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2011
main.cpp@72:3436ce769b1e, 2020-05-19 (annotated)
- Committer:
- Lightvalve
- Date:
- Tue May 19 01:36:27 2020 +0000
- Revision:
- 72:3436ce769b1e
- Parent:
- 71:381188d044f4
- Child:
- 73:f80dc3970c99
200519
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 72:3436ce769b1e | 1 | //200518-5 |
GiJeongKim | 0:51c43836c1d7 | 2 | #include "mbed.h" |
GiJeongKim | 0:51c43836c1d7 | 3 | #include "FastPWM.h" |
GiJeongKim | 0:51c43836c1d7 | 4 | #include "INIT_HW.h" |
jobuuu | 2:a1c0a37df760 | 5 | #include "function_CAN.h" |
GiJeongKim | 0:51c43836c1d7 | 6 | #include "SPI_EEP_ENC.h" |
GiJeongKim | 0:51c43836c1d7 | 7 | #include "I2C_AS5510.h" |
GiJeongKim | 0:51c43836c1d7 | 8 | #include "setting.h" |
Lightvalve | 11:82d8768d7351 | 9 | #include "function_utilities.h" |
Lightvalve | 16:903b5a4433b4 | 10 | #include "stm32f4xx_flash.h" |
Lightvalve | 65:a2d7c63419c2 | 11 | #include "FlashWriter.h" |
Lightvalve | 61:bc8c8270f0ab | 12 | |
Lightvalve | 61:bc8c8270f0ab | 13 | using namespace std; |
Lightvalve | 61:bc8c8270f0ab | 14 | Timer t; |
GiJeongKim | 0:51c43836c1d7 | 15 | |
Lightvalve | 31:66738bfecec5 | 16 | ///191008//// |
Lightvalve | 31:66738bfecec5 | 17 | |
jobuuu | 7:e9086c72bb22 | 18 | // dac & check /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 19 | DigitalOut check(PC_2); |
GiJeongKim | 0:51c43836c1d7 | 20 | DigitalOut check_2(PC_3); |
GiJeongKim | 0:51c43836c1d7 | 21 | AnalogOut dac_1(PA_4); |
GiJeongKim | 0:51c43836c1d7 | 22 | AnalogOut dac_2(PA_5); |
Lightvalve | 14:8e7590227d22 | 23 | AnalogIn adc1(PC_4); //pressure_1 |
Lightvalve | 14:8e7590227d22 | 24 | AnalogIn adc2(PB_0); //pressure_2 |
Lightvalve | 14:8e7590227d22 | 25 | AnalogIn adc3(PC_1); //current |
GiJeongKim | 0:51c43836c1d7 | 26 | |
Lightvalve | 24:ef6e1092e9e6 | 27 | |
jobuuu | 7:e9086c72bb22 | 28 | // PWM /////////////////////////////////////////// |
Lightvalve | 30:8d561f16383b | 29 | float dtc_v=0.0f; |
Lightvalve | 30:8d561f16383b | 30 | float dtc_w=0.0f; |
GiJeongKim | 0:51c43836c1d7 | 31 | |
jobuuu | 7:e9086c72bb22 | 32 | // I2C /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 33 | I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F) |
GiJeongKim | 0:51c43836c1d7 | 34 | const int i2c_slave_addr1 = 0x56; |
GiJeongKim | 0:51c43836c1d7 | 35 | unsigned int value; // 10bit output of reading sensor AS5510 |
GiJeongKim | 0:51c43836c1d7 | 36 | |
jobuuu | 7:e9086c72bb22 | 37 | // SPI /////////////////////////////////////////// |
Lightvalve | 16:903b5a4433b4 | 38 | //SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK); |
Lightvalve | 16:903b5a4433b4 | 39 | //DigitalOut eeprom_cs(PB_12); |
Lightvalve | 16:903b5a4433b4 | 40 | //FlashWriter writer(6);//2부터 7까지 되는듯 아마 sector |
GiJeongKim | 0:51c43836c1d7 | 41 | SPI enc(PC_12,PC_11,PC_10); |
GiJeongKim | 0:51c43836c1d7 | 42 | DigitalOut enc_cs(PD_2); |
Lightvalve | 11:82d8768d7351 | 43 | DigitalOut LED(PA_15); |
GiJeongKim | 0:51c43836c1d7 | 44 | |
jobuuu | 7:e9086c72bb22 | 45 | // UART /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 46 | Serial pc(PA_9,PA_10); // _ UART |
GiJeongKim | 0:51c43836c1d7 | 47 | |
jobuuu | 7:e9086c72bb22 | 48 | // CAN /////////////////////////////////////////// |
GiJeongKim | 0:51c43836c1d7 | 49 | CAN can(PB_8, PB_9, 1000000); |
GiJeongKim | 0:51c43836c1d7 | 50 | CANMessage msg; |
Lightvalve | 11:82d8768d7351 | 51 | void onMsgReceived() |
Lightvalve | 11:82d8768d7351 | 52 | { |
Lightvalve | 11:82d8768d7351 | 53 | CAN_RX_HANDLER(); |
Lightvalve | 11:82d8768d7351 | 54 | } |
jobuuu | 2:a1c0a37df760 | 55 | |
jobuuu | 7:e9086c72bb22 | 56 | // Variables /////////////////////////////////////////// |
jobuuu | 7:e9086c72bb22 | 57 | State pos; |
jobuuu | 7:e9086c72bb22 | 58 | State vel; |
jobuuu | 7:e9086c72bb22 | 59 | State Vout; |
jobuuu | 7:e9086c72bb22 | 60 | State torq; |
jobuuu | 7:e9086c72bb22 | 61 | State pres_A; |
jobuuu | 7:e9086c72bb22 | 62 | State pres_B; |
jobuuu | 7:e9086c72bb22 | 63 | State cur; |
Lightvalve | 14:8e7590227d22 | 64 | State valve_pos; |
Lightvalve | 14:8e7590227d22 | 65 | |
Lightvalve | 14:8e7590227d22 | 66 | State INIT_Vout; |
Lightvalve | 14:8e7590227d22 | 67 | State INIT_Valve_Pos; |
Lightvalve | 14:8e7590227d22 | 68 | State INIT_Pos; |
Lightvalve | 14:8e7590227d22 | 69 | State INIT_torq; |
jobuuu | 5:a4319f79457b | 70 | |
Lightvalve | 19:23b7c1ad8683 | 71 | extern int CID_RX_CMD; |
Lightvalve | 19:23b7c1ad8683 | 72 | extern int CID_RX_REF_POSITION; |
Lightvalve | 49:e7bcfc244d40 | 73 | extern int CID_RX_REF_VALVE_POS; |
Lightvalve | 45:35fa6884d0c6 | 74 | extern int CID_RX_REF_PWM; |
Lightvalve | 19:23b7c1ad8683 | 75 | |
Lightvalve | 19:23b7c1ad8683 | 76 | extern int CID_TX_INFO; |
Lightvalve | 19:23b7c1ad8683 | 77 | extern int CID_TX_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 78 | extern int CID_TX_TORQUE; |
Lightvalve | 19:23b7c1ad8683 | 79 | extern int CID_TX_PRES; |
Lightvalve | 19:23b7c1ad8683 | 80 | extern int CID_TX_VOUT; |
Lightvalve | 19:23b7c1ad8683 | 81 | extern int CID_TX_VALVE_POSITION; |
Lightvalve | 19:23b7c1ad8683 | 82 | |
Lightvalve | 61:bc8c8270f0ab | 83 | |
Lightvalve | 61:bc8c8270f0ab | 84 | |
Lightvalve | 61:bc8c8270f0ab | 85 | |
jobuuu | 7:e9086c72bb22 | 86 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 87 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 88 | // ============================================================================= |
jobuuu | 7:e9086c72bb22 | 89 | |
Lightvalve | 12:6f2531038ea4 | 90 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 91 | * REFERENCE MODE |
Lightvalve | 12:6f2531038ea4 | 92 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 93 | enum _REFERENCE_MODE { |
Lightvalve | 13:747daba9cf59 | 94 | MODE_REF_NO_ACT = 0, //0 |
Lightvalve | 12:6f2531038ea4 | 95 | MODE_REF_DIRECT, //1 |
Lightvalve | 12:6f2531038ea4 | 96 | MODE_REF_COS_INC, //2 |
Lightvalve | 12:6f2531038ea4 | 97 | MODE_REF_LINE_INC, //3 |
Lightvalve | 12:6f2531038ea4 | 98 | MODE_REF_SIN_WAVE, //4 |
Lightvalve | 12:6f2531038ea4 | 99 | MODE_REF_SQUARE_WAVE, //5 |
Lightvalve | 12:6f2531038ea4 | 100 | }; |
Lightvalve | 12:6f2531038ea4 | 101 | |
Lightvalve | 12:6f2531038ea4 | 102 | /******************************************************************************* |
Lightvalve | 12:6f2531038ea4 | 103 | * CONTROL MODE |
Lightvalve | 12:6f2531038ea4 | 104 | ******************************************************************************/ |
Lightvalve | 13:747daba9cf59 | 105 | enum _CONTROL_MODE { |
Lightvalve | 12:6f2531038ea4 | 106 | //control mode |
Lightvalve | 12:6f2531038ea4 | 107 | MODE_NO_ACT = 0, //0 |
Lightvalve | 47:fdcb8bd86fd6 | 108 | MODE_VALVE_POSITION_CONTROL, //1 |
Lightvalve | 47:fdcb8bd86fd6 | 109 | MODE_JOINT_CONTROL, //2 |
Lightvalve | 50:3c630b5eba9f | 110 | |
Lightvalve | 47:fdcb8bd86fd6 | 111 | MODE_VALVE_OPEN_LOOP, //3 |
Lightvalve | 12:6f2531038ea4 | 112 | MODE_JOINT_POSITION_TORQUE_CONTROL_VALVE_POSITION, //4 |
Lightvalve | 12:6f2531038ea4 | 113 | MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //5 |
Lightvalve | 13:747daba9cf59 | 114 | |
Lightvalve | 12:6f2531038ea4 | 115 | MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6 |
Lightvalve | 12:6f2531038ea4 | 116 | MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7 |
Lightvalve | 12:6f2531038ea4 | 117 | MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8 |
Lightvalve | 13:747daba9cf59 | 118 | |
Lightvalve | 12:6f2531038ea4 | 119 | MODE_TEST_CURRENT_CONTROL, //9 |
Lightvalve | 12:6f2531038ea4 | 120 | MODE_TEST_PWM_CONTROL, //10 |
Lightvalve | 21:e5f1a43ea6f9 | 121 | |
Lightvalve | 14:8e7590227d22 | 122 | MODE_CURRENT_CONTROL, //11 |
Lightvalve | 14:8e7590227d22 | 123 | MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12 |
Lightvalve | 14:8e7590227d22 | 124 | MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13 |
Lightvalve | 13:747daba9cf59 | 125 | |
Lightvalve | 12:6f2531038ea4 | 126 | //utility |
Lightvalve | 12:6f2531038ea4 | 127 | MODE_TORQUE_SENSOR_NULLING = 20, //20 |
Lightvalve | 12:6f2531038ea4 | 128 | MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21 |
Lightvalve | 12:6f2531038ea4 | 129 | MODE_FIND_HOME, //22 |
Lightvalve | 57:f4819de54e7a | 130 | MODE_VALVE_GAIN_SETTING, //23 |
Lightvalve | 12:6f2531038ea4 | 131 | MODE_PRESSURE_SENSOR_NULLING, //24 |
Lightvalve | 12:6f2531038ea4 | 132 | MODE_PRESSURE_SENSOR_CALIB, //25 |
Lightvalve | 12:6f2531038ea4 | 133 | MODE_ROTARY_FRICTION_TUNING, //26 |
Lightvalve | 13:747daba9cf59 | 134 | |
Lightvalve | 12:6f2531038ea4 | 135 | MODE_DDV_POS_VS_PWM_ID = 30, //30 |
Lightvalve | 12:6f2531038ea4 | 136 | MODE_DDV_DEADZONE_AND_CENTER, //31 |
Lightvalve | 12:6f2531038ea4 | 137 | MODE_DDV_POS_VS_FLOWRATE, //32 |
Lightvalve | 57:f4819de54e7a | 138 | MODE_SYSTEM_ID, //33 |
Lightvalve | 12:6f2531038ea4 | 139 | }; |
Lightvalve | 12:6f2531038ea4 | 140 | |
Lightvalve | 65:a2d7c63419c2 | 141 | void SystemClock_Config(void) |
Lightvalve | 65:a2d7c63419c2 | 142 | { |
Lightvalve | 65:a2d7c63419c2 | 143 | RCC_OscInitTypeDef RCC_OscInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 144 | RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; |
Lightvalve | 65:a2d7c63419c2 | 145 | |
Lightvalve | 65:a2d7c63419c2 | 146 | /** Configure the main internal regulator output voltage |
Lightvalve | 65:a2d7c63419c2 | 147 | */ |
Lightvalve | 65:a2d7c63419c2 | 148 | __HAL_RCC_PWR_CLK_ENABLE(); |
Lightvalve | 65:a2d7c63419c2 | 149 | __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); |
Lightvalve | 65:a2d7c63419c2 | 150 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 151 | */ |
Lightvalve | 65:a2d7c63419c2 | 152 | RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 153 | RCC_OscInitStruct.HSIState = RCC_HSI_ON; |
Lightvalve | 65:a2d7c63419c2 | 154 | RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; |
Lightvalve | 65:a2d7c63419c2 | 155 | RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; |
Lightvalve | 65:a2d7c63419c2 | 156 | RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; |
Lightvalve | 65:a2d7c63419c2 | 157 | RCC_OscInitStruct.PLL.PLLM = 8;//8 |
Lightvalve | 65:a2d7c63419c2 | 158 | RCC_OscInitStruct.PLL.PLLN = 180; //180 |
Lightvalve | 65:a2d7c63419c2 | 159 | RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 160 | RCC_OscInitStruct.PLL.PLLQ = 2; |
Lightvalve | 65:a2d7c63419c2 | 161 | RCC_OscInitStruct.PLL.PLLR = 2; |
Lightvalve | 65:a2d7c63419c2 | 162 | if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 163 | { |
Lightvalve | 65:a2d7c63419c2 | 164 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 165 | } |
Lightvalve | 65:a2d7c63419c2 | 166 | /** Activate the Over-Drive mode |
Lightvalve | 65:a2d7c63419c2 | 167 | */ |
Lightvalve | 65:a2d7c63419c2 | 168 | if (HAL_PWREx_EnableOverDrive() != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 169 | { |
Lightvalve | 65:a2d7c63419c2 | 170 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 171 | } |
Lightvalve | 65:a2d7c63419c2 | 172 | /** Initializes the CPU, AHB and APB busses clocks |
Lightvalve | 65:a2d7c63419c2 | 173 | */ |
Lightvalve | 65:a2d7c63419c2 | 174 | RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |
Lightvalve | 65:a2d7c63419c2 | 175 | |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |
Lightvalve | 65:a2d7c63419c2 | 176 | RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; |
Lightvalve | 65:a2d7c63419c2 | 177 | RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; |
Lightvalve | 65:a2d7c63419c2 | 178 | RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; |
Lightvalve | 65:a2d7c63419c2 | 179 | RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; |
Lightvalve | 65:a2d7c63419c2 | 180 | |
Lightvalve | 65:a2d7c63419c2 | 181 | if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) |
Lightvalve | 65:a2d7c63419c2 | 182 | { |
Lightvalve | 65:a2d7c63419c2 | 183 | //Error_Handler(); |
Lightvalve | 65:a2d7c63419c2 | 184 | } |
Lightvalve | 65:a2d7c63419c2 | 185 | } |
Lightvalve | 65:a2d7c63419c2 | 186 | |
Lightvalve | 65:a2d7c63419c2 | 187 | |
Lightvalve | 68:328e1be06f5d | 188 | float x_past[num_array_x_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 189 | float f_past[num_array_f_past] = {0.0f}; |
Lightvalve | 68:328e1be06f5d | 190 | float f_future[num_array_f_future] = {0.0f}; |
Lightvalve | 66:a8e6799dbce3 | 191 | |
Lightvalve | 66:a8e6799dbce3 | 192 | float input[num_input] = { 0.0f }; |
Lightvalve | 65:a2d7c63419c2 | 193 | |
Lightvalve | 66:a8e6799dbce3 | 194 | const float h1[num_input][32] = { |
Lightvalve | 72:3436ce769b1e | 195 | {-1.5173033475875854f,1.3750654458999634f,0.10589459538459778f,-0.6596947908401489f,-1.6050277948379517f,0.9680917263031006f,-0.45009246468544006f,0.8865544199943542f,0.923093318939209f,-0.7216169834136963f,-0.22036045789718628f,0.42275097966194153f,-0.19318288564682007f,0.18564148247241974f,-0.21103838086128235f,-1.0414549112319946f,0.6210861206054688f,0.24935457110404968f,0.7392114400863647f,0.6778899431228638f,-0.33476194739341736f,0.10696089267730713f,-0.3326931595802307f,-0.0792258083820343f,0.543968677520752f,0.18374285101890564f,-0.1767144799232483f,-1.1015503406524658f,-0.5900701880455017f,-0.18794111907482147f,-0.29012006521224976f,1.6024134159088135f}, |
Lightvalve | 72:3436ce769b1e | 196 | {-1.1674734354019165f,0.7666152119636536f,0.29864487051963806f,-0.7858529090881348f,-0.8153032660484314f,0.38648831844329834f,0.005260761361569166f,0.5857726335525513f,0.5050831437110901f,-0.27091121673583984f,-0.31120190024375916f,0.1015682965517044f,0.021212786436080933f,0.1308889240026474f,0.045876264572143555f,-0.7258760333061218f,0.2787801921367645f,0.06295260787010193f,0.8768393993377686f,0.5829216241836548f,-0.03096979856491089f,-0.12077532708644867f,-0.09506890177726746f,0.27714261412620544f,0.22578246891498566f,0.2936786115169525f,0.12686115503311157f,-0.46410071849823f,-0.6578801274299622f,0.09809011220932007f,-0.35250869393348694f,1.0430457592010498f}, |
Lightvalve | 72:3436ce769b1e | 197 | {-0.4347030520439148f,0.4434410333633423f,-0.0042223334312438965f,-0.4880976974964142f,-0.6320772171020508f,0.5300382971763611f,-0.05236375704407692f,0.36149340867996216f,0.6912349462509155f,-0.22590239346027374f,0.25978198647499084f,0.534641444683075f,-0.03282937407493591f,0.1653469204902649f,-0.31718650460243225f,-0.9508377313613892f,0.8650888800621033f,-0.2658354640007019f,0.7296754717826843f,0.7955288887023926f,0.22159990668296814f,-0.15311938524246216f,0.13552400469779968f,-0.24659553170204163f,0.39863649010658264f,0.14537742733955383f,-0.15514154732227325f,-0.2733694911003113f,-0.6065505146980286f,0.302763432264328f,-0.4336198568344116f,0.32752689719200134f}, |
Lightvalve | 72:3436ce769b1e | 198 | {-0.07789435237646103f,-0.05911087989807129f,-0.20532599091529846f,-1.1631684303283691f,-0.6998490691184998f,0.5765312314033508f,-0.034510351717472076f,-0.11885803937911987f,0.8650790452957153f,-0.14164546132087708f,0.09748651087284088f,0.920007586479187f,-0.11809042096138f,0.3228817880153656f,-0.12817290425300598f,-0.8080041408538818f,0.41376540064811707f,-0.23756909370422363f,0.18830764293670654f,0.6408967971801758f,-0.24942269921302795f,-0.08793863654136658f,-0.14710915088653564f,-0.29148542881011963f,0.3900652825832367f,0.14159366488456726f,0.13380053639411926f,-0.17793402075767517f,0.11977645754814148f,0.1323157548904419f,-0.028520936146378517f,0.13727985322475433f}, |
Lightvalve | 72:3436ce769b1e | 199 | {0.7851098775863647f,-0.4025290906429291f,0.08410122990608215f,-0.3657895028591156f,0.22595596313476562f,-0.35921725630760193f,-0.05843263491988182f,-0.7209520936012268f,-0.49075695872306824f,0.4047141373157501f,-0.27041515707969666f,0.2857331335544586f,0.211430162191391f,0.22537200152873993f,-0.25075238943099976f,0.26298320293426514f,-0.31417611241340637f,-0.18436601758003235f,-0.16482871770858765f,-0.3491881489753723f,0.1375632882118225f,0.23587647080421448f,-0.24541926383972168f,-0.07457953691482544f,-0.36963707208633423f,-0.34256690740585327f,0.04057341814041138f,0.008652348071336746f,0.5543045401573181f,-0.16320037841796875f,0.26328596472740173f,-0.8659853339195251f}, |
Lightvalve | 72:3436ce769b1e | 200 | {2.411226511001587f,-2.1685471534729004f,0.30513831973075867f,2.3207509517669678f,2.237506628036499f,-2.22587251663208f,-0.07100218534469604f,-1.312457799911499f,-2.4989845752716064f,0.7334151268005371f,0.25945529341697693f,-2.2601664066314697f,-0.03144201636314392f,0.07056998461484909f,0.21901831030845642f,2.0132665634155273f,-1.9532078504562378f,-0.3195672333240509f,-2.4333291053771973f,-2.3630752563476562f,0.13521116971969604f,-0.009676039218902588f,0.12587067484855652f,0.3309326469898224f,-2.4496030807495117f,0.20814630389213562f,-0.2925715744495392f,1.2836970090866089f,1.047669529914856f,-0.0013132691383361816f,0.11035717278718948f,-2.3266241550445557f}, |
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Lightvalve | 65:a2d7c63419c2 | 212 | }; |
Lightvalve | 65:a2d7c63419c2 | 213 | |
Lightvalve | 66:a8e6799dbce3 | 214 | const float h2[32][32] = { |
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Lightvalve | 65:a2d7c63419c2 | 247 | }; |
Lightvalve | 65:a2d7c63419c2 | 248 | |
Lightvalve | 66:a8e6799dbce3 | 249 | const float h3[32][32] = { |
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Lightvalve | 66:a8e6799dbce3 | 258 | {-0.20420776307582855f,0.1970202624797821f,0.23591408133506775f,-0.282694011926651f,0.09019026160240173f,0.20012763142585754f,0.028453975915908813f,0.23323127627372742f,0.15246456861495972f,-0.1270071268081665f,0.20025727152824402f,0.13077861070632935f,-0.2238168716430664f,-0.20709244906902313f,-0.0045506954193115234f,-0.16448761522769928f,0.28163614869117737f,0.1971360743045807f,0.30405697226524353f,-0.28959211707115173f,-0.2255709171295166f,0.15360668301582336f,0.24163606762886047f,0.19554737210273743f,-0.1804599016904831f,0.07604315876960754f,-0.1459394246339798f,-0.14081311225891113f,-0.29656586050987244f,0.19529584050178528f,-0.05168652534484863f,-0.03415781259536743f}, |
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Lightvalve | 66:a8e6799dbce3 | 282 | }; |
Lightvalve | 65:a2d7c63419c2 | 283 | |
Lightvalve | 72:3436ce769b1e | 284 | const float hout[32] = { 0.3285340666770935f,0.21559861302375793f,-0.08759381622076035f,-0.18752218782901764f,-0.07880980521440506f,0.24804820120334625f,-0.14023931324481964f,-0.013787297531962395f,-0.06430239975452423f,0.2420935183763504f,0.06614154577255249f,-0.06488268822431564f,-0.13233189284801483f,0.07787903398275375f,0.2356991171836853f,-0.12399186939001083f,0.07342065125703812f,-0.21499931812286377f,-0.17105859518051147f,-0.23412150144577026f,0.11204441636800766f,0.09496966749429703f,-0.10224377363920212f,-0.09258242696523666f,0.10437283664941788f,0.2520971894264221f,-0.33695727586746216f,-0.1872805953025818f,0.14851516485214233f,-0.3257754445075989f,-0.28138089179992676f,-0.3072269856929779f }; |
Lightvalve | 66:a8e6799dbce3 | 285 | |
Lightvalve | 72:3436ce769b1e | 286 | const float b1[32] = { 0.6303730607032776f,1.2771244049072266f,-1.7145336866378784f,-0.024331381544470787f,0.9595928192138672f,1.065868616104126f,-0.1704230010509491f,0.8563094139099121f,0.6089017987251282f,-1.044298768043518f,0.5565745234489441f,1.726973533630371f,-0.3425353467464447f,-0.8952552676200867f,-1.087764859199524f,1.1323175430297852f,0.5307965874671936f,-0.26377663016319275f,0.5580302476882935f,0.7606151700019836f,-0.284685879945755f,-1.1118980646133423f,-1.6770726442337036f,-1.2263047695159912f,2.5647425651550293f,-2.0880801677703857f,-1.0489267110824585f,0.6971176862716675f,0.16526353359222412f,-1.0887231826782227f,1.415956735610962f,-0.7934260368347168f }; |
Lightvalve | 65:a2d7c63419c2 | 287 | |
Lightvalve | 72:3436ce769b1e | 288 | const float b2[32] = { -0.10466054826974869f,-0.7642630338668823f,-1.4564176797866821f,-0.4875738024711609f,-0.6939148902893066f,0.11667700856924057f,0.05593651905655861f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.3189098536968231f,0.31611981987953186f,-0.07918518036603928f,2.4898033142089844f,0.15618184208869934f,1.179538607597351f,-1.798204779624939f,-1.5844906568527222f,-0.47564440965652466f,-0.3313511312007904f,-0.49963441491127014f,0.07379159331321716f,-0.07159822434186935f,-1.0362731218338013f,0.758223831653595f,0.1655489057302475f,-0.2961638867855072f,-0.22285382449626923f,-0.6323830485343933f,-0.4208582937717438f,-1.178520679473877f,-1.354332685470581f }; |
Lightvalve | 65:a2d7c63419c2 | 289 | |
Lightvalve | 72:3436ce769b1e | 290 | const float b3[32] = { -1.963319182395935f,-0.5059564113616943f,-0.17237482964992523f,-0.17604026198387146f,-0.13820096850395203f,-0.06550032645463943f,-0.5431802868843079f,-0.7197896242141724f,-0.007029889151453972f,1.0352654457092285f,-0.23477809131145477f,-0.08210232108831406f,-0.7245506048202515f,0.11592133343219757f,-1.1428403854370117f,-0.5011612176895142f,-1.5022703409194946f,-1.0192245244979858f,-0.8375463485717773f,0.09358791261911392f,1.242738962173462f,1.2594772577285767f,-1.1541656255722046f,-0.9588961005210876f,1.081007719039917f,-0.36519983410835266f,-0.17800214886665344f,-0.6829278469085693f,-0.11213456094264984f,-2.3236680030822754f,-0.23607516288757324f,-1.4480558633804321f }; |
Lightvalve | 66:a8e6799dbce3 | 291 | |
Lightvalve | 72:3436ce769b1e | 292 | const float bout[1] = { -0.11509382724761963f }; |
Lightvalve | 61:bc8c8270f0ab | 293 | |
Lightvalve | 61:bc8c8270f0ab | 294 | |
GiJeongKim | 0:51c43836c1d7 | 295 | int main() |
GiJeongKim | 0:51c43836c1d7 | 296 | { |
Lightvalve | 66:a8e6799dbce3 | 297 | |
Lightvalve | 65:a2d7c63419c2 | 298 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 299 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 300 | |
jobuuu | 6:df07d3491e3a | 301 | /********************************* |
jobuuu | 1:e04e563be5ce | 302 | *** Initialization |
jobuuu | 6:df07d3491e3a | 303 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 304 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 305 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 306 | |
GiJeongKim | 0:51c43836c1d7 | 307 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 308 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 309 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 310 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 311 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 312 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 313 | |
GiJeongKim | 0:51c43836c1d7 | 314 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 315 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 316 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 317 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 318 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 319 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 320 | |
Lightvalve | 16:903b5a4433b4 | 321 | //rom |
Lightvalve | 19:23b7c1ad8683 | 322 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 323 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 324 | |
GiJeongKim | 0:51c43836c1d7 | 325 | // ADC init |
jobuuu | 5:a4319f79457b | 326 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 327 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 328 | |
GiJeongKim | 0:51c43836c1d7 | 329 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 330 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 331 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 332 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 333 | |
Lightvalve | 11:82d8768d7351 | 334 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 335 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 336 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 337 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 338 | |
Lightvalve | 50:3c630b5eba9f | 339 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 340 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 341 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 342 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 343 | |
GiJeongKim | 0:51c43836c1d7 | 344 | // CAN |
jobuuu | 2:a1c0a37df760 | 345 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 346 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 347 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 348 | |
Lightvalve | 23:59218d4a256d | 349 | //Timer priority |
Lightvalve | 23:59218d4a256d | 350 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 351 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 352 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 353 | |
Lightvalve | 23:59218d4a256d | 354 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 355 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 356 | |
GiJeongKim | 0:51c43836c1d7 | 357 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 358 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 359 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 360 | |
Lightvalve | 11:82d8768d7351 | 361 | //DAC init |
Lightvalve | 58:2eade98630e2 | 362 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 363 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 364 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 365 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 366 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 367 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 368 | } |
Lightvalve | 11:82d8768d7351 | 369 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 370 | |
Lightvalve | 19:23b7c1ad8683 | 371 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 372 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 373 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 374 | else |
Lightvalve | 38:118df027d851 | 375 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 376 | } |
Lightvalve | 61:bc8c8270f0ab | 377 | |
Lightvalve | 61:bc8c8270f0ab | 378 | |
jobuuu | 6:df07d3491e3a | 379 | /************************************ |
jobuuu | 1:e04e563be5ce | 380 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 381 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 382 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 383 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 384 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 385 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 386 | |
Lightvalve | 65:a2d7c63419c2 | 387 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 388 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 389 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 390 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 391 | // } else |
Lightvalve | 65:a2d7c63419c2 | 392 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 393 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 394 | //} |
Lightvalve | 66:a8e6799dbce3 | 395 | |
Lightvalve | 66:a8e6799dbce3 | 396 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 397 | |
Lightvalve | 66:a8e6799dbce3 | 398 | |
Lightvalve | 66:a8e6799dbce3 | 399 | if(NN_Control_Flag == 1) { |
Lightvalve | 66:a8e6799dbce3 | 400 | float output1[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 401 | float output2[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 402 | float output3[32] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 403 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 404 | |
Lightvalve | 66:a8e6799dbce3 | 405 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 68:328e1be06f5d | 406 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 407 | output1[index2] = output1[index2] |
Lightvalve | 66:a8e6799dbce3 | 408 | + h1[index1][index2] * input[index1]; |
Lightvalve | 66:a8e6799dbce3 | 409 | } |
Lightvalve | 66:a8e6799dbce3 | 410 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 411 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 412 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 413 | } |
Lightvalve | 66:a8e6799dbce3 | 414 | } |
Lightvalve | 65:a2d7c63419c2 | 415 | |
Lightvalve | 66:a8e6799dbce3 | 416 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 417 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 418 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 419 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 420 | } |
Lightvalve | 66:a8e6799dbce3 | 421 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 422 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 423 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 424 | } |
Lightvalve | 66:a8e6799dbce3 | 425 | } |
Lightvalve | 65:a2d7c63419c2 | 426 | |
Lightvalve | 66:a8e6799dbce3 | 427 | for (int index2 = 0; index2 < 32; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 428 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 429 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 430 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 431 | } |
Lightvalve | 66:a8e6799dbce3 | 432 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 433 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 434 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 435 | } |
Lightvalve | 65:a2d7c63419c2 | 436 | } |
Lightvalve | 66:a8e6799dbce3 | 437 | |
Lightvalve | 66:a8e6799dbce3 | 438 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 66:a8e6799dbce3 | 439 | for (int index1 = 0; index1 < 32; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 440 | output = output + hout[index2] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 441 | } |
Lightvalve | 66:a8e6799dbce3 | 442 | output = output + bout[index2]; |
Lightvalve | 66:a8e6799dbce3 | 443 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 66:a8e6799dbce3 | 444 | } |
Lightvalve | 66:a8e6799dbce3 | 445 | |
Lightvalve | 68:328e1be06f5d | 446 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 66:a8e6799dbce3 | 447 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 448 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 449 | } else { |
Lightvalve | 66:a8e6799dbce3 | 450 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 451 | } |
Lightvalve | 69:3995ffeaa786 | 452 | |
Lightvalve | 69:3995ffeaa786 | 453 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 454 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 455 | } else |
Lightvalve | 69:3995ffeaa786 | 456 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 457 | |
Lightvalve | 65:a2d7c63419c2 | 458 | } |
Lightvalve | 62:b5452adfb2cd | 459 | |
Lightvalve | 69:3995ffeaa786 | 460 | |
Lightvalve | 66:a8e6799dbce3 | 461 | |
GiJeongKim | 0:51c43836c1d7 | 462 | } |
jobuuu | 1:e04e563be5ce | 463 | } |
jobuuu | 1:e04e563be5ce | 464 | |
Lightvalve | 33:91b17819ec30 | 465 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 466 | { |
Lightvalve | 14:8e7590227d22 | 467 | |
Lightvalve | 13:747daba9cf59 | 468 | int i = 0; |
Lightvalve | 48:889798ff9329 | 469 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 470 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 471 | 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 | 472 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 473 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 474 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 475 | } else { |
Lightvalve | 57:f4819de54e7a | 476 | Ref_Valve_Pos_FF = ((float) 10/(JOINT_VEL[i+1] - JOINT_VEL[i]) * (REF_JOINT_VEL - JOINT_VEL[i])) + (float) VALVE_CENTER; |
Lightvalve | 38:118df027d851 | 477 | } |
Lightvalve | 14:8e7590227d22 | 478 | } else { |
Lightvalve | 50:3c630b5eba9f | 479 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 480 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 481 | } else { |
Lightvalve | 57:f4819de54e7a | 482 | Ref_Valve_Pos_FF = ((float) 10*(ID_index_array[i+1] - ID_index_array[i-1])/(JOINT_VEL[i+1] - JOINT_VEL[i-1]) * (REF_JOINT_VEL - JOINT_VEL[i-1])) + (float) VALVE_CENTER + (float) (10*ID_index_array[i-1]); |
Lightvalve | 38:118df027d851 | 483 | } |
Lightvalve | 13:747daba9cf59 | 484 | } |
Lightvalve | 13:747daba9cf59 | 485 | break; |
Lightvalve | 13:747daba9cf59 | 486 | } |
Lightvalve | 13:747daba9cf59 | 487 | } |
Lightvalve | 14:8e7590227d22 | 488 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 489 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 490 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 491 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 492 | } |
Lightvalve | 36:a46e63505ed8 | 493 | |
Lightvalve | 57:f4819de54e7a | 494 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 495 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 496 | |
Lightvalve | 13:747daba9cf59 | 497 | } |
jobuuu | 6:df07d3491e3a | 498 | |
jobuuu | 6:df07d3491e3a | 499 | |
Lightvalve | 30:8d561f16383b | 500 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 501 | { |
Lightvalve | 13:747daba9cf59 | 502 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 503 | |
Lightvalve | 38:118df027d851 | 504 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 505 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 506 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 507 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 508 | } |
Lightvalve | 38:118df027d851 | 509 | |
Lightvalve | 13:747daba9cf59 | 510 | valve_pos_err = REF_VALVE_POS - value; |
Lightvalve | 13:747daba9cf59 | 511 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 512 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 513 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 514 | if (valve_pos_err_sum > 1000) valve_pos_err_sum = 1000; |
Lightvalve | 13:747daba9cf59 | 515 | if (valve_pos_err_sum<-1000) valve_pos_err_sum = -1000; |
Lightvalve | 13:747daba9cf59 | 516 | |
Lightvalve | 13:747daba9cf59 | 517 | 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 | 518 | |
Lightvalve | 18:b8adf1582ea3 | 519 | for(i=0; i<24; i++) { |
Lightvalve | 14:8e7590227d22 | 520 | 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 | 521 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 522 | VALVE_PWM_RAW_FF = (float) 1000.0f / (float) (VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i]); |
Lightvalve | 14:8e7590227d22 | 523 | } else { |
Lightvalve | 48:889798ff9329 | 524 | VALVE_PWM_RAW_FF = (float) 1000.0f* (float) (ID_index_array[i+1] - ID_index_array[i-1])/(VALVE_POS_VS_PWM[i+1] - VALVE_POS_VS_PWM[i-1]) * ((float) REF_VALVE_POS - VALVE_POS_VS_PWM[i-1]) + 1000.0f * (float) ID_index_array[i-1]; |
Lightvalve | 13:747daba9cf59 | 525 | } |
Lightvalve | 13:747daba9cf59 | 526 | break; |
Lightvalve | 13:747daba9cf59 | 527 | } |
Lightvalve | 13:747daba9cf59 | 528 | } |
Lightvalve | 59:f308b1656d9c | 529 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 530 | } |
Lightvalve | 13:747daba9cf59 | 531 | |
Lightvalve | 14:8e7590227d22 | 532 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 533 | float LT_PWM_duty[LT_MAX_IDX] = {-100.0f, -80.0f, -60.0f, -50.0f, -40.0f, -35.0f, -30.0f, -25.0f, -20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 534 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 535 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 536 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 537 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 538 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 539 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 540 | float LT_Voltage_Output[LT_MAX_IDX] = {-230.0f, -215.0f, -192.5f, -185.0f, -177.5f, -170.0f, -164.0f, -160.0f, -150.0f, |
Lightvalve | 67:c2812cf26c38 | 541 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 542 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 543 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 544 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 545 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 546 | }; // mV |
Lightvalve | 13:747daba9cf59 | 547 | |
Lightvalve | 30:8d561f16383b | 548 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 549 | { |
Lightvalve | 30:8d561f16383b | 550 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 551 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 552 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 553 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 554 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 555 | } else { |
Lightvalve | 13:747daba9cf59 | 556 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 557 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 558 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 559 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 560 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 561 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 562 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 563 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 564 | break; |
Lightvalve | 13:747daba9cf59 | 565 | } |
Lightvalve | 13:747daba9cf59 | 566 | } |
Lightvalve | 13:747daba9cf59 | 567 | } |
Lightvalve | 14:8e7590227d22 | 568 | |
Lightvalve | 13:747daba9cf59 | 569 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 570 | } |
jobuuu | 6:df07d3491e3a | 571 | |
Lightvalve | 57:f4819de54e7a | 572 | |
Lightvalve | 57:f4819de54e7a | 573 | |
Lightvalve | 57:f4819de54e7a | 574 | |
Lightvalve | 57:f4819de54e7a | 575 | |
jobuuu | 2:a1c0a37df760 | 576 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 577 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 578 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 579 | |
Lightvalve | 51:b46bed7fec80 | 580 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 581 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 582 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 583 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 584 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 585 | { |
Lightvalve | 19:23b7c1ad8683 | 586 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 587 | |
Lightvalve | 21:e5f1a43ea6f9 | 588 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 589 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 590 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 591 | |
Lightvalve | 57:f4819de54e7a | 592 | //Encoder |
Lightvalve | 57:f4819de54e7a | 593 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 594 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 595 | } |
Lightvalve | 61:bc8c8270f0ab | 596 | |
Lightvalve | 61:bc8c8270f0ab | 597 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 598 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 599 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 600 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 601 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 602 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 603 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 604 | |
Lightvalve | 67:c2812cf26c38 | 605 | |
Lightvalve | 67:c2812cf26c38 | 606 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 607 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 608 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 609 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 610 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 611 | |
Lightvalve | 17:1865016ca2e7 | 612 | |
Lightvalve | 58:2eade98630e2 | 613 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 614 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 615 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 616 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 617 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 618 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 619 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 620 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 621 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 622 | |
Lightvalve | 58:2eade98630e2 | 623 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 624 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.0001f; // mm^3*bar >> Nm |
Lightvalve | 58:2eade98630e2 | 625 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 626 | torq.sen = (PISTON_AREA_A * CUR_PRES_A_BAR - PISTON_AREA_B * CUR_PRES_B_BAR) * 0.1f; // mm^2*bar >> N |
Lightvalve | 58:2eade98630e2 | 627 | } |
Lightvalve | 58:2eade98630e2 | 628 | } |
Lightvalve | 61:bc8c8270f0ab | 629 | |
Lightvalve | 58:2eade98630e2 | 630 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 631 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 632 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 633 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 634 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 635 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 636 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 //SW just changed the sign to correct the direction of loadcell on LIGHT. Correct later. |
Lightvalve | 58:2eade98630e2 | 637 | // |
Lightvalve | 58:2eade98630e2 | 638 | // |
Lightvalve | 58:2eade98630e2 | 639 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 640 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 641 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 642 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 643 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 644 | |
Lightvalve | 17:1865016ca2e7 | 645 | |
Lightvalve | 21:e5f1a43ea6f9 | 646 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 647 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 648 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 649 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 650 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 651 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 652 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 653 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 654 | |
Lightvalve | 57:f4819de54e7a | 655 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 656 | } |
Lightvalve | 11:82d8768d7351 | 657 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 658 | } |
Lightvalve | 19:23b7c1ad8683 | 659 | |
Lightvalve | 19:23b7c1ad8683 | 660 | |
Lightvalve | 18:b8adf1582ea3 | 661 | int j =0; |
Lightvalve | 54:647072f5307a | 662 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 663 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 664 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 665 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 666 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 667 | |
Lightvalve | 11:82d8768d7351 | 668 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 669 | { |
Lightvalve | 19:23b7c1ad8683 | 670 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 671 | |
Lightvalve | 57:f4819de54e7a | 672 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 673 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 674 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 675 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 676 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 677 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 678 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 679 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 680 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 681 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 682 | } |
Lightvalve | 50:3c630b5eba9f | 683 | |
Lightvalve | 50:3c630b5eba9f | 684 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 685 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 686 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 687 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 688 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 689 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 690 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 691 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 692 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 693 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 694 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 695 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 696 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 697 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 698 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 699 | } else { |
Lightvalve | 58:2eade98630e2 | 700 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 701 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 702 | } |
Lightvalve | 45:35fa6884d0c6 | 703 | |
Lightvalve | 50:3c630b5eba9f | 704 | |
Lightvalve | 57:f4819de54e7a | 705 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 706 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 707 | |
Lightvalve | 57:f4819de54e7a | 708 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 709 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 710 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 711 | } else { |
Lightvalve | 57:f4819de54e7a | 712 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 713 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 714 | } |
Lightvalve | 56:6f50d9d3bfee | 715 | |
Lightvalve | 56:6f50d9d3bfee | 716 | |
Lightvalve | 56:6f50d9d3bfee | 717 | |
Lightvalve | 57:f4819de54e7a | 718 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 719 | |
Lightvalve | 57:f4819de54e7a | 720 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 721 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 722 | break; |
Lightvalve | 13:747daba9cf59 | 723 | } |
Lightvalve | 14:8e7590227d22 | 724 | |
Lightvalve | 14:8e7590227d22 | 725 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 726 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 727 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 728 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 729 | |
Lightvalve | 14:8e7590227d22 | 730 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 731 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 732 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 733 | |
Lightvalve | 59:f308b1656d9c | 734 | TORQUE_VREF += 0.0003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 735 | |
Lightvalve | 30:8d561f16383b | 736 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 737 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 738 | |
Lightvalve | 16:903b5a4433b4 | 739 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 740 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 741 | } |
Lightvalve | 13:747daba9cf59 | 742 | } else { |
Lightvalve | 58:2eade98630e2 | 743 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 744 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 745 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 746 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 747 | |
Lightvalve | 16:903b5a4433b4 | 748 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 749 | |
Lightvalve | 30:8d561f16383b | 750 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 751 | |
Lightvalve | 13:747daba9cf59 | 752 | } |
Lightvalve | 14:8e7590227d22 | 753 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 754 | break; |
Lightvalve | 19:23b7c1ad8683 | 755 | } |
Lightvalve | 14:8e7590227d22 | 756 | |
Lightvalve | 50:3c630b5eba9f | 757 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 758 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 759 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 760 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 761 | // } |
Lightvalve | 50:3c630b5eba9f | 762 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 763 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 764 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 765 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 766 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 767 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 768 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 769 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 770 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 771 | // } |
Lightvalve | 50:3c630b5eba9f | 772 | // |
Lightvalve | 50:3c630b5eba9f | 773 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 774 | // V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen); |
Lightvalve | 50:3c630b5eba9f | 775 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 776 | // |
Lightvalve | 50:3c630b5eba9f | 777 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 778 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 779 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 780 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 781 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 782 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 783 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 784 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 785 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 786 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 787 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 788 | // |
Lightvalve | 50:3c630b5eba9f | 789 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 790 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 791 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 792 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 793 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 794 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 795 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 796 | // |
Lightvalve | 50:3c630b5eba9f | 797 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 798 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 799 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 800 | // } else { |
Lightvalve | 50:3c630b5eba9f | 801 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 802 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 803 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 804 | // } |
Lightvalve | 50:3c630b5eba9f | 805 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 806 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 807 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 808 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 809 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 810 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 811 | // } |
Lightvalve | 50:3c630b5eba9f | 812 | // } else { |
Lightvalve | 50:3c630b5eba9f | 813 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 814 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 815 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 816 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 817 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 818 | // } |
Lightvalve | 50:3c630b5eba9f | 819 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 820 | // |
Lightvalve | 50:3c630b5eba9f | 821 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 822 | // |
Lightvalve | 50:3c630b5eba9f | 823 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 824 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 825 | // |
Lightvalve | 50:3c630b5eba9f | 826 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 827 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 828 | // } |
Lightvalve | 50:3c630b5eba9f | 829 | // } |
Lightvalve | 50:3c630b5eba9f | 830 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 831 | // break; |
Lightvalve | 50:3c630b5eba9f | 832 | // } |
Lightvalve | 14:8e7590227d22 | 833 | |
Lightvalve | 14:8e7590227d22 | 834 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 835 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 836 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 837 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 838 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 839 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 840 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 841 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 842 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 843 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 844 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 845 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 846 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 847 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 848 | } |
Lightvalve | 29:69f3f5445d6d | 849 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 850 | |
Lightvalve | 29:69f3f5445d6d | 851 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 852 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 853 | } else { |
Lightvalve | 29:69f3f5445d6d | 854 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 855 | } |
Lightvalve | 19:23b7c1ad8683 | 856 | |
Lightvalve | 57:f4819de54e7a | 857 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 858 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 859 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 860 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 861 | |
Lightvalve | 59:f308b1656d9c | 862 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 863 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 864 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 865 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 866 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 867 | |
Lightvalve | 59:f308b1656d9c | 868 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 869 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 870 | |
Lightvalve | 34:bb2ca2fc2a8e | 871 | |
Lightvalve | 29:69f3f5445d6d | 872 | } else { |
Lightvalve | 29:69f3f5445d6d | 873 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 874 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 875 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 876 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 877 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 878 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 879 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 880 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 881 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 882 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 883 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 884 | |
Lightvalve | 67:c2812cf26c38 | 885 | |
Lightvalve | 67:c2812cf26c38 | 886 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 887 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 888 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 889 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 890 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 891 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 892 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 893 | |
Lightvalve | 67:c2812cf26c38 | 894 | |
Lightvalve | 29:69f3f5445d6d | 895 | } |
Lightvalve | 29:69f3f5445d6d | 896 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 897 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 898 | pos.ref = (0.0f - (float)INIT_REF_POS)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)INIT_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 899 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 900 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 901 | |
Lightvalve | 29:69f3f5445d6d | 902 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 903 | |
Lightvalve | 67:c2812cf26c38 | 904 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 905 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 906 | |
Lightvalve | 67:c2812cf26c38 | 907 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 908 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 909 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 910 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 911 | |
Lightvalve | 67:c2812cf26c38 | 912 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 913 | |
Lightvalve | 67:c2812cf26c38 | 914 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 915 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 916 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 917 | |
Lightvalve | 67:c2812cf26c38 | 918 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 919 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 920 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 921 | |
Lightvalve | 69:3995ffeaa786 | 922 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 923 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * 3.14159f / 180.0f; // rad/s |
Lightvalve | 67:c2812cf26c38 | 924 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 925 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 926 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 67:c2812cf26c38 | 927 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 928 | } |
Lightvalve | 67:c2812cf26c38 | 929 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 930 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 931 | |
Lightvalve | 67:c2812cf26c38 | 932 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 933 | |
Lightvalve | 67:c2812cf26c38 | 934 | |
Lightvalve | 67:c2812cf26c38 | 935 | |
Lightvalve | 67:c2812cf26c38 | 936 | } else { |
Lightvalve | 67:c2812cf26c38 | 937 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 938 | VALVE_POS_RAW_FORCE_FB = DDV_JOINT_POS_FF(vel.sen) + (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 67:c2812cf26c38 | 939 | |
Lightvalve | 67:c2812cf26c38 | 940 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 941 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 942 | } else { |
Lightvalve | 67:c2812cf26c38 | 943 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 944 | } |
Lightvalve | 67:c2812cf26c38 | 945 | |
Lightvalve | 67:c2812cf26c38 | 946 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 947 | |
Lightvalve | 67:c2812cf26c38 | 948 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 949 | |
Lightvalve | 67:c2812cf26c38 | 950 | } |
Lightvalve | 67:c2812cf26c38 | 951 | |
Lightvalve | 67:c2812cf26c38 | 952 | |
Lightvalve | 67:c2812cf26c38 | 953 | |
Lightvalve | 67:c2812cf26c38 | 954 | |
Lightvalve | 59:f308b1656d9c | 955 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 956 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 957 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 958 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 959 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 960 | |
Lightvalve | 29:69f3f5445d6d | 961 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 962 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 963 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 964 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 965 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 966 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 967 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 968 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 969 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 970 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 971 | } |
Lightvalve | 13:747daba9cf59 | 972 | } |
Lightvalve | 19:23b7c1ad8683 | 973 | |
Lightvalve | 13:747daba9cf59 | 974 | break; |
Lightvalve | 13:747daba9cf59 | 975 | } |
Lightvalve | 14:8e7590227d22 | 976 | |
Lightvalve | 50:3c630b5eba9f | 977 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 978 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 979 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 980 | // else { |
Lightvalve | 50:3c630b5eba9f | 981 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 982 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 983 | // } |
Lightvalve | 50:3c630b5eba9f | 984 | // } |
Lightvalve | 50:3c630b5eba9f | 985 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 986 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 987 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 988 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 989 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 990 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 991 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 992 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 993 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 994 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 995 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 996 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 997 | // } |
Lightvalve | 50:3c630b5eba9f | 998 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 999 | // } |
Lightvalve | 50:3c630b5eba9f | 1000 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1001 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1002 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1003 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1004 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1005 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1006 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1007 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1008 | // 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 | 50:3c630b5eba9f | 1009 | // // 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 | 50:3c630b5eba9f | 1010 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1011 | // } |
Lightvalve | 50:3c630b5eba9f | 1012 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1013 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1014 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1015 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1016 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1017 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1018 | // 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 | 50:3c630b5eba9f | 1019 | // // 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 | 50:3c630b5eba9f | 1020 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1021 | // } |
Lightvalve | 50:3c630b5eba9f | 1022 | // } |
Lightvalve | 50:3c630b5eba9f | 1023 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1024 | // |
Lightvalve | 50:3c630b5eba9f | 1025 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1026 | // |
Lightvalve | 50:3c630b5eba9f | 1027 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1028 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1029 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1030 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1031 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1032 | // } |
Lightvalve | 50:3c630b5eba9f | 1033 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1034 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1035 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1036 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1037 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1038 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1039 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1040 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1041 | // } |
Lightvalve | 50:3c630b5eba9f | 1042 | // |
Lightvalve | 50:3c630b5eba9f | 1043 | // } |
Lightvalve | 50:3c630b5eba9f | 1044 | // break; |
Lightvalve | 50:3c630b5eba9f | 1045 | // } |
Lightvalve | 50:3c630b5eba9f | 1046 | // |
Lightvalve | 50:3c630b5eba9f | 1047 | // } |
Lightvalve | 14:8e7590227d22 | 1048 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1049 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1050 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1051 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1052 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1053 | |
Lightvalve | 14:8e7590227d22 | 1054 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1055 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1056 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1057 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1058 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1059 | |
Lightvalve | 38:118df027d851 | 1060 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1061 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1062 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1063 | |
Lightvalve | 30:8d561f16383b | 1064 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1065 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1066 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1067 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1068 | |
Lightvalve | 30:8d561f16383b | 1069 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1070 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1071 | } |
Lightvalve | 13:747daba9cf59 | 1072 | } else { |
Lightvalve | 57:f4819de54e7a | 1073 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1074 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1075 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1076 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1077 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1078 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1079 | |
Lightvalve | 16:903b5a4433b4 | 1080 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1081 | |
Lightvalve | 30:8d561f16383b | 1082 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1083 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1084 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1085 | } |
Lightvalve | 14:8e7590227d22 | 1086 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1087 | break; |
Lightvalve | 13:747daba9cf59 | 1088 | } |
Lightvalve | 14:8e7590227d22 | 1089 | |
Lightvalve | 50:3c630b5eba9f | 1090 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1091 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1092 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1093 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1094 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1095 | // } |
Lightvalve | 50:3c630b5eba9f | 1096 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1097 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1098 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1099 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1100 | // } |
Lightvalve | 50:3c630b5eba9f | 1101 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1102 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1103 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1104 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1105 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1106 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1107 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1108 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1109 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1110 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1111 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1112 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1113 | // |
Lightvalve | 50:3c630b5eba9f | 1114 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1115 | // |
Lightvalve | 50:3c630b5eba9f | 1116 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1117 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1118 | // } |
Lightvalve | 50:3c630b5eba9f | 1119 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1120 | // break; |
Lightvalve | 50:3c630b5eba9f | 1121 | // } |
Lightvalve | 19:23b7c1ad8683 | 1122 | |
Lightvalve | 50:3c630b5eba9f | 1123 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1124 | // 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 | 50:3c630b5eba9f | 1125 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1126 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1127 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1128 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1129 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1130 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1131 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1132 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1133 | // } |
Lightvalve | 50:3c630b5eba9f | 1134 | // break; |
Lightvalve | 50:3c630b5eba9f | 1135 | // } |
Lightvalve | 14:8e7590227d22 | 1136 | |
Lightvalve | 14:8e7590227d22 | 1137 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1138 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1139 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1140 | |
Lightvalve | 14:8e7590227d22 | 1141 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1142 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1143 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1144 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1145 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1146 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1147 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1148 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1149 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1150 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1151 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1152 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1153 | } else { |
Lightvalve | 13:747daba9cf59 | 1154 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1155 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1156 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1157 | } |
Lightvalve | 14:8e7590227d22 | 1158 | |
Lightvalve | 17:1865016ca2e7 | 1159 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1160 | int i; |
Lightvalve | 13:747daba9cf59 | 1161 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1162 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1163 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1164 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1165 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1166 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1167 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1168 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1169 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1170 | } |
Lightvalve | 13:747daba9cf59 | 1171 | } |
Lightvalve | 59:f308b1656d9c | 1172 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1173 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1174 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1175 | } |
Lightvalve | 14:8e7590227d22 | 1176 | |
Lightvalve | 14:8e7590227d22 | 1177 | |
Lightvalve | 13:747daba9cf59 | 1178 | break; |
Lightvalve | 13:747daba9cf59 | 1179 | } |
Lightvalve | 14:8e7590227d22 | 1180 | |
Lightvalve | 14:8e7590227d22 | 1181 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1182 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1183 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1184 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1185 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1186 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1187 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1188 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1189 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1190 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1191 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1192 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1193 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1194 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1195 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1196 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 30:8d561f16383b | 1197 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1198 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1199 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1200 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1201 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1202 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 13:747daba9cf59 | 1203 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1204 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1205 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1206 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1207 | |
Lightvalve | 30:8d561f16383b | 1208 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1209 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1210 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1211 | |
Lightvalve | 30:8d561f16383b | 1212 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1213 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1214 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1215 | |
Lightvalve | 30:8d561f16383b | 1216 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1217 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1218 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1219 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1220 | |
Lightvalve | 60:64181f1d3e60 | 1221 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1222 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1223 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1224 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1225 | } else { |
Lightvalve | 13:747daba9cf59 | 1226 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1227 | } |
Lightvalve | 61:bc8c8270f0ab | 1228 | |
Lightvalve | 60:64181f1d3e60 | 1229 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1230 | |
Lightvalve | 13:747daba9cf59 | 1231 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1232 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1233 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1234 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1235 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1236 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1237 | |
Lightvalve | 13:747daba9cf59 | 1238 | } |
Lightvalve | 19:23b7c1ad8683 | 1239 | } else { |
Lightvalve | 14:8e7590227d22 | 1240 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1241 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1242 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1243 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1244 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1245 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1246 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1247 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1248 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1249 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1250 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1251 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1252 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1253 | } |
Lightvalve | 14:8e7590227d22 | 1254 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1255 | |
Lightvalve | 30:8d561f16383b | 1256 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1257 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1258 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1259 | |
Lightvalve | 14:8e7590227d22 | 1260 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1261 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1262 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1263 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1264 | } else { |
Lightvalve | 13:747daba9cf59 | 1265 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1266 | } |
Lightvalve | 14:8e7590227d22 | 1267 | |
Lightvalve | 13:747daba9cf59 | 1268 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1269 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1270 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1271 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1272 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1273 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1274 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1275 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1276 | } |
Lightvalve | 13:747daba9cf59 | 1277 | } |
Lightvalve | 14:8e7590227d22 | 1278 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1279 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1280 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1281 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1282 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1283 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1284 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1285 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1286 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1287 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1288 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1289 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1290 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1291 | } |
Lightvalve | 14:8e7590227d22 | 1292 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1293 | |
Lightvalve | 30:8d561f16383b | 1294 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1295 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1296 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1297 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1298 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1299 | |
Lightvalve | 14:8e7590227d22 | 1300 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1301 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1302 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1303 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1304 | } else { |
Lightvalve | 60:64181f1d3e60 | 1305 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1306 | } |
Lightvalve | 14:8e7590227d22 | 1307 | |
Lightvalve | 13:747daba9cf59 | 1308 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1309 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1310 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1311 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1312 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1313 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1314 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1315 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1316 | |
Lightvalve | 16:903b5a4433b4 | 1317 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1318 | |
Lightvalve | 60:64181f1d3e60 | 1319 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1320 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1321 | } |
Lightvalve | 13:747daba9cf59 | 1322 | } |
Lightvalve | 14:8e7590227d22 | 1323 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1324 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1325 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1326 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1327 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1328 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1329 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1330 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1331 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1332 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1333 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1334 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1335 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1336 | } |
Lightvalve | 14:8e7590227d22 | 1337 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1338 | |
Lightvalve | 30:8d561f16383b | 1339 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1340 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1341 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1342 | |
Lightvalve | 14:8e7590227d22 | 1343 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1344 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1345 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1346 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1347 | } else { |
Lightvalve | 13:747daba9cf59 | 1348 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1349 | } |
Lightvalve | 13:747daba9cf59 | 1350 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1351 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1352 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1353 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1354 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1355 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1356 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1357 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1358 | } |
Lightvalve | 13:747daba9cf59 | 1359 | } |
Lightvalve | 14:8e7590227d22 | 1360 | } else { |
Lightvalve | 30:8d561f16383b | 1361 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1362 | Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 60:64181f1d3e60 | 1363 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1364 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1365 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1366 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1367 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1368 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1369 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1370 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1371 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1372 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1373 | } |
Lightvalve | 14:8e7590227d22 | 1374 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1375 | |
Lightvalve | 30:8d561f16383b | 1376 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1377 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1378 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1379 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1380 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1381 | |
Lightvalve | 60:64181f1d3e60 | 1382 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1383 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1384 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1385 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1386 | } else { |
Lightvalve | 13:747daba9cf59 | 1387 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1388 | } |
Lightvalve | 14:8e7590227d22 | 1389 | |
Lightvalve | 13:747daba9cf59 | 1390 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1391 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1392 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1393 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1394 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1395 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1396 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1397 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1398 | |
Lightvalve | 59:f308b1656d9c | 1399 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1400 | |
Lightvalve | 57:f4819de54e7a | 1401 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1402 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1403 | } |
Lightvalve | 13:747daba9cf59 | 1404 | } |
Lightvalve | 13:747daba9cf59 | 1405 | } |
Lightvalve | 14:8e7590227d22 | 1406 | } |
Lightvalve | 13:747daba9cf59 | 1407 | break; |
Lightvalve | 13:747daba9cf59 | 1408 | } |
Lightvalve | 14:8e7590227d22 | 1409 | |
Lightvalve | 14:8e7590227d22 | 1410 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1411 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1412 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1413 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1414 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1415 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1416 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1417 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1418 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1419 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1420 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1421 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1422 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1423 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1424 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1425 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1426 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1427 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1428 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1429 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1430 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1431 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1432 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1433 | } |
Lightvalve | 14:8e7590227d22 | 1434 | } else { |
Lightvalve | 30:8d561f16383b | 1435 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1436 | //V_out = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 1437 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1438 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1439 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1440 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1441 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1442 | |
Lightvalve | 14:8e7590227d22 | 1443 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1444 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1445 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1446 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1447 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1448 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1449 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1450 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1451 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1452 | } |
Lightvalve | 30:8d561f16383b | 1453 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1454 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1455 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1456 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1457 | } |
Lightvalve | 14:8e7590227d22 | 1458 | |
Lightvalve | 14:8e7590227d22 | 1459 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1460 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1461 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1462 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1463 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1464 | } |
Lightvalve | 13:747daba9cf59 | 1465 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1466 | |
Lightvalve | 13:747daba9cf59 | 1467 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1468 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1469 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1470 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1471 | } |
Lightvalve | 14:8e7590227d22 | 1472 | |
Lightvalve | 14:8e7590227d22 | 1473 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1474 | |
Lightvalve | 13:747daba9cf59 | 1475 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1476 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1477 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1478 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1479 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1480 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1481 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1482 | } |
Lightvalve | 13:747daba9cf59 | 1483 | } |
Lightvalve | 13:747daba9cf59 | 1484 | break; |
Lightvalve | 13:747daba9cf59 | 1485 | } |
Lightvalve | 58:2eade98630e2 | 1486 | |
Lightvalve | 57:f4819de54e7a | 1487 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1488 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1489 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1490 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1491 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1492 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1493 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1494 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1495 | } |
Lightvalve | 57:f4819de54e7a | 1496 | break; |
Lightvalve | 57:f4819de54e7a | 1497 | } |
Lightvalve | 58:2eade98630e2 | 1498 | |
Lightvalve | 58:2eade98630e2 | 1499 | |
Lightvalve | 57:f4819de54e7a | 1500 | |
Lightvalve | 57:f4819de54e7a | 1501 | default: |
Lightvalve | 57:f4819de54e7a | 1502 | break; |
Lightvalve | 57:f4819de54e7a | 1503 | } |
Lightvalve | 57:f4819de54e7a | 1504 | |
Lightvalve | 57:f4819de54e7a | 1505 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1506 | |
Lightvalve | 57:f4819de54e7a | 1507 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1508 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1509 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1510 | break; |
Lightvalve | 57:f4819de54e7a | 1511 | } |
Lightvalve | 57:f4819de54e7a | 1512 | |
Lightvalve | 57:f4819de54e7a | 1513 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1514 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1515 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1516 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1517 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1518 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1519 | } else { |
Lightvalve | 67:c2812cf26c38 | 1520 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1521 | } |
Lightvalve | 58:2eade98630e2 | 1522 | |
Lightvalve | 57:f4819de54e7a | 1523 | break; |
Lightvalve | 57:f4819de54e7a | 1524 | } |
Lightvalve | 57:f4819de54e7a | 1525 | |
Lightvalve | 57:f4819de54e7a | 1526 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1527 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1528 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1529 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1530 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1531 | |
Lightvalve | 67:c2812cf26c38 | 1532 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1533 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1534 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1535 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1536 | |
Lightvalve | 67:c2812cf26c38 | 1537 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1538 | |
Lightvalve | 57:f4819de54e7a | 1539 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1540 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1541 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1542 | |
Lightvalve | 57:f4819de54e7a | 1543 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1544 | |
Lightvalve | 57:f4819de54e7a | 1545 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1546 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1547 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1548 | |
Lightvalve | 57:f4819de54e7a | 1549 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1550 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1551 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1552 | |
Lightvalve | 69:3995ffeaa786 | 1553 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1554 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1555 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1556 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1557 | temp_vel_pos = (0.01f * (double) P_GAIN_JOINT_POSITION * wn_Pos * pos.err + 0.01f * (double) I_GAIN_JOINT_POSITION * wn_Pos * pos.err_sum + 0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1558 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1559 | } |
Lightvalve | 57:f4819de54e7a | 1560 | if (temp_vel_pos > 0.0f) I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1561 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1562 | |
Lightvalve | 57:f4819de54e7a | 1563 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1564 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1565 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1566 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION) * PI / 180.0; // rad/s |
Lightvalve | 57:f4819de54e7a | 1567 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1568 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1569 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1570 | I_REF_FORCE_FB = 0.001f * 0.01f*((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); // Linear Actuators are more sensitive. |
Lightvalve | 57:f4819de54e7a | 1571 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1572 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1573 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1574 | } |
Lightvalve | 57:f4819de54e7a | 1575 | if (temp_vel_torq > 0.0f) I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_A * 0.00006f / (K_v * sqrt(2.0f * alpha3 / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1576 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1577 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1578 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1579 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1580 | |
Lightvalve | 57:f4819de54e7a | 1581 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1582 | |
Lightvalve | 67:c2812cf26c38 | 1583 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1584 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1585 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1586 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1587 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1588 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1589 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1590 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1591 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1592 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1593 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1594 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1595 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1596 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1597 | } |
Lightvalve | 67:c2812cf26c38 | 1598 | } |
Lightvalve | 57:f4819de54e7a | 1599 | |
Lightvalve | 57:f4819de54e7a | 1600 | } else { |
Lightvalve | 57:f4819de54e7a | 1601 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1602 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1603 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1604 | |
Lightvalve | 57:f4819de54e7a | 1605 | VALVE_POS_RAW_FORCE_FB = alpha_trans*(((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f |
Lightvalve | 57:f4819de54e7a | 1606 | + DDV_JOINT_POS_FF(vel.sen))+ (1.0f-alpha_trans) * (P_GAIN_JOINT_POSITION * 0.01f * pos.err + DDV_JOINT_POS_FF(vel.ref)); |
Lightvalve | 57:f4819de54e7a | 1607 | |
Lightvalve | 72:3436ce769b1e | 1608 | VALVE_POS_RAW_FORCE_FF = P_GAIN_JOINT_TORQUE_FF * torq_ref * 0.001f + D_GAIN_JOINT_TORQUE_FF * (torq_ref - torq_ref_past) * 0.0001f; |
Lightvalve | 72:3436ce769b1e | 1609 | |
Lightvalve | 72:3436ce769b1e | 1610 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1611 | |
Lightvalve | 72:3436ce769b1e | 1612 | |
Lightvalve | 72:3436ce769b1e | 1613 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1614 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1615 | } else { |
Lightvalve | 72:3436ce769b1e | 1616 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1617 | } |
Lightvalve | 57:f4819de54e7a | 1618 | |
Lightvalve | 57:f4819de54e7a | 1619 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1620 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1621 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1622 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1623 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1624 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1625 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1626 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1627 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1628 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1629 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1630 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1631 | } |
Lightvalve | 57:f4819de54e7a | 1632 | } |
Lightvalve | 61:bc8c8270f0ab | 1633 | |
Lightvalve | 57:f4819de54e7a | 1634 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1635 | |
Lightvalve | 67:c2812cf26c38 | 1636 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1637 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1638 | |
Lightvalve | 57:f4819de54e7a | 1639 | } |
Lightvalve | 72:3436ce769b1e | 1640 | |
Lightvalve | 72:3436ce769b1e | 1641 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1642 | |
Lightvalve | 57:f4819de54e7a | 1643 | break; |
Lightvalve | 57:f4819de54e7a | 1644 | } |
Lightvalve | 58:2eade98630e2 | 1645 | |
Lightvalve | 57:f4819de54e7a | 1646 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1647 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1648 | break; |
Lightvalve | 57:f4819de54e7a | 1649 | } |
Lightvalve | 14:8e7590227d22 | 1650 | |
Lightvalve | 12:6f2531038ea4 | 1651 | default: |
Lightvalve | 12:6f2531038ea4 | 1652 | break; |
Lightvalve | 12:6f2531038ea4 | 1653 | } |
Lightvalve | 14:8e7590227d22 | 1654 | |
Lightvalve | 57:f4819de54e7a | 1655 | |
Lightvalve | 57:f4819de54e7a | 1656 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1657 | |
Lightvalve | 57:f4819de54e7a | 1658 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1659 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1660 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1661 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1662 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1663 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1664 | |
Lightvalve | 57:f4819de54e7a | 1665 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1666 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1667 | |
Lightvalve | 57:f4819de54e7a | 1668 | |
Lightvalve | 57:f4819de54e7a | 1669 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1670 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1671 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1672 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1673 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1674 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1675 | |
Lightvalve | 57:f4819de54e7a | 1676 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1677 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1678 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1679 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1680 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1681 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1682 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1683 | } |
Lightvalve | 57:f4819de54e7a | 1684 | |
Lightvalve | 57:f4819de54e7a | 1685 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1686 | |
Lightvalve | 67:c2812cf26c38 | 1687 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1688 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1689 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1690 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1691 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1692 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1693 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1694 | |
Lightvalve | 57:f4819de54e7a | 1695 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1696 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1697 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1698 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1699 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1700 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1701 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1702 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1703 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1704 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1705 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1706 | } |
Lightvalve | 57:f4819de54e7a | 1707 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1708 | } else { |
Lightvalve | 57:f4819de54e7a | 1709 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1710 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1711 | } |
Lightvalve | 57:f4819de54e7a | 1712 | |
Lightvalve | 57:f4819de54e7a | 1713 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1714 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1715 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1716 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1717 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1718 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1719 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1720 | |
Lightvalve | 57:f4819de54e7a | 1721 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1722 | |
Lightvalve | 57:f4819de54e7a | 1723 | } else { |
Lightvalve | 57:f4819de54e7a | 1724 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1725 | } |
Lightvalve | 57:f4819de54e7a | 1726 | |
Lightvalve | 57:f4819de54e7a | 1727 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1728 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1729 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1730 | |
Lightvalve | 57:f4819de54e7a | 1731 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1732 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1733 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1734 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1735 | } |
Lightvalve | 67:c2812cf26c38 | 1736 | |
Lightvalve | 67:c2812cf26c38 | 1737 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1738 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1739 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1740 | |
jobuuu | 7:e9086c72bb22 | 1741 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1742 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1743 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1744 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1745 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1746 | } |
Lightvalve | 67:c2812cf26c38 | 1747 | |
Lightvalve | 49:e7bcfc244d40 | 1748 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1749 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1750 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1751 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1752 | } |
Lightvalve | 49:e7bcfc244d40 | 1753 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1754 | |
Lightvalve | 19:23b7c1ad8683 | 1755 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1756 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1757 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1758 | |
Lightvalve | 30:8d561f16383b | 1759 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1760 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1761 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1762 | } else { |
jobuuu | 2:a1c0a37df760 | 1763 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1764 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1765 | } |
Lightvalve | 13:747daba9cf59 | 1766 | |
jobuuu | 1:e04e563be5ce | 1767 | //pwm |
Lightvalve | 30:8d561f16383b | 1768 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1769 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1770 | |
Lightvalve | 61:bc8c8270f0ab | 1771 | |
Lightvalve | 57:f4819de54e7a | 1772 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1773 | |
Lightvalve | 54:647072f5307a | 1774 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1775 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1776 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1777 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1778 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1779 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1780 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 1781 | } |
Lightvalve | 57:f4819de54e7a | 1782 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1783 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1784 | CAN_TX_POSITION_FT((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) (torq.sen * 10.0f * (float)(TORQUE_SENSOR_PULSE_PER_TORQUE))); |
Lightvalve | 54:647072f5307a | 1785 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1786 | CAN_TX_POSITION_PRESSURE((int16_t) (pos.sen/10.0f), (int16_t) (vel.sen/256.0f), (int16_t) ((pres_A.sen)*5.0f), (int16_t) ((pres_B.sen)*5.0f)); |
Lightvalve | 54:647072f5307a | 1787 | } |
Lightvalve | 52:8ea76864368a | 1788 | } |
Lightvalve | 52:8ea76864368a | 1789 | } |
Lightvalve | 56:6f50d9d3bfee | 1790 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1791 | //valve position |
Lightvalve | 54:647072f5307a | 1792 | double t_value = 0; |
Lightvalve | 67:c2812cf26c38 | 1793 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 67:c2812cf26c38 | 1794 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1795 | } else { |
Lightvalve | 67:c2812cf26c38 | 1796 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 67:c2812cf26c38 | 1797 | } |
Lightvalve | 67:c2812cf26c38 | 1798 | // if(OPERATING_MODE==5) { |
Lightvalve | 67:c2812cf26c38 | 1799 | // t_value = (double) value; |
Lightvalve | 67:c2812cf26c38 | 1800 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 67:c2812cf26c38 | 1801 | // t_value = cur.sen; |
Lightvalve | 57:f4819de54e7a | 1802 | // } else { |
Lightvalve | 67:c2812cf26c38 | 1803 | // t_value = V_out; |
Lightvalve | 67:c2812cf26c38 | 1804 | // } |
Lightvalve | 67:c2812cf26c38 | 1805 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1806 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1807 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1808 | } |
Lightvalve | 58:2eade98630e2 | 1809 | |
Lightvalve | 58:2eade98630e2 | 1810 | |
Lightvalve | 56:6f50d9d3bfee | 1811 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 56:6f50d9d3bfee | 1812 | //pressure A and B |
Lightvalve | 57:f4819de54e7a | 1813 | CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // CUR_PRES_X : 0(0bar)~4096(210bar) //1400 |
Lightvalve | 55:b25725257569 | 1814 | } |
Lightvalve | 58:2eade98630e2 | 1815 | |
Lightvalve | 57:f4819de54e7a | 1816 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1817 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1818 | ; |
Lightvalve | 57:f4819de54e7a | 1819 | } |
Lightvalve | 58:2eade98630e2 | 1820 | |
Lightvalve | 56:6f50d9d3bfee | 1821 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1822 | //PWM |
Lightvalve | 67:c2812cf26c38 | 1823 | CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 54:647072f5307a | 1824 | } |
Lightvalve | 57:f4819de54e7a | 1825 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1826 | // ; |
Lightvalve | 57:f4819de54e7a | 1827 | // } |
Lightvalve | 56:6f50d9d3bfee | 1828 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1829 | //valve position |
Lightvalve | 57:f4819de54e7a | 1830 | CAN_TX_VALVE_POSITION((int16_t) (CAN_FREQ), (int16_t) (D_DAMPER), (int16_t) OPERATING_MODE); //1600 |
Lightvalve | 54:647072f5307a | 1831 | } |
Lightvalve | 20:806196fda269 | 1832 | |
Lightvalve | 54:647072f5307a | 1833 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1834 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1835 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1836 | // } |
Lightvalve | 54:647072f5307a | 1837 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1838 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1839 | //} |
Lightvalve | 52:8ea76864368a | 1840 | |
Lightvalve | 54:647072f5307a | 1841 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1842 | } |
Lightvalve | 54:647072f5307a | 1843 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1844 | |
Lightvalve | 20:806196fda269 | 1845 | } |
Lightvalve | 52:8ea76864368a | 1846 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1847 | |
Lightvalve | 58:2eade98630e2 | 1848 | } |