvalve 23:59218d4a256d 303 // if(REF_VALVE_POS >= VALVE_POS_VS_PWM[2]) {
Lightvalve 30:8d561f16383b 304 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[0] - VALVE_POS_VS_PWM[2]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[2]) + 3000.0* (float) ID_index_array[2];
Lightvalve 23:59218d4a256d 305 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[4]) {
Lightvalve 30:8d561f16383b 306 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[2] - VALVE_POS_VS_PWM[4]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[4]) + 3000.0* (float) ID_index_array[4];
Lightvalve 23:59218d4a256d 307 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[6]) {
Lightvalve 30:8d561f16383b 308 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[4] - VALVE_POS_VS_PWM[6]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[6]) + 3000.0* (float) ID_index_array[6];
Lightvalve 23:59218d4a256d 309 // }else if(REF_VALVE_POS >= VALVE_POS_VS_PWM[8]) {
Lightvalve 30:8d561f16383b 310 // VALVE_PWM_RAW_FF = (float) 3000.0 / (float) (VALVE_POS_VS_PWM[6] - VALVE_POS_VS_PWM[8]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[8]) + 3000.0* (float) ID_index_array[8];
Lightvalve 23:59218d4a256d 311 // }else
Lightvalve 23:59218d4a256d 312 // VALVE_PWM_RAW_FF = -12000.0;
Lightvalve 23:59218d4a256d 313 // }
Lightvalve 14:8e7590227d22 314
Lightvalve 18:b8adf1582ea3 315 for(i=0; i<24; i++) {
Lightvalve 14:8e7590227d22 316 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 317 if(i==0) {
Lightvalve 30:8d561f16383b 318 VALVE_PWM_RAW_FF = (float) 1000.0 / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]);
Lightvalve 14:8e7590227d22 319 } else {
Lightvalve 30:8d561f16383b 320 VALVE_PWM_RAW_FF = (float) 1000.0* (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]) + 1000.0* (float) ID_index_array[i-1];
Lightvalve 13:747daba9cf59 321 }
Lightvalve 13:747daba9cf59 322 break;
Lightvalve 13:747daba9cf59 323 }
Lightvalve 13:747daba9cf59 324 }
Lightvalve 19:23b7c1ad8683 325
Lightvalve 14:8e7590227d22 326 V_out = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 27:a2254a485f23 327 //V_out = VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 328 }
Lightvalve 13:747daba9cf59 329
Lightvalve 14:8e7590227d22 330 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 331 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 30:8d561f16383b 332 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 30:8d561f16383b 333 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 30:8d561f16383b 334 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 30:8d561f16383b 335 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 30:8d561f16383b 336 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 14:8e7590227d22 337 }; // duty
Lightvalve 30:8d561f16383b 338 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 30:8d561f16383b 339 -196.9f, -195.0f, -192.5f, -188.8f, -184.5f, -180.2f, -175.9f, -171.5f, -166.3f, -161.0f,
Lightvalve 30:8d561f16383b 340 -156.0f, -149.5f, -139.0f, -126.0f, -107.0f, -87.5f, -64.0f, -38.5f, -9.4f, 0.0f,
Lightvalve 30:8d561f16383b 341 12.0f, 43.5f, 69.0f, 94.0f, 114.0f, 132.0f, 146.0f, 155.5f, 162.3f, 168.2f,
Lightvalve 30:8d561f16383b 342 173.1f, 178.2f, 182.8f, 187.4f, 191.8f, 196.0f, 199.7f, 201.9f, 203.8f, 205.6f,
Lightvalve 30:8d561f16383b 343 214.6f, 222.5f, 230.4f, 238.2f, 253.3f, 268.0f, 297.6f, 327.7f
Lightvalve 14:8e7590227d22 344 }; // mV
Lightvalve 13:747daba9cf59 345
Lightvalve 30:8d561f16383b 346 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 347 {
Lightvalve 30:8d561f16383b 348 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 349 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 350 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 351 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 352 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 353 } else {
Lightvalve 13:747daba9cf59 354 int idx = 0;
Lightvalve 13:747daba9cf59 355 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 356 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 357 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 358 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 359 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 360 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 361 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 362 break;
Lightvalve 13:747daba9cf59 363 }
Lightvalve 13:747daba9cf59 364 }
Lightvalve 13:747daba9cf59 365 }
Lightvalve 14:8e7590227d22 366
Lightvalve 13:747daba9cf59 367 return PWM_duty;
Lightvalve 13:747daba9cf59 368 }
jobuuu 6:df07d3491e3a 369
jobuuu 2:a1c0a37df760 370 /*******************************************************************************
jobuuu 2:a1c0a37df760 371 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 372 *******************************************************************************/
jobuuu 2:a1c0a37df760 373
Lightvalve 19:23b7c1ad8683 374 //unsigned long CNT_TMR4 = 0;
Lightvalve 30:8d561f16383b 375 float FREQ_TMR4 = (float)FREQ_10k;
Lightvalve 30:8d561f16383b 376 float DT_TMR4 = (float)DT_10k;
jobuuu 1:e04e563be5ce 377 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 378 {
Lightvalve 23:59218d4a256d 379
Lightvalve 19:23b7c1ad8683 380 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 381
Lightvalve 21:e5f1a43ea6f9 382 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 383 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 384 ********************************************************/
Lightvalve 13:747daba9cf59 385
Lightvalve 19:23b7c1ad8683 386
Lightvalve 21:e5f1a43ea6f9 387 //Using LoadCell
Lightvalve 15:bd0d12728506 388 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 15:bd0d12728506 389 // //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 390 // float alpha_update_torque = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 391 // float torque_new = ((float)ADC1->DR - PRES_A_NULL) / TORQUE_SENSOR_PULSE_PER_TORQUE + 1.0f;
Lightvalve 30:8d561f16383b 392 // torq.sen = torq.sen*(1.0f-alpha_update_torque)+torque_new*(alpha_update_torque);
Lightvalve 17:1865016ca2e7 393
Lightvalve 19:23b7c1ad8683 394
Lightvalve 17:1865016ca2e7 395
Lightvalve 21:e5f1a43ea6f9 396 //Pressure sensor A
Lightvalve 21:e5f1a43ea6f9 397 ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 398 //while((ADC1->SR & 0b10));
Lightvalve 30:8d561f16383b 399 float alpha_update_pres_A = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 400 float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 401 pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 19:23b7c1ad8683 402
Lightvalve 21:e5f1a43ea6f9 403 //Pressure sensor 1B
Lightvalve 21:e5f1a43ea6f9 404 //ADC2->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 21:e5f1a43ea6f9 405 //while((ADC2->SR & 0b10));
Lightvalve 30:8d561f16383b 406 float alpha_update_pres_B = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f));
Lightvalve 30:8d561f16383b 407 float pres_B_new = ((float)ADC2->DR - PRES_B_NULL) / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 30:8d561f16383b 408 pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 30:8d561f16383b 409 torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 410
Lightvalve 17:1865016ca2e7 411
Lightvalve 17:1865016ca2e7 412
Lightvalve 21:e5f1a43ea6f9 413 //Current
Lightvalve 21:e5f1a43ea6f9 414 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 11:82d8768d7351 415 // a1=ADC2->DR;
Lightvalve 25:3e6b574cab5c 416 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 417 //while((ADC3->SR & 0b10));
Lightvalve 30:8d561f16383b 418 float alpha_update_cur = 1.0f/(1.0f+(FREQ_TMR4/2.0f)/(2.0f*3.14f*1000.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 419 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 420 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 421 //cur.sen = raw_cur;
Lightvalve 17:1865016ca2e7 422
Lightvalve 21:e5f1a43ea6f9 423 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 424 *** Timer Counting & etc.
Lightvalve 21:e5f1a43ea6f9 425 ********************************************************/
Lightvalve 21:e5f1a43ea6f9 426 //CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 427 }
Lightvalve 11:82d8768d7351 428 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 429 }
Lightvalve 19:23b7c1ad8683 430
Lightvalve 19:23b7c1ad8683 431
Lightvalve 18:b8adf1582ea3 432 int j =0;
Lightvalve 19:23b7c1ad8683 433 //unsigned long CNT_TMR3 = 0;
Lightvalve 30:8d561f16383b 434 //float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 30:8d561f16383b 435 float FREQ_TMR3 = (float)FREQ_1k;
Lightvalve 30:8d561f16383b 436 //float DT_TMR3 = (float)DT_5k;
Lightvalve 30:8d561f16383b 437 float DT_TMR3 = (float)DT_1k;
Lightvalve 11:82d8768d7351 438 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 439 {
Lightvalve 19:23b7c1ad8683 440 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 12:6f2531038ea4 441 ENC_UPDATE();
Lightvalve 13:747daba9cf59 442
Lightvalve 19:23b7c1ad8683 443 // CONTROL LOOP ------------------------------------------------------------
Lightvalve 13:747daba9cf59 444
Lightvalve 14:8e7590227d22 445 switch (CONTROL_MODE) {
Lightvalve 14:8e7590227d22 446 case MODE_NO_ACT: {
Lightvalve 30:8d561f16383b 447 V_out = 0.0f;
Lightvalve 13:747daba9cf59 448 break;
Lightvalve 13:747daba9cf59 449 }
Lightvalve 14:8e7590227d22 450
Lightvalve 14:8e7590227d22 451 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 30:8d561f16383b 452 V_out = (float) Vout.ref;
Lightvalve 14:8e7590227d22 453 break;
Lightvalve 14:8e7590227d22 454 }
Lightvalve 14:8e7590227d22 455
Lightvalve 14:8e7590227d22 456 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 14:8e7590227d22 457 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 458 break;
Lightvalve 14:8e7590227d22 459 }
Lightvalve 14:8e7590227d22 460
Lightvalve 14:8e7590227d22 461 case MODE_JOINT_POSITION_TORQUE_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 462 float PWM_RAW_POS_FB = 0.0f; // PWM by Position Feedback
Lightvalve 30:8d561f16383b 463 float PWM_RAW_POS_FF = 0.0f; // PWM by Position Feedforward
Lightvalve 30:8d561f16383b 464 float PWM_RAW_FORCE_FB = 0.0f; // PWM by Force Feedback
Lightvalve 14:8e7590227d22 465
Lightvalve 13:747daba9cf59 466 // feedback input for position control
Lightvalve 30:8d561f16383b 467 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 468 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 469 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 470 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 471 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 472 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 473 // PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 30:8d561f16383b 474 PWM_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err;
Lightvalve 30:8d561f16383b 475 PWM_RAW_POS_FB = PWM_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 476
Lightvalve 13:747daba9cf59 477 // feedforward input for position control
Lightvalve 30:8d561f16383b 478 float Ref_Vel_Act = vel.ref/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 479 float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 480 if(Ref_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 481 if(Ref_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 482 PWM_RAW_POS_FF = K_ff*Ref_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 483
Lightvalve 13:747daba9cf59 484 // torque feedback
Lightvalve 15:bd0d12728506 485 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 486 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 487 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 488 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 489 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 490 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 491 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 30:8d561f16383b 492 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 19:23b7c1ad8683 493
Lightvalve 30:8d561f16383b 494 PWM_RAW_FORCE_FB = 0.0f;
Lightvalve 14:8e7590227d22 495
Lightvalve 14:8e7590227d22 496 V_out = PWM_RAW_POS_FF + PWM_RAW_POS_FB + PWM_RAW_FORCE_FB;
Lightvalve 14:8e7590227d22 497
Lightvalve 13:747daba9cf59 498 break;
Lightvalve 13:747daba9cf59 499 }
Lightvalve 14:8e7590227d22 500
Lightvalve 14:8e7590227d22 501 case MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION: {
Lightvalve 23:59218d4a256d 502
Lightvalve 23:59218d4a256d 503
Lightvalve 30:8d561f16383b 504 float VALVE_POS_RAW_POS_FB = 0.0f; // Valve Position by Position Feedback
Lightvalve 30:8d561f16383b 505 //float VALVE_POS_RAW_POS_FF = 0.0f; // Valve Position by Position Feedforward
Lightvalve 30:8d561f16383b 506 float VALVE_POS_RAW_FORCE_FB = 0.0f; // Valve Position by Force Feedback
Lightvalve 19:23b7c1ad8683 507 //int DDV_JOINT_CAN = 0;
Lightvalve 13:747daba9cf59 508 // feedback input for position control
Lightvalve 30:8d561f16383b 509 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 510 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 511 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 512 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 513 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 514 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 515 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff;
Lightvalve 30:8d561f16383b 516 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 14:8e7590227d22 517
Lightvalve 14:8e7590227d22 518
Lightvalve 13:747daba9cf59 519 //Ref_Joint_Vel = Ref_Vel_Test;
Lightvalve 13:747daba9cf59 520 // feedforward input for position control
Lightvalve 30:8d561f16383b 521 // float Ref_Joint_Vel_Act = Ref_Joint_Vel/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 522 // float K_ff = 0.9f;
Lightvalve 30:8d561f16383b 523 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.90f; // open
Lightvalve 30:8d561f16383b 524 // if(Ref_Joint_Vel_Act > 0) K_ff = 0.75f; // close
Lightvalve 30:8d561f16383b 525 // VALVE_POS_RAW_POS_FF = K_ff*Ref_Joint_Vel_Act/0.50f;
Lightvalve 14:8e7590227d22 526
Lightvalve 13:747daba9cf59 527 // torque feedback
Lightvalve 15:bd0d12728506 528 // torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 529 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 530 // torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 531 // torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 532 // if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 533 // if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 534 // VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 30:8d561f16383b 535 // VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 30:8d561f16383b 536 VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 14:8e7590227d22 537
Lightvalve 23:59218d4a256d 538 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_JOINT_POS_FF(vel.ref) + VALVE_POS_RAW_FORCE_FB;
Lightvalve 23:59218d4a256d 539 //valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 14:8e7590227d22 540 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 23:59218d4a256d 541
Lightvalve 23:59218d4a256d 542
Lightvalve 13:747daba9cf59 543 break;
Lightvalve 13:747daba9cf59 544 }
Lightvalve 14:8e7590227d22 545
Lightvalve 14:8e7590227d22 546 case MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 547
Lightvalve 13:747daba9cf59 548 break;
Lightvalve 13:747daba9cf59 549 }
Lightvalve 14:8e7590227d22 550
Lightvalve 14:8e7590227d22 551 case MODE_JOINT_POSITION_PRES_CONTROL_PWM: {
Lightvalve 30:8d561f16383b 552 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 553 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 554 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 555 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 556 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 557 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 558 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 559
Lightvalve 14:8e7590227d22 560 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 561 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 562 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 563 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 564 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 565 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 566 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 567
Lightvalve 30:8d561f16383b 568 VALVE_PWM_RAW_TORQ = VALVE_PWM_RAW_TORQ * 0.01f;
Lightvalve 14:8e7590227d22 569
Lightvalve 30:8d561f16383b 570 V_out = VALVE_PWM_RAW_POS + (float) COMPLIANCE_GAIN * 0.01f * VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 571
Lightvalve 30:8d561f16383b 572 CUR_FLOWRATE = (float) CUR_VELOCITY * 0.00009587f;
Lightvalve 30:8d561f16383b 573 CUR_FLOWRATE = CUR_FLOWRATE * 0.5757f; // 0.4791=2*pi/65536*5000(pulse/tic to rad/s) 0.5757=0.02525*0.02*0.0095*2*60*1000 (radius * area * 2 * 60(sec --> min) * 1000(m^3 --> L))
Lightvalve 13:747daba9cf59 574 if (DIR_VALVE > 0) {
Lightvalve 30:8d561f16383b 575 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 576 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.) + 1.0f;
Lightvalve 30:8d561f16383b 577 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.) + 2.0f;
Lightvalve 30:8d561f16383b 578 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.) + 3.0f;
Lightvalve 30:8d561f16383b 579 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.) + 4.0f;
Lightvalve 30:8d561f16383b 580 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 581 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.)) - 1.0f;
Lightvalve 30:8d561f16383b 582 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.)) - 2.0f;
Lightvalve 30:8d561f16383b 583 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.)) - 3.0f;
Lightvalve 30:8d561f16383b 584 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.)) - 4.0f;
Lightvalve 30:8d561f16383b 585 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.)) - 5.0f;
Lightvalve 30:8d561f16383b 586 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[9]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 587 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 588 } else {
Lightvalve 30:8d561f16383b 589 if (CUR_FLOWRATE >= 0 && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[0]*1.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - 0.0f) / (VALVE_GAIN_LPM_PER_V[0]*1.0f - 0.0f) + 0.0f;
Lightvalve 30:8d561f16383b 590 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[1]*1.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[2]*2.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[0]*1.0f) / (VALVE_GAIN_LPM_PER_V[2]*2.0f - VALVE_GAIN_LPM_PER_V[0]*1.0f) + 1.0f;
Lightvalve 30:8d561f16383b 591 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[3]*2.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[4]*3.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[2]*2.0f) / (VALVE_GAIN_LPM_PER_V[4]*3.0f - VALVE_GAIN_LPM_PER_V[2]*2.0f) + 2.0f;
Lightvalve 30:8d561f16383b 592 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[5]*3.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[6]*4.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[4]*3.0f) / (VALVE_GAIN_LPM_PER_V[6]*4.0f - VALVE_GAIN_LPM_PER_V[4]*3.0f) + 3.0f;
Lightvalve 30:8d561f16383b 593 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[7]*4.0f) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*5.0f)) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[6]*4.0f) / (VALVE_GAIN_LPM_PER_V[8]*5.0f - VALVE_GAIN_LPM_PER_V[6]*4.0f) + 4.0f;
Lightvalve 30:8d561f16383b 594 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[9]*5.0f)) VALVE_FF_VOLTAGE = 5.0f;
Lightvalve 30:8d561f16383b 595 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[0]*(-1.0f)) && CUR_FLOWRATE < 0.0f) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) / (0.0f - VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - 1.0f;
Lightvalve 30:8d561f16383b 596 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[2]*(-2.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[1]*(-1.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) / ((VALVE_GAIN_LPM_PER_V[1]*(-1.0f)) - VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - 2.0f;
Lightvalve 30:8d561f16383b 597 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[4]*(-3.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[3]*(-2.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) / ((VALVE_GAIN_LPM_PER_V[3]*(-2.0f)) - VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - 3.0f;
Lightvalve 30:8d561f16383b 598 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[6]*(-4.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[5]*(-3.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) / ((VALVE_GAIN_LPM_PER_V[5]*(-3.0f)) - VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - 4.0f;
Lightvalve 30:8d561f16383b 599 else if (CUR_FLOWRATE >= (VALVE_GAIN_LPM_PER_V[8]*(-5.0f)) && CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[7]*(-4.0f))) VALVE_FF_VOLTAGE = (CUR_FLOWRATE - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) / ((VALVE_GAIN_LPM_PER_V[7]*(-4.0f)) - VALVE_GAIN_LPM_PER_V[9]*(-5.0f)) - 5.0f;
Lightvalve 30:8d561f16383b 600 else if (CUR_FLOWRATE < (VALVE_GAIN_LPM_PER_V[8]*(-5.0f))) VALVE_FF_VOLTAGE = -5;
Lightvalve 13:747daba9cf59 601 else VALVE_FF_VOLTAGE = 0;
Lightvalve 13:747daba9cf59 602 }
Lightvalve 30:8d561f16383b 603 // VALVE_FF_VOLTAGE = CUR_FLOWRATE * 0.5f;
Lightvalve 14:8e7590227d22 604
Lightvalve 30:8d561f16383b 605 if (CUR_FLOWRATE >= 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_A_BAR) * 0.0707f; // 0.0707 = 1/sqrt(200.))
Lightvalve 30:8d561f16383b 606 else if (CUR_FLOWRATE < 0) VALVE_FF_VOLTAGE = (float) VELOCITY_COMP_GAIN * 0.001f * VALVE_FF_VOLTAGE * sqrt((float) PRES_SUPPLY - CUR_PRES_B_BAR) * 0.0707f;
Lightvalve 14:8e7590227d22 607
Lightvalve 18:b8adf1582ea3 608 V_out = V_out + VALVE_FF_VOLTAGE;
Lightvalve 14:8e7590227d22 609 break;
Lightvalve 14:8e7590227d22 610 }
Lightvalve 14:8e7590227d22 611
Lightvalve 14:8e7590227d22 612 case MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION: {
Lightvalve 30:8d561f16383b 613 pos.err = pos.ref - (float) pos.sen;
Lightvalve 14:8e7590227d22 614 pos.err_diff = pos.err - pos.err_old;
Lightvalve 14:8e7590227d22 615 pos.err_old = pos.err;
Lightvalve 14:8e7590227d22 616 pos.err_sum += pos.err;
Lightvalve 14:8e7590227d22 617 if (pos.err_sum > 1000) pos.err_sum = 1000;
Lightvalve 14:8e7590227d22 618 if (pos.err_sum<-1000) pos.err_sum = -1000;
Lightvalve 30:8d561f16383b 619 VALVE_PWM_RAW_POS = ((float) P_GAIN_JOINT_POSITION * pos.err + (float) I_GAIN_JOINT_POSITION * pos.err_sum + (float) D_GAIN_JOINT_POSITION * pos.err_diff) * 0.01f;
Lightvalve 14:8e7590227d22 620
Lightvalve 15:bd0d12728506 621 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 622 torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 623 torq.err_old = torq.err;
Lightvalve 14:8e7590227d22 624 torq.err_sum += torq.err;
Lightvalve 14:8e7590227d22 625 if (torq.err_sum > 1000) torq.err_sum = 1000;
Lightvalve 14:8e7590227d22 626 if (torq.err_sum<-1000) torq.err_sum = -1000;
Lightvalve 30:8d561f16383b 627 VALVE_PWM_RAW_TORQ = (float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum + (float) D_GAIN_JOINT_TORQUE * torq.err_diff;
Lightvalve 14:8e7590227d22 628
Lightvalve 14:8e7590227d22 629 valve_pos.ref = VALVE_PWM_RAW_POS + VALVE_PWM_RAW_TORQ;
Lightvalve 14:8e7590227d22 630 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 19:23b7c1ad8683 631
Lightvalve 14:8e7590227d22 632 break;
Lightvalve 14:8e7590227d22 633 }
Lightvalve 14:8e7590227d22 634
Lightvalve 14:8e7590227d22 635 case MODE_VALVE_POSITION_PRES_CONTROL_LEARNING: {
Lightvalve 14:8e7590227d22 636
Lightvalve 14:8e7590227d22 637 break;
Lightvalve 14:8e7590227d22 638 }
Lightvalve 14:8e7590227d22 639
Lightvalve 19:23b7c1ad8683 640
Lightvalve 19:23b7c1ad8683 641 case MODE_TEST_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 642 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 643 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 644 }
Lightvalve 19:23b7c1ad8683 645 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 646
Lightvalve 19:23b7c1ad8683 647 // Set Current Reference
Lightvalve 30:8d561f16383b 648 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 649 float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 650 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 30:8d561f16383b 651 I_REF = I_REF_MID + 1.0f;
Lightvalve 14:8e7590227d22 652 } else {
Lightvalve 30:8d561f16383b 653 I_REF = I_REF_MID - 1.0f;
Lightvalve 19:23b7c1ad8683 654 }
Lightvalve 30:8d561f16383b 655 // float T = 1.0; // wave period
Lightvalve 30:8d561f16383b 656 // I_REF = (5. * sin(2. * 3.1415 * (float) TMR3_COUNT_IREF / (float)TMR_FREQ_5k/ T));
Lightvalve 30:8d561f16383b 657 // I_REF = (2.0 * sin(2. * 2. * 3.14 * (float) TMR3_COUNT_IREF / 5000.)+(2.0 * sin(2. * 1. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 5. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.))+(2.0 * sin(2. * 10. * 3.14 * (float)TMR3_COUNT_IREF/ 5000.)));
Lightvalve 19:23b7c1ad8683 658
Lightvalve 14:8e7590227d22 659 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 23:59218d4a256d 660 //CAN_TX_PRES((int16_t)(I_REF*1000.0), (int16_t) (CUR_CURRENT*1000.0)); // to check the datas
Lightvalve 14:8e7590227d22 661 }
Lightvalve 14:8e7590227d22 662 break;
Lightvalve 14:8e7590227d22 663 }
Lightvalve 19:23b7c1ad8683 664
Lightvalve 19:23b7c1ad8683 665 case MODE_TEST_PWM_CONTROL: {
Lightvalve 14:8e7590227d22 666 if (TMR3_COUNT_IREF == TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 667 TMR3_COUNT_IREF = 0;
Lightvalve 19:23b7c1ad8683 668 }
Lightvalve 19:23b7c1ad8683 669 TMR3_COUNT_IREF++;
Lightvalve 19:23b7c1ad8683 670
Lightvalve 14:8e7590227d22 671 // Set PWM reference
Lightvalve 30:8d561f16383b 672 float TMR3_CNT_MAX = (float)TMR_FREQ_5k/2.0f;
Lightvalve 30:8d561f16383b 673 //float I_REF_MID = 0.0f;
Lightvalve 14:8e7590227d22 674 if (TMR3_COUNT_IREF < TMR3_CNT_MAX) {
Lightvalve 14:8e7590227d22 675 CUR_PWM = 1000;
Lightvalve 14:8e7590227d22 676 } else {
Lightvalve 14:8e7590227d22 677 CUR_PWM = -1000;
Lightvalve 19:23b7c1ad8683 678 }
Lightvalve 19:23b7c1ad8683 679
Lightvalve 14:8e7590227d22 680 if (TMR3_COUNT_IREF % (int) (TMR_FREQ_5k / CAN_FREQ) == 0) {
Lightvalve 30:8d561f16383b 681 //CAN_TX_PRES((int16_t)(u_CUR[0]*1000.0f), (int16_t) (CUR_CURRENT*1000.0f)); // to check the datas
Lightvalve 14:8e7590227d22 682 }
Lightvalve 13:747daba9cf59 683 break;
Lightvalve 13:747daba9cf59 684 }
Lightvalve 19:23b7c1ad8683 685
Lightvalve 19:23b7c1ad8683 686
Lightvalve 14:8e7590227d22 687 case MODE_CURRENT_CONTROL: {
Lightvalve 14:8e7590227d22 688
Lightvalve 14:8e7590227d22 689 cur.ref = cur.ref; // Unit : mA
Lightvalve 14:8e7590227d22 690 CurrentControl();
Lightvalve 14:8e7590227d22 691 break;
Lightvalve 14:8e7590227d22 692 }
Lightvalve 19:23b7c1ad8683 693
Lightvalve 14:8e7590227d22 694 case MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 695 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 696 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 697 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 698 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 699
Lightvalve 14:8e7590227d22 700 // feedback input for position control
Lightvalve 14:8e7590227d22 701 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 702 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 703 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 704 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 705 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 706 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 707
Lightvalve 14:8e7590227d22 708 // feedforward input for position control
Lightvalve 30:8d561f16383b 709 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 710 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 711 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 712 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 713 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 714 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 715
Lightvalve 14:8e7590227d22 716 // feedback input for position control
Lightvalve 30:8d561f16383b 717 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 718
Lightvalve 14:8e7590227d22 719 // feedforward input for position control
Lightvalve 30:8d561f16383b 720 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 721
Lightvalve 14:8e7590227d22 722 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 723
Lightvalve 14:8e7590227d22 724 CurrentControl();
Lightvalve 19:23b7c1ad8683 725
Lightvalve 13:747daba9cf59 726 break;
Lightvalve 13:747daba9cf59 727 }
Lightvalve 19:23b7c1ad8683 728
Lightvalve 14:8e7590227d22 729 case MODE_JOINT_POSITION_PRES_CONTROL_CURRENT: {
Lightvalve 30:8d561f16383b 730 //float T_REF = 0.0; // Torque Reference
Lightvalve 30:8d561f16383b 731 float I_REF_FORCE_FB = 0.; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 732 float I_REF_VC = 0.; // I_REF for velocity compensation
Lightvalve 19:23b7c1ad8683 733
Lightvalve 14:8e7590227d22 734 // feedback input for position control
Lightvalve 30:8d561f16383b 735 //float Joint_Pos_Err = 34.0f-(float) pos.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 736 //float Joint_Vel_Err = 0.0f-(float) vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 737 //float K_spring = 0.7f;
Lightvalve 30:8d561f16383b 738 //float D_damper = 0.02f;
Lightvalve 14:8e7590227d22 739 // T_REF = K_spring * pos.err + D_damper * Joint_Vel_Err; // unit : Nm
Lightvalve 19:23b7c1ad8683 740
Lightvalve 14:8e7590227d22 741 // torque feedback
Lightvalve 15:bd0d12728506 742 torq.err = torq.ref - torq.sen;
Lightvalve 14:8e7590227d22 743 // torq.err_diff = torq.err - torq.err_old;
Lightvalve 14:8e7590227d22 744 // torq.err_old = torq.err;
Lightvalve 30:8d561f16383b 745 torq.err_sum = torq.err_sum + torq.err/(float)TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 746 I_REF_FORCE_FB = 0.001f*((float)P_GAIN_JOINT_TORQUE * torq.err + (float)I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 19:23b7c1ad8683 747
Lightvalve 14:8e7590227d22 748 // velocity compensation for torque control
Lightvalve 30:8d561f16383b 749 float Joint_Vel_Act = vel.sen/(float)ENC_PULSE_PER_POSITION; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 750 float K_vc = 1.5f; // Velocity comp. gain
Lightvalve 30:8d561f16383b 751 float K_v = 0.0f; // Valve gain
Lightvalve 30:8d561f16383b 752 if(Joint_Vel_Act > 0) K_v = 1.0f/100.0f; // open, tuning
Lightvalve 30:8d561f16383b 753 if(Joint_Vel_Act < 0) K_v = 1.0f/100.0f; // close, tuning
Lightvalve 14:8e7590227d22 754 I_REF_VC = K_vc*K_v*Joint_Vel_Act;
Lightvalve 19:23b7c1ad8683 755
Lightvalve 14:8e7590227d22 756 cur.ref = I_REF_VC + I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 757 // cur.ref = I_REF_FORCE_FB;
Lightvalve 19:23b7c1ad8683 758
Lightvalve 30:8d561f16383b 759 float I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 30:8d561f16383b 760 float Ka = 1.0f/I_GAIN_JOINT_TORQUE;
Lightvalve 14:8e7590227d22 761 if(cur.ref > I_MAX) {
Lightvalve 30:8d561f16383b 762 float I_rem = cur.ref-I_MAX;
Lightvalve 14:8e7590227d22 763 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 764 cur.ref = I_MAX;
Lightvalve 30:8d561f16383b 765 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 766 } else if(cur.ref < -I_MAX) {
Lightvalve 30:8d561f16383b 767 float I_rem = cur.ref-(-I_MAX);
Lightvalve 19:23b7c1ad8683 768 I_rem = Ka*I_rem;
Lightvalve 14:8e7590227d22 769 cur.ref = -I_MAX;
Lightvalve 30:8d561f16383b 770 torq.err_sum = torq.err_sum - I_rem/(float)TMR_FREQ_5k;
Lightvalve 14:8e7590227d22 771 }
Lightvalve 19:23b7c1ad8683 772
Lightvalve 14:8e7590227d22 773 CurrentControl();
Lightvalve 19:23b7c1ad8683 774
Lightvalve 19:23b7c1ad8683 775
Lightvalve 14:8e7590227d22 776 /*
Lightvalve 30:8d561f16383b 777 float I_REF_POS_FB = 0.0f; // I_REF by Position Feedback
Lightvalve 30:8d561f16383b 778 float I_REF_POS_FF = 0.0f; // I_REF by Position Feedforward
Lightvalve 30:8d561f16383b 779 float I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 30:8d561f16383b 780 float I_REF_FORCE_FF = 0.0f; // I_REF by Force Feedforward
Lightvalve 19:23b7c1ad8683 781
Lightvalve 14:8e7590227d22 782 // feedback input for position control
Lightvalve 14:8e7590227d22 783 pos.err = pos.ref - pos.sen;
Lightvalve 30:8d561f16383b 784 float alpha_update_vel = 1.0f/(1.0f+(float)FREQ_TMR4/(2.0f*3.1415f*50.0f)); // f_cutoff : 50Hz
Lightvalve 30:8d561f16383b 785 float err_diff = (pos.err - pos.err_old)*(float)FREQ_5k;
Lightvalve 30:8d561f16383b 786 pos.err_diff = (1.0f-alpha_update_vel)*pos.err_diff + alpha_update_vel*err_diff;
Lightvalve 14:8e7590227d22 787 pos.err_old = pos.err;
Lightvalve 30:8d561f16383b 788 I_REF_POS_FB = 0.001f*((float)P_GAIN_JOINT_POSITION * pos.err + (float)D_GAIN_JOINT_POSITION * pos.err_diff * 0.1f);
Lightvalve 19:23b7c1ad8683 789
Lightvalve 14:8e7590227d22 790 // feedforward input for position control
Lightvalve 30:8d561f16383b 791 float Vel_Act_Ref = vel.ref; // [pulse/s] >> [deg/s]
Lightvalve 30:8d561f16383b 792 float K_ff = 1.3f;
Lightvalve 30:8d561f16383b 793 float K_v = 0.0f;
Lightvalve 30:8d561f16383b 794 if(Vel_Act_Ref > 0) K_v = 1.0f/100.0f; // open, tuning. (deg/s >> mA)
Lightvalve 30:8d561f16383b 795 if(Vel_Act_Ref < 0) K_v = 1.0f/100.0f; // close, tuning. (deg/s >> mA)
Lightvalve 14:8e7590227d22 796 I_REF_POS_FF = K_ff*K_v*Vel_Act_Ref;
Lightvalve 19:23b7c1ad8683 797
Lightvalve 14:8e7590227d22 798 // feedback input for position control
Lightvalve 30:8d561f16383b 799 I_REF_FORCE_FB = 0.0f;
Lightvalve 19:23b7c1ad8683 800
Lightvalve 14:8e7590227d22 801 // feedforward input for position control
Lightvalve 30:8d561f16383b 802 I_REF_FORCE_FF = 0.0f;
Lightvalve 19:23b7c1ad8683 803
Lightvalve 14:8e7590227d22 804 cur.ref = I_REF_POS_FF + I_REF_POS_FB + I_REF_FORCE_FB + I_REF_FORCE_FF;
Lightvalve 19:23b7c1ad8683 805
Lightvalve 14:8e7590227d22 806 CurrentControl();
Lightvalve 14:8e7590227d22 807 */
Lightvalve 19:23b7c1ad8683 808
Lightvalve 13:747daba9cf59 809 break;
Lightvalve 13:747daba9cf59 810 }
Lightvalve 14:8e7590227d22 811
Lightvalve 14:8e7590227d22 812 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 813 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 814 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 815 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 816
Lightvalve 14:8e7590227d22 817 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 818 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 819 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 820
Lightvalve 30:8d561f16383b 821 TORQUE_VREF += 0.0001f * (TORQUE_NULL - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 822
Lightvalve 30:8d561f16383b 823 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 13:747daba9cf59 824 if (TORQUE_VREF < 0) TORQUE_VREF = 0;
Lightvalve 19:23b7c1ad8683 825
Lightvalve 16:903b5a4433b4 826 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 827
Lightvalve 16:903b5a4433b4 828 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 829 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 830 }
Lightvalve 13:747daba9cf59 831 } else {
Lightvalve 13:747daba9cf59 832 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 833 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 834 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 835 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 836
Lightvalve 16:903b5a4433b4 837 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 838
Lightvalve 16:903b5a4433b4 839 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 19:23b7c1ad8683 840
Lightvalve 17:1865016ca2e7 841 //pc.printf("%f\n", TORQUE_VREF);
Lightvalve 30:8d561f16383b 842 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 843
Lightvalve 13:747daba9cf59 844 }
Lightvalve 14:8e7590227d22 845 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 846 break;
Lightvalve 19:23b7c1ad8683 847 }
Lightvalve 14:8e7590227d22 848
Lightvalve 14:8e7590227d22 849 case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 14:8e7590227d22 850 if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 13:747daba9cf59 851 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 852 else temp_time = 0;
Lightvalve 13:747daba9cf59 853 }
Lightvalve 13:747daba9cf59 854 if (need_enc_init) {
Lightvalve 30:8d561f16383b 855 if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 856 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 857 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 858 } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 859 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 860 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 861 } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 13:747daba9cf59 862 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 863 }
Lightvalve 14:8e7590227d22 864
Lightvalve 14:8e7590227d22 865 if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 866 V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 867 VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 14:8e7590227d22 868
Lightvalve 30:8d561f16383b 869 } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 18:b8adf1582ea3 870 V_out = 0;
Lightvalve 13:747daba9cf59 871 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 14:8e7590227d22 872 } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 873 if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 874 else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 13:747daba9cf59 875 else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 13:747daba9cf59 876 else DZ_temp_cnt2 = DZ_end;
Lightvalve 13:747daba9cf59 877 CUR_VELOCITY_sum = 0;
Lightvalve 14:8e7590227d22 878 } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 879 if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 14:8e7590227d22 880
Lightvalve 13:747daba9cf59 881 // Position of Dead Zone
Lightvalve 13:747daba9cf59 882 // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 14:8e7590227d22 883 // | / | / |/
Lightvalve 13:747daba9cf59 884 // | ______/ ___|___/ ______/|
Lightvalve 13:747daba9cf59 885 // |/ / | / |
Lightvalve 13:747daba9cf59 886 // /| / | / |
Lightvalve 13:747daba9cf59 887 // 0V 0V 0V
Lightvalve 14:8e7590227d22 888
Lightvalve 13:747daba9cf59 889 if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 14:8e7590227d22 890 if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 13:747daba9cf59 891 CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 13:747daba9cf59 892 } else {
Lightvalve 18:b8adf1582ea3 893 V_out -= DZ_dir;
Lightvalve 13:747daba9cf59 894 if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 13:747daba9cf59 895 CUR_VELOCITY_sum = 0;
Lightvalve 13:747daba9cf59 896 }
Lightvalve 13:747daba9cf59 897 if (DZ_temp_cnt == 5) {
Lightvalve 18:b8adf1582ea3 898 if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 18:b8adf1582ea3 899 else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 13:747daba9cf59 900 DZ_dir = -DZ_dir;
Lightvalve 13:747daba9cf59 901 DZ_temp_cnt = 0;
Lightvalve 13:747daba9cf59 902 DZ_temp_cnt2++;
Lightvalve 13:747daba9cf59 903 }
Lightvalve 13:747daba9cf59 904 } else {
Lightvalve 14:8e7590227d22 905 TMR3_COUNT_DEADZONE = -1;
Lightvalve 13:747daba9cf59 906 VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 13:747daba9cf59 907 if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 13:747daba9cf59 908 VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 909 VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 13:747daba9cf59 910 }
Lightvalve 18:b8adf1582ea3 911 V_out = 0;
Lightvalve 19:23b7c1ad8683 912
Lightvalve 16:903b5a4433b4 913 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 914
Lightvalve 16:903b5a4433b4 915 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 16:903b5a4433b4 916 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 14:8e7590227d22 917
Lightvalve 13:747daba9cf59 918 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 919 DZ_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 920 }
Lightvalve 13:747daba9cf59 921 }
Lightvalve 14:8e7590227d22 922 TMR3_COUNT_DEADZONE++;
Lightvalve 13:747daba9cf59 923 break;
Lightvalve 13:747daba9cf59 924 }
Lightvalve 14:8e7590227d22 925
Lightvalve 14:8e7590227d22 926 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 927 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 928 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 929 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 930 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 29:69f3f5445d6d 931 pos.ref_home_pos = pos.sen;
Lightvalve 30:8d561f16383b 932 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 933 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 934 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 29:69f3f5445d6d 935 int cnt_check_enc = (TMR_FREQ_5k/500);
Lightvalve 29:69f3f5445d6d 936 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 937 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 938 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 939 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 940 }
Lightvalve 29:69f3f5445d6d 941 cnt_findhome++;
Lightvalve 30:8d561f16383b 942 //if(cnt_findhome == TMR_FREQ_5k) cnt_findhome = 0;
Lightvalve 14:8e7590227d22 943
Lightvalve 29:69f3f5445d6d 944 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 945 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 946 } else {
Lightvalve 29:69f3f5445d6d 947 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 948 }
Lightvalve 19:23b7c1ad8683 949
Lightvalve 30:8d561f16383b 950 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome <= 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 951 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 30:8d561f16383b 952 if (HOMEPOS_OFFSET > 0) pos.ref_home_pos = pos.ref_home_pos + 2.0f;
Lightvalve 30:8d561f16383b 953 else pos.ref_home_pos = pos.ref_home_pos - 2.0f;
Lightvalve 29:69f3f5445d6d 954 pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 30:8d561f16383b 955 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 956 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 957 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 958 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 959 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 960
Lightvalve 30:8d561f16383b 961 //float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 962 //I_REF = 0.04f*wn_Pos*((float)joint_pos_err/ENC_PULSE_PER_POSITION);
Lightvalve 29:69f3f5445d6d 963 //// L velocity >> mA convert
Lightvalve 30:8d561f16383b 964 //if(I_REF>5.0f) I_REF = 5.0f;
Lightvalve 30:8d561f16383b 965 //if(I_REF<-5.0f) I_REF = -5.0f;
Lightvalve 29:69f3f5445d6d 966 //FLAG_CURRNET_CONTROL = true;
Lightvalve 29:69f3f5445d6d 967 } else {
Lightvalve 29:69f3f5445d6d 968 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 29:69f3f5445d6d 969 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 970 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 971 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 972 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 973 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 974 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 975 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 976 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 977 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 978 }
Lightvalve 29:69f3f5445d6d 979 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 980 int T_move = 2*TMR_FREQ_5k;
Lightvalve 30:8d561f16383b 981 pos.ref_home_pos = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS;
Lightvalve 30:8d561f16383b 982 vel.ref_home_pos = 0.0f;
Lightvalve 19:23b7c1ad8683 983
Lightvalve 29:69f3f5445d6d 984 // input for position control
Lightvalve 30:8d561f16383b 985 pos.err = (pos.ref_home_pos - (float)pos.sen) / ENC_PULSE_PER_POSITION;
Lightvalve 30:8d561f16383b 986 float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 30:8d561f16383b 987 VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err;
Lightvalve 30:8d561f16383b 988 VALVE_POS_RAW_POS_FB = VALVE_POS_RAW_POS_FB * 0.01f;
Lightvalve 29:69f3f5445d6d 989 valve_pos.ref = VALVE_POS_RAW_POS_FB + DDV_CENTER;
Lightvalve 29:69f3f5445d6d 990 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 991
Lightvalve 19:23b7c1ad8683 992
Lightvalve 29:69f3f5445d6d 993 // if((OPERATING_MODE && 0x01) == 0) { // Rotary Mode
Lightvalve 30:8d561f16383b 994 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 995 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err)*PI/180.0f; // rad/s
Lightvalve 29:69f3f5445d6d 996 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 997 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 998 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 999 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1000 // // L thetadot(rad/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1001 // } else if ((OPERATING_MODE && 0x01) == 1) { // Linear Mode
Lightvalve 30:8d561f16383b 1002 // float wn_Pos = 2.0f*PI*5.0f; // f_cut : 10Hz Position Control
Lightvalve 30:8d561f16383b 1003 // float temp_vel = ( 0.01f * (float)P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 29:69f3f5445d6d 1004 // // L when P-gain = 100, f_cut = 10Hz
Lightvalve 30:8d561f16383b 1005 // if (temp_vel > 0.0f ) I_REF = temp_vel*((float)PISTON_AREA_A*0.00006f/(K_v*sqrt(2.0f*alpha3/(alpha3+1.0f))));
Lightvalve 30:8d561f16383b 1006 // else I_REF = temp_vel*((float)PISTON_AREA_B*0.00006f/(K_v*sqrt(2.0f/(alpha3+1.0f))));
Lightvalve 29:69f3f5445d6d 1007 // // ------------------------------------------------------------------------
Lightvalve 29:69f3f5445d6d 1008 // // L xdot(mm/s) >> I_ref(mA)
Lightvalve 29:69f3f5445d6d 1009 // }
Lightvalve 29:69f3f5445d6d 1010
Lightvalve 29:69f3f5445d6d 1011 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1012 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1013 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1014 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1015 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1016 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1017 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1018 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1019 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 29:69f3f5445d6d 1020 CONTROL_MODE = MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION;
Lightvalve 29:69f3f5445d6d 1021 }
Lightvalve 13:747daba9cf59 1022 }
Lightvalve 19:23b7c1ad8683 1023
Lightvalve 13:747daba9cf59 1024 break;
Lightvalve 13:747daba9cf59 1025 }
Lightvalve 14:8e7590227d22 1026
Lightvalve 14:8e7590227d22 1027 case MODE_VALVE_GAIN_SETTING: {
Lightvalve 14:8e7590227d22 1028 if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 13:747daba9cf59 1029 if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 13:747daba9cf59 1030 else {
Lightvalve 18:b8adf1582ea3 1031 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1032 temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 13:747daba9cf59 1033 }
Lightvalve 13:747daba9cf59 1034 }
Lightvalve 13:747daba9cf59 1035 if (need_enc_init) {
Lightvalve 30:8d561f16383b 1036 if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1037 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1038 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1039 } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1040 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1041 pos_minus_end = pos.sen;
Lightvalve 14:8e7590227d22 1042 } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1043 need_enc_init = false;
Lightvalve 30:8d561f16383b 1044 check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 30:8d561f16383b 1045 check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 13:747daba9cf59 1046 check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 13:747daba9cf59 1047 }
Lightvalve 13:747daba9cf59 1048 temp_time = TMR_FREQ_5k;
Lightvalve 13:747daba9cf59 1049 }
Lightvalve 14:8e7590227d22 1050 TMR3_COUNT_FLOWRATE++;
Lightvalve 14:8e7590227d22 1051 if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 13:747daba9cf59 1052 if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 30:8d561f16383b 1053 VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1054 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1055 if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1056 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1057 } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1058 VALVE_GAIN_LPM_PER_V[flag_flowrate] = 0.95873f * 0.5757f * (float) TMR_FREQ_5k / 10000.0 * (float) check_vel_pos_interv / (float) fl_temp_cnt / VALVE_VOLTAGE; // 0.9587=6*pi/65536*10000 0.5757=0.02525*0.02*0.0095*2*60*1000
Lightvalve 30:8d561f16383b 1059 // 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 13:747daba9cf59 1060 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1061 }
Lightvalve 13:747daba9cf59 1062 } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 30:8d561f16383b 1063 VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 18:b8adf1582ea3 1064 V_out = VALVE_VOLTAGE;
Lightvalve 14:8e7590227d22 1065 if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 13:747daba9cf59 1066 fl_temp_cnt++;
Lightvalve 14:8e7590227d22 1067 } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 30:8d561f16383b 1068 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 30:8d561f16383b 1069 // 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 13:747daba9cf59 1070 fl_temp_cnt2++;
Lightvalve 13:747daba9cf59 1071 }
Lightvalve 13:747daba9cf59 1072 }
Lightvalve 13:747daba9cf59 1073 if (fl_temp_cnt2 == 100) {
Lightvalve 19:23b7c1ad8683 1074
Lightvalve 16:903b5a4433b4 1075 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1076
Lightvalve 30:8d561f16383b 1077 //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 13:747daba9cf59 1078 cur_vel_sum = 0;
Lightvalve 13:747daba9cf59 1079 fl_temp_cnt = 0;
Lightvalve 13:747daba9cf59 1080 fl_temp_cnt2 = 0;
Lightvalve 13:747daba9cf59 1081 flag_flowrate++;
Lightvalve 13:747daba9cf59 1082 }
Lightvalve 13:747daba9cf59 1083 if (flag_flowrate == 10) {
Lightvalve 18:b8adf1582ea3 1084 V_out = 0;
Lightvalve 13:747daba9cf59 1085 flag_flowrate = 0;
Lightvalve 14:8e7590227d22 1086 TMR3_COUNT_FLOWRATE = 0;
Lightvalve 13:747daba9cf59 1087 valve_gain_repeat_cnt++;
Lightvalve 13:747daba9cf59 1088 if (valve_gain_repeat_cnt >= 1) {
Lightvalve 13:747daba9cf59 1089 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1090 valve_gain_repeat_cnt = 0;
Lightvalve 13:747daba9cf59 1091 }
Lightvalve 14:8e7590227d22 1092
Lightvalve 13:747daba9cf59 1093 }
Lightvalve 13:747daba9cf59 1094 break;
Lightvalve 13:747daba9cf59 1095 }
Lightvalve 14:8e7590227d22 1096
Lightvalve 13:747daba9cf59 1097 }
Lightvalve 14:8e7590227d22 1098
Lightvalve 14:8e7590227d22 1099 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1100 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1101 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1102 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1103 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1104
Lightvalve 14:8e7590227d22 1105 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1106 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1107 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1108 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1109 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1110
Lightvalve 30:8d561f16383b 1111 float VREF_NullingGain = 0.003f;
Lightvalve 13:747daba9cf59 1112 PRES_A_VREF -= VREF_NullingGain * (PRES_A_NULL - CUR_PRES_A_mean);
Lightvalve 13:747daba9cf59 1113 PRES_B_VREF -= VREF_NullingGain * (PRES_B_NULL - CUR_PRES_B_mean);
Lightvalve 14:8e7590227d22 1114
Lightvalve 30:8d561f16383b 1115 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1116 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1117 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1118 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1119
Lightvalve 30:8d561f16383b 1120 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1121 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1122 }
Lightvalve 13:747daba9cf59 1123 } else {
Lightvalve 13:747daba9cf59 1124 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1125 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1126 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1127 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1128 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1129 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1130
Lightvalve 16:903b5a4433b4 1131 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1132
Lightvalve 30:8d561f16383b 1133 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1134 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1135 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1136 }
Lightvalve 14:8e7590227d22 1137 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1138 break;
Lightvalve 13:747daba9cf59 1139 }
Lightvalve 14:8e7590227d22 1140
Lightvalve 14:8e7590227d22 1141 case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 14:8e7590227d22 1142 if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1143 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1144 if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1145 CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 13:747daba9cf59 1146 }
Lightvalve 14:8e7590227d22 1147 } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 18:b8adf1582ea3 1148 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1149 if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 13:747daba9cf59 1150 CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 13:747daba9cf59 1151 }
Lightvalve 13:747daba9cf59 1152 } else {
Lightvalve 13:747daba9cf59 1153 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1154 TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 18:b8adf1582ea3 1155 V_out = 0;
Lightvalve 30:8d561f16383b 1156 PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 30:8d561f16383b 1157 PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 30:8d561f16383b 1158 PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 30:8d561f16383b 1159 PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 13:747daba9cf59 1160 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1161 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1162 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1163 CUR_PRES_B_mean = 0;
Lightvalve 19:23b7c1ad8683 1164
Lightvalve 16:903b5a4433b4 1165 ROM_RESET_DATA();
Lightvalve 14:8e7590227d22 1166
Lightvalve 30:8d561f16383b 1167 //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 30:8d561f16383b 1168 //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 13:747daba9cf59 1169 }
Lightvalve 14:8e7590227d22 1170 TMR3_COUNT_PRES_CALIB++;
Lightvalve 13:747daba9cf59 1171 break;
Lightvalve 13:747daba9cf59 1172 }
Lightvalve 14:8e7590227d22 1173
Lightvalve 14:8e7590227d22 1174 case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 30:8d561f16383b 1175 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 30:8d561f16383b 1176 V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 18:b8adf1582ea3 1177 if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 18:b8adf1582ea3 1178 else V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1179 TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 14:8e7590227d22 1180 if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 14:8e7590227d22 1181 TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 30:8d561f16383b 1182 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1183 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1184 }
Lightvalve 13:747daba9cf59 1185 break;
Lightvalve 13:747daba9cf59 1186 }
Lightvalve 14:8e7590227d22 1187
Lightvalve 14:8e7590227d22 1188 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 13:747daba9cf59 1189 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1190
Lightvalve 14:8e7590227d22 1191 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 30:8d561f16383b 1192 V_out = 3000.0f * sin(2*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1193 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 30:8d561f16383b 1194 V_out = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1195 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1196 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1197 data_num = 0;
Lightvalve 14:8e7590227d22 1198 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1199 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1200 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1201 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1202 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1203 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1204 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1205 }
Lightvalve 14:8e7590227d22 1206
Lightvalve 17:1865016ca2e7 1207 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1208 int i;
Lightvalve 13:747daba9cf59 1209 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1210 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1211 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1212 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1213 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1214 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1215 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1216 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1217 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1218 }
Lightvalve 13:747daba9cf59 1219 }
Lightvalve 27:a2254a485f23 1220 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1221 ID_index = 0;
Lightvalve 13:747daba9cf59 1222 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1223 }
Lightvalve 14:8e7590227d22 1224
Lightvalve 14:8e7590227d22 1225
Lightvalve 13:747daba9cf59 1226 break;
Lightvalve 13:747daba9cf59 1227 }
Lightvalve 14:8e7590227d22 1228
Lightvalve 14:8e7590227d22 1229 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 14:8e7590227d22 1230
Lightvalve 13:747daba9cf59 1231 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1232 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1233 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1234 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1235 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1236 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1237 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1238 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1239 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1240 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1241 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1242 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1243 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1244 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1245 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1246 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1247 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1248 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1249 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1250 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 13:747daba9cf59 1251 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1252 START_POS = pos.sen;
Lightvalve 23:59218d4a256d 1253 //CAN_TX_PRES((int16_t) (DDV_POS_AVG), (int16_t) (data_num));
Lightvalve 13:747daba9cf59 1254 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1255 data_num = 0;
Lightvalve 14:8e7590227d22 1256
Lightvalve 30:8d561f16383b 1257 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1258 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1259 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1260 //CAN_TX_PRES((int16_t) (VALVE_MAX_POS), (int16_t) (VALVE_MIN_POS));
Lightvalve 14:8e7590227d22 1261
Lightvalve 30:8d561f16383b 1262 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1263 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1264 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1265 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1266 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1267 else
Lightvalve 13:747daba9cf59 1268 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1269 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1270 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1271 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1272 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1273 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1274 // {
Lightvalve 14:8e7590227d22 1275 // DZ_case = 1;
Lightvalve 14:8e7590227d22 1276 // }
Lightvalve 14:8e7590227d22 1277 // else
Lightvalve 14:8e7590227d22 1278 // {
Lightvalve 14:8e7590227d22 1279 // DZ_case = -1;
Lightvalve 14:8e7590227d22 1280 // }
Lightvalve 14:8e7590227d22 1281 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1282 // {
Lightvalve 14:8e7590227d22 1283 // DZ_case = 0;
Lightvalve 14:8e7590227d22 1284 // }
Lightvalve 14:8e7590227d22 1285
Lightvalve 14:8e7590227d22 1286 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1287 DZ_case = 1;
Lightvalve 14:8e7590227d22 1288 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 13:747daba9cf59 1289 DZ_case = -1;
Lightvalve 14:8e7590227d22 1290 } else {
Lightvalve 13:747daba9cf59 1291 DZ_case = 0;
Lightvalve 13:747daba9cf59 1292 }
Lightvalve 14:8e7590227d22 1293
Lightvalve 14:8e7590227d22 1294 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1295 first_check = 1;
Lightvalve 13:747daba9cf59 1296 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1297 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1298 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1299 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1300 DZ_index = 1;
Lightvalve 18:b8adf1582ea3 1301 //CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (DZ_NUM));
Lightvalve 14:8e7590227d22 1302
Lightvalve 13:747daba9cf59 1303 }
Lightvalve 19:23b7c1ad8683 1304 } else {
Lightvalve 14:8e7590227d22 1305 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1306 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1307 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1308 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1309 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1310 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1311 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1312 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1313 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1314 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1315 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1316 }
Lightvalve 14:8e7590227d22 1317 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1318 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1319 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1320 else
Lightvalve 13:747daba9cf59 1321 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1322 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1323 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1324 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1325 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1326 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1327 // else
Lightvalve 14:8e7590227d22 1328 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1329 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1330 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1331
Lightvalve 14:8e7590227d22 1332 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1333 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1334 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1335 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1336 } else {
Lightvalve 13:747daba9cf59 1337 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1338 }
Lightvalve 14:8e7590227d22 1339
Lightvalve 14:8e7590227d22 1340 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1341
Lightvalve 13:747daba9cf59 1342 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1343 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1344 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1345 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1346 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1347 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1348 DZ_index = 1;
Lightvalve 13:747daba9cf59 1349 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1350 }
Lightvalve 14:8e7590227d22 1351
Lightvalve 13:747daba9cf59 1352 //CAN_TX_PRES((int16_t) (1), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1353 }
Lightvalve 14:8e7590227d22 1354 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 30:8d561f16383b 1355 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1356 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1357 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1358 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1359 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1360 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1361 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1362 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1363 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1364 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1365 }
Lightvalve 14:8e7590227d22 1366 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1367 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1368 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1369 else
Lightvalve 13:747daba9cf59 1370 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1371 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1372 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1373 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1374 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1375 // DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1376 // else
Lightvalve 14:8e7590227d22 1377 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1378 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1379 // DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1380
Lightvalve 14:8e7590227d22 1381 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1382 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1383 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1384 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1385 } else {
Lightvalve 13:747daba9cf59 1386 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1387 }
Lightvalve 14:8e7590227d22 1388
Lightvalve 14:8e7590227d22 1389 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1390
Lightvalve 14:8e7590227d22 1391
Lightvalve 13:747daba9cf59 1392 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1393 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1394 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1395 SECOND_DZ = valve_pos.ref;
Lightvalve 30:8d561f16383b 1396 DDV_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1397 first_check = 0;
Lightvalve 19:23b7c1ad8683 1398 VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve 19:23b7c1ad8683 1399 VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1400
Lightvalve 16:903b5a4433b4 1401 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1402
Lightvalve 16:903b5a4433b4 1403 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 16:903b5a4433b4 1404 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 18:b8adf1582ea3 1405 //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve 13:747daba9cf59 1406 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1407 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1408 DZ_index = 1;
Lightvalve 13:747daba9cf59 1409 }
Lightvalve 14:8e7590227d22 1410
Lightvalve 23:59218d4a256d 1411 //CAN_TX_PRES((int16_t) (2), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1412 }
Lightvalve 14:8e7590227d22 1413 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1414 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1415 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1416 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1417 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1418 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1419 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1420 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1421 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1422 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1423 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1424 }
Lightvalve 14:8e7590227d22 1425 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1426 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1427 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1428 else
Lightvalve 13:747daba9cf59 1429 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1430 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1431 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1432 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1433 // if(VEL_POINT >= 0)
Lightvalve 14:8e7590227d22 1434 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1435 // else
Lightvalve 14:8e7590227d22 1436 // DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1437 // if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 14:8e7590227d22 1438 // DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1439
Lightvalve 14:8e7590227d22 1440 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1441 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1442 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1443 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1444 } else {
Lightvalve 13:747daba9cf59 1445 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1446 }
Lightvalve 14:8e7590227d22 1447
Lightvalve 14:8e7590227d22 1448 VEL_POINT = 0;
Lightvalve 13:747daba9cf59 1449 //CAN_TX_PRES((int16_t) (7), (int16_t) (DZ_DIRECTION));
Lightvalve 13:747daba9cf59 1450 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1451 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1452 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1453 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1454 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1455 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1456 DZ_index = 1;
Lightvalve 13:747daba9cf59 1457 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1458 }
Lightvalve 13:747daba9cf59 1459 }
Lightvalve 14:8e7590227d22 1460 } else {
Lightvalve 30:8d561f16383b 1461 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1462 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1463 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1464 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1465 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1466 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1467 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1468 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1469 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1470 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1471 }
Lightvalve 14:8e7590227d22 1472 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1473 if(CUR_VELOCITY >= 0)
Lightvalve 13:747daba9cf59 1474 VEL_POINT = VEL_POINT + 1;
Lightvalve 13:747daba9cf59 1475 else
Lightvalve 13:747daba9cf59 1476 VEL_POINT = VEL_POINT - 1;
Lightvalve 30:8d561f16383b 1477 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1478 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1479 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1480 if(VEL_POINT >= 0)
Lightvalve 13:747daba9cf59 1481 DZ_DIRECTION = -1;
Lightvalve 13:747daba9cf59 1482 else
Lightvalve 13:747daba9cf59 1483 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1484 if(abs(FINAL_POS - START_POS) < 100)
Lightvalve 13:747daba9cf59 1485 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1486
Lightvalve 14:8e7590227d22 1487 VEL_POINT = 0;
Lightvalve 14:8e7590227d22 1488
Lightvalve 14:8e7590227d22 1489
Lightvalve 13:747daba9cf59 1490 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1491 //CAN_TX_PRES((int16_t) (3), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1492 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1493 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1494 SECOND_DZ = valve_pos.ref;
Lightvalve 30:8d561f16383b 1495 DDV_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1496 first_check = 0;
Lightvalve 13:747daba9cf59 1497 VALVE_DEADZONE_MINUS = FIRST_DZ;
Lightvalve 16:903b5a4433b4 1498 //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, FIRST_DZ);
Lightvalve 13:747daba9cf59 1499 VALVE_DEADZONE_PLUS = SECOND_DZ;
Lightvalve 27:a2254a485f23 1500
Lightvalve 27:a2254a485f23 1501 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1502
Lightvalve 16:903b5a4433b4 1503 //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, SECOND_DZ);
Lightvalve 18:b8adf1582ea3 1504 //spi_eeprom_write(RID_DDV_CENTER, DDV_CENTER);
Lightvalve 23:59218d4a256d 1505 //CAN_TX_PRES((int16_t) FIRST_DZ, (int16_t) SECOND_DZ);
Lightvalve 13:747daba9cf59 1506 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1507 DZ_index = 1;
Lightvalve 13:747daba9cf59 1508 }
Lightvalve 14:8e7590227d22 1509
Lightvalve 13:747daba9cf59 1510 //CAN_TX_PRES((int16_t) (4), (int16_t) (DZ_index));
Lightvalve 13:747daba9cf59 1511 }
Lightvalve 13:747daba9cf59 1512 }
Lightvalve 14:8e7590227d22 1513 }
Lightvalve 13:747daba9cf59 1514 break;
Lightvalve 13:747daba9cf59 1515 }
Lightvalve 14:8e7590227d22 1516
Lightvalve 14:8e7590227d22 1517 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 13:747daba9cf59 1518 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1519 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1520 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1521 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 23:59218d4a256d 1522 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1523 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1524 V_out = VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1525 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1526 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1527 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 18:b8adf1582ea3 1528 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 30:8d561f16383b 1529 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1530 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 18:b8adf1582ea3 1531 V_out = -VALVE_VOLTAGE_LIMIT;
Lightvalve 14:8e7590227d22 1532 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1533 first_check = 1;
Lightvalve 13:747daba9cf59 1534 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1535 valve_pos.ref = DDV_CENTER;
Lightvalve 13:747daba9cf59 1536 ID_index = 0;
Lightvalve 13:747daba9cf59 1537 max_check = 0;
Lightvalve 13:747daba9cf59 1538 min_check = 0;
Lightvalve 13:747daba9cf59 1539 }
Lightvalve 14:8e7590227d22 1540 } else {
Lightvalve 30:8d561f16383b 1541 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 30:8d561f16383b 1542 V_out = (float) P_GAIN_JOINT_POSITION * 0.01f* (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen);
Lightvalve 30:8d561f16383b 1543 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1544 data_num = 0;
Lightvalve 19:23b7c1ad8683 1545 valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1546
Lightvalve 14:8e7590227d22 1547 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1548 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1549 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 19:23b7c1ad8683 1550 valve_pos.ref = 10*(ID_index_array[ID_index]) + DDV_CENTER;
Lightvalve 14:8e7590227d22 1551 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1552 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1553 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1554 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1555 one_period_end = 1;
Lightvalve 13:747daba9cf59 1556 }
Lightvalve 30:8d561f16383b 1557 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1558 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1559 one_period_end = 1;
Lightvalve 13:747daba9cf59 1560 }
Lightvalve 14:8e7590227d22 1561
Lightvalve 14:8e7590227d22 1562 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1563 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1564 max_check = 1;
Lightvalve 14:8e7590227d22 1565 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1566 min_check = 1;
Lightvalve 13:747daba9cf59 1567 }
Lightvalve 13:747daba9cf59 1568 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1569
Lightvalve 19:23b7c1ad8683 1570 //ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1571
Lightvalve 16:903b5a4433b4 1572 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0 + ID_index, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 16:903b5a4433b4 1573 //spi_eeprom_write(RID_VALVE_POS_VS_FLOWRATE_0_1 + ID_index, (int16_t) ((JOINT_VEL[ID_index] >> 16) & 0xFFFF));
Lightvalve 13:747daba9cf59 1574 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1575 one_period_end = 0;
Lightvalve 13:747daba9cf59 1576 ID_index= ID_index +1;
Lightvalve 14:8e7590227d22 1577 // CAN_TX_PRES((int16_t) (valve_pos.ref), (int16_t) (ID_index));
Lightvalve 30:8d561f16383b 1578 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1579 }
Lightvalve 14:8e7590227d22 1580
Lightvalve 14:8e7590227d22 1581 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1582
Lightvalve 16:903b5a4433b4 1583 //spi_eeprom_write(RID_VALVE_POS_NUM, (int16_t) (ID_index));
Lightvalve 13:747daba9cf59 1584 VALVE_POS_NUM = ID_index;
Lightvalve 27:a2254a485f23 1585 //ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1586 ID_index = 0;
Lightvalve 13:747daba9cf59 1587 first_check = 0;
Lightvalve 13:747daba9cf59 1588 VALVE_FR_timer = 0;
Lightvalve 14:8e7590227d22 1589 // CAN_TX_PRES((int16_t) (123), (int16_t) (123));
Lightvalve 13:747daba9cf59 1590 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1591 }
Lightvalve 13:747daba9cf59 1592 }
Lightvalve 13:747daba9cf59 1593 break;
Lightvalve 13:747daba9cf59 1594 }
Lightvalve 14:8e7590227d22 1595
Lightvalve 12:6f2531038ea4 1596 default:
Lightvalve 12:6f2531038ea4 1597 break;
Lightvalve 12:6f2531038ea4 1598 }
Lightvalve 14:8e7590227d22 1599
Lightvalve 13:747daba9cf59 1600 if (FLAG_VALVE_OUTPUT_CALIB) {
Lightvalve 13:747daba9cf59 1601 // Valve Dead Zone (Mechanical dead-zone canceling)
Lightvalve 14:8e7590227d22 1602 // if (CONTROL_MODE != MODE_VALVE_NULLING_AND_DEADZONE_SETTING) {
Lightvalve 14:8e7590227d22 1603 // if (V_out > 0.) {
Lightvalve 14:8e7590227d22 1604 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1605 // } else if (V_out < 0.) {
Lightvalve 14:8e7590227d22 1606 // VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1607 // } else VALVE_PWM_VALVE_DZ = (int) V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1608 // } else VALVE_PWM_VALVE_DZ = (int) V_out;
Lightvalve 14:8e7590227d22 1609
Lightvalve 14:8e7590227d22 1610 if(V_out>0) V_out = V_out + VALVE_DEADZONE_PLUS;
Lightvalve 14:8e7590227d22 1611 else if(V_out<0) V_out = V_out + VALVE_DEADZONE_MINUS;
Lightvalve 14:8e7590227d22 1612
Lightvalve 14:8e7590227d22 1613 VALVE_PWM_VALVE_DZ = V_out + VALVE_CENTER;
Lightvalve 14:8e7590227d22 1614
Lightvalve 13:747daba9cf59 1615 // Output Voltage Linearization and Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 30:8d561f16383b 1616 float CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ/5.0f*1000.0f; // convert PWM duty to mV
Lightvalve 30:8d561f16383b 1617 float CUR_PWM_DZ = PWM_duty_byLT(CUR_PWM_nonlin);
Lightvalve 14:8e7590227d22 1618
Lightvalve 14:8e7590227d22 1619 if (CUR_PWM_DZ > 0) V_out = (int)CUR_PWM_DZ + 143;
Lightvalve 14:8e7590227d22 1620 else if (CUR_PWM_DZ < 0) V_out = (int)CUR_PWM_DZ - 138;
Lightvalve 14:8e7590227d22 1621 else V_out = CUR_PWM_DZ;
Lightvalve 13:747daba9cf59 1622 } else {
Lightvalve 17:1865016ca2e7 1623 V_out = V_out;
Lightvalve 13:747daba9cf59 1624 }
Lightvalve 14:8e7590227d22 1625
jobuuu 7:e9086c72bb22 1626 /*******************************************************
jobuuu 7:e9086c72bb22 1627 *** PWM
jobuuu 7:e9086c72bb22 1628 ********************************************************/
Lightvalve 30:8d561f16383b 1629 if (V_out >= 12000.0f){
Lightvalve 30:8d561f16383b 1630 V_out = 12000.0f;
Lightvalve 27:a2254a485f23 1631 }
Lightvalve 30:8d561f16383b 1632 else if(V_out<=-12000.0f){
Lightvalve 30:8d561f16383b 1633 V_out = -12000.0f;
Lightvalve 27:a2254a485f23 1634 }
Lightvalve 18:b8adf1582ea3 1635 PWM_out= V_out/SUPPLY_VOLTAGE; // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1636
jobuuu 2:a1c0a37df760 1637 // Saturation of output voltage to 5.0V
Lightvalve 17:1865016ca2e7 1638 // if(PWM_out > 0.41667) PWM_out=0.41667; //5.0/12.0 = 0.41667
Lightvalve 17:1865016ca2e7 1639 // else if (PWM_out < -0.41667) PWM_out=-0.41667;
Lightvalve 19:23b7c1ad8683 1640
Lightvalve 19:23b7c1ad8683 1641 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1642 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1643 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1644
Lightvalve 30:8d561f16383b 1645 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1646 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1647 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1648 } else {
jobuuu 2:a1c0a37df760 1649 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1650 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1651 }
Lightvalve 13:747daba9cf59 1652
jobuuu 1:e04e563be5ce 1653 //pwm
Lightvalve 30:8d561f16383b 1654 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1655 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 13:747daba9cf59 1656
jobuuu 1:e04e563be5ce 1657 }
Lightvalve 11:82d8768d7351 1658 TIM3->SR = 0x0; // reset the status register
Lightvalve 21:e5f1a43ea6f9 1659
jobuuu 7:e9086c72bb22 1660 }
jobuuu 7:e9086c72bb22 1661
Lightvalve 20:806196fda269 1662
Lightvalve 20:806196fda269 1663
Lightvalve 20:806196fda269 1664 //unsigned long CNT_TMR5 = 0;
Lightvalve 30:8d561f16383b 1665 //float FREQ_TMR5 = (float)FREQ_500;
Lightvalve 30:8d561f16383b 1666 //float DT_TMR5 = (float)DT_500;
Lightvalve 23:59218d4a256d 1667 extern "C" void TIM2_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 1668 {
Lightvalve 23:59218d4a256d 1669 if (TIM2->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 1670
Lightvalve 20:806196fda269 1671 //CAN ----------------------------------------------------------------------
Lightvalve 20:806196fda269 1672 if (flag_data_request[0] == HIGH) {
Lightvalve 20:806196fda269 1673 //position+velocity
Lightvalve 20:806196fda269 1674 CAN_TX_POSITION((int32_t) pos.sen, (int32_t) vel.sen);
Lightvalve 20:806196fda269 1675 //CAN_TX_POSITION((int32_t) valve_pos.ref, (int32_t) 0);
Lightvalve 20:806196fda269 1676 //CAN_TX_POSITION((int32_t) VALVE_PWM_RAW_FF, (int32_t) VALVE_POS_VS_PWM[10]);
Lightvalve 20:806196fda269 1677 //pc.printf("can good");
Lightvalve 20:806196fda269 1678 // CAN_TX_POSITION((long) CUR_PRES_A_BAR, (long) CUR_PRES_B_BAR);
Lightvalve 20:806196fda269 1679 }
Lightvalve 20:806196fda269 1680
Lightvalve 20:806196fda269 1681 if (flag_data_request[1] == HIGH) {
Lightvalve 20:806196fda269 1682 //torque
Lightvalve 20:806196fda269 1683 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM * 100.));
Lightvalve 20:806196fda269 1684 //CAN_TX_TORQUE((int16_t) (CUR_TORQUE_NM));
Lightvalve 20:806196fda269 1685 CAN_TX_TORQUE((int16_t) (cur.sen));
Lightvalve 20:806196fda269 1686 // CAN_TX_TORQUE((int16_t) DZ_temp_cnt);
Lightvalve 20:806196fda269 1687 }
Lightvalve 20:806196fda269 1688
Lightvalve 20:806196fda269 1689 if (flag_data_request[2] == HIGH) {
Lightvalve 20:806196fda269 1690 //pressure A and B
Lightvalve 20:806196fda269 1691 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (PRES_A_VREF)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1692 CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar)
Lightvalve 20:806196fda269 1693 // CAN_TX_PRES((int16_t) (CUR_PRES_A_BAR * 100.), (int16_t) (CUR_PRES_B_BAR * 100.));
Lightvalve 20:806196fda269 1694 // CAN_TX_PRES((int16_t) ((DEADZONE_MINUS + 1.)*1000.), (int16_t) ((DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1695 // CAN_TX_PRES((int16_t) DZ_dir, (int16_t) ((VALVE_DEADZONE_PLUS + 1.))*1000.);
Lightvalve 20:806196fda269 1696
Lightvalve 20:806196fda269 1697 }
Lightvalve 20:806196fda269 1698
Lightvalve 20:806196fda269 1699 if (flag_data_request[3] == HIGH) {
Lightvalve 20:806196fda269 1700 //PWM
Lightvalve 20:806196fda269 1701 CAN_TX_PWM((int16_t) CUR_PWM);
Lightvalve 20:806196fda269 1702 // CAN_TX_PWM((int16_t) cnt_vel_findhome);
Lightvalve 20:806196fda269 1703 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE * 1000.));
Lightvalve 20:806196fda269 1704 // CAN_TX_PWM((int16_t) (VALVE_VOLTAGE_VALVE_DZ * 1000.));
Lightvalve 20:806196fda269 1705
Lightvalve 20:806196fda269 1706 }
Lightvalve 20:806196fda269 1707
Lightvalve 20:806196fda269 1708 if (flag_data_request[4] == HIGH) {
Lightvalve 20:806196fda269 1709 //valve position
Lightvalve 27:a2254a485f23 1710 CAN_TX_VALVE_POSITION((int16_t) (value), (int16_t) valve_pos.ref, (int16_t) V_out);
Lightvalve 20:806196fda269 1711 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0, (int16_t) (JOINT_VEL[ID_index] & 0xFFFF));
Lightvalve 20:806196fda269 1712 //SPI_ROM_WRITE(RID_VALVE_POS_VS_FLOWRATE_0_1, (int16_t) ((0xFEF1>>16) & 0xFFFF));
Lightvalve 20:806196fda269 1713
Lightvalve 20:806196fda269 1714
Lightvalve 20:806196fda269 1715 //CAN_TX_VALVE_POSITION((int16_t) (VALVE_POS_NUM));
Lightvalve 20:806196fda269 1716 // CAN_TX_VALVE_POSITIOfxN((int16_t) (VALVE_FF_VOLTAGE / SUPPLY_VOLTAGE));
Lightvalve 20:806196fda269 1717 // CAN_TX_VALVE_POSITION((int16_t) P_GAIN_JOINT_POSITION);
Lightvalve 20:806196fda269 1718 // CAN_TX_VALVE_POSITION((int16_t) Ref_Joint_Pos);
Lightvalve 20:806196fda269 1719 // CAN_TX_VALVE_POSITION((int16_t) flag_flowrate);
Lightvalve 20:806196fda269 1720 }
Lightvalve 20:806196fda269 1721
Lightvalve 20:806196fda269 1722 }
Lightvalve 23:59218d4a256d 1723 TIM2->SR = 0x0; // reset the status register
Lightvalve 20:806196fda269 1724 }
Lightvalve 20:806196fda269 1725
Lightvalve 20:806196fda269 1726
Lightvalve 20:806196fda269 1727
Lightvalve 13:747daba9cf59 1728 void CurrentControl()
Lightvalve 13:747daba9cf59 1729 {
jobuuu 7:e9086c72bb22 1730 cur.err = cur.ref - cur.sen;
jobuuu 7:e9086c72bb22 1731 cur.err_int = cur.err_int + cur.err*DT_TMR4;
jobuuu 7:e9086c72bb22 1732 cur.err_diff = (cur.err - cur.err_old)*FREQ_TMR4;
jobuuu 7:e9086c72bb22 1733 cur.err_old = cur.err;
jobuuu 7:e9086c72bb22 1734
Lightvalve 30:8d561f16383b 1735 float R_model = 150.0f; // ohm
Lightvalve 30:8d561f16383b 1736 float L_model = 0.3f;
Lightvalve 30:8d561f16383b 1737 float w0 = 2.0f*3.14f*90.0f;
Lightvalve 30:8d561f16383b 1738 float KP_I = L_model*w0;
Lightvalve 30:8d561f16383b 1739 float KI_I = R_model*w0;
Lightvalve 30:8d561f16383b 1740 float KD_I = 0.0f;
jobuuu 7:e9086c72bb22 1741
Lightvalve 30:8d561f16383b 1742 float FF_gain = 0.0f;
jobuuu 7:e9086c72bb22 1743 V_out = (int) (KP_I * cur.err + KI_I * cur.err_int + KD_I * cur.err_diff);
jobuuu 7:e9086c72bb22 1744 // V_out = V_out + FF_gain * (R_model*I_REF); // Unit : mV
jobuuu 7:e9086c72bb22 1745 V_out = V_out + FF_gain * (R_model*cur.ref + L_model*cur.ref_diff); // Unit : mV
Lightvalve 13:747daba9cf59 1746
Lightvalve 30:8d561f16383b 1747 float Ka = 5.0f/KP_I;
jobuuu 7:e9086c72bb22 1748 if(V_out > V_MAX) {
jobuuu 7:e9086c72bb22 1749 V_rem = V_out-V_MAX;
jobuuu 7:e9086c72bb22 1750 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1751 V_out = V_MAX;
jobuuu 7:e9086c72bb22 1752 cur.err_int = cur.err_int - V_rem*DT_5k;
jobuuu 7:e9086c72bb22 1753 } else if(V_out < -V_MAX) {
jobuuu 7:e9086c72bb22 1754 V_rem = V_out-(-V_MAX);
Lightvalve 13:747daba9cf59 1755 V_rem = Ka*V_rem;
jobuuu 7:e9086c72bb22 1756 V_out = -V_MAX;
jobuuu 7:e9086c72bb22 1757 cur.err_int = cur.err_int - V_rem*DT_5k;
Lightvalve 13:747daba9cf59 1758 }
Lightvalve 21:e5f1a43ea6f9 1759 }
Lightvalve 23:59218d4a256d 1760
Lightvalve 28:2a62d73e3dd0 1761
Lightvalve 30:8d561f16383b 1762