2011

Dependencies:   mbed FastPWM

Committer:
Lightvalve
Date:
Tue Sep 15 00:22:01 2020 +0000
Revision:
121:89396c37b03e
Parent:
120:17398540bb1c
Child:
122:dcb3ce3056a0
200915-1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 121:89396c37b03e 1 //200915-1
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 99:7bbcb3c0fb06 187 float u_past[num_array_u_past] = {0.0f};
Lightvalve 68:328e1be06f5d 188 float x_past[num_array_x_past] = {0.0f};
Lightvalve 85:a3b46118b5cd 189 float x_future[num_array_x_future] = {0.0f};
Lightvalve 68:328e1be06f5d 190 float f_past[num_array_f_past] = {0.0f};
Lightvalve 68:328e1be06f5d 191 float f_future[num_array_f_future] = {0.0f};
Lightvalve 66:a8e6799dbce3 192
Lightvalve 73:f80dc3970c99 193 float input_NN[num_input] = { 0.0f };
Lightvalve 65:a2d7c63419c2 194
Lightvalve 112:8dcb1600cb90 195 const float h1[num_input][16] = {
Lightvalve 120:17398540bb1c 196 {-0.12538549304008484f,-0.1297602355480194f,0.11304140090942383f,0.2742859721183777f,-0.8250300288200378f,-0.04229236766695976f,-0.15306922793388367f,-0.4135235548019409f,-0.2961782217025757f,-0.07852207124233246f,-1.1915283203125f,0.01317680161446333f,-0.25207650661468506f,-0.014075362123548985f,-0.22528137266635895f,-0.6198574304580688f},
Lightvalve 120:17398540bb1c 197 {-0.19888468086719513f,0.4962921142578125f,-0.3440950810909271f,-0.04722340777516365f,-0.9384036064147949f,0.008911640383303165f,-0.3551466166973114f,-0.5058884024620056f,-0.11596696078777313f,0.14010098576545715f,-1.1150455474853516f,-0.7881326079368591f,0.21576932072639465f,-0.6239233016967773f,-0.1836855560541153f,-0.5878320336341858f},
Lightvalve 120:17398540bb1c 198 {-0.03559984266757965f,0.06665316969156265f,0.3188004493713379f,-0.23797664046287537f,-0.8946518898010254f,0.33254438638687134f,0.2516096830368042f,-0.4437709152698517f,-0.18694481253623962f,0.14209488034248352f,-0.7290050387382507f,-0.47835156321525574f,0.0697505995631218f,0.009985013864934444f,0.04897245764732361f,-0.5600040555000305f},
Lightvalve 120:17398540bb1c 199 {-0.06218857690691948f,0.0055004083551466465f,0.34815579652786255f,0.3614911139011383f,-0.9616373777389526f,0.4737781584262848f,-0.10148510336875916f,-0.19577272236347198f,-0.02599596232175827f,0.25770917534828186f,0.10352985560894012f,-0.025867044925689697f,-0.09092411398887634f,0.37447765469551086f,-0.2594349980354309f,-0.29302236437797546f},
Lightvalve 120:17398540bb1c 200 {-1.0256245136260986f,3.3244986534118652f,-0.004507303237915039f,-0.4295147955417633f,-0.2665431797504425f,1.2085310220718384f,0.11336228251457214f,0.5614469647407532f,-0.020764315500855446f,0.09357579052448273f,2.153151750564575f,-2.3825974464416504f,-0.19526953995227814f,1.485861897468567f,-0.33859342336654663f,-1.0096709728240967f},
Lightvalve 120:17398540bb1c 201 {0.33760398626327515f,0.15137788653373718f,0.19074231386184692f,0.28160399198532104f,0.06776947528123856f,0.15706767141819f,0.1446705460548401f,-0.59229576587677f,-0.01898665726184845f,0.09772954136133194f,-0.2321673035621643f,-0.43289390206336975f,-0.22538399696350098f,0.2040676772594452f,-0.36205175518989563f,-0.5129569172859192f},
Lightvalve 120:17398540bb1c 202 {0.0647188276052475f,0.385019987821579f,-0.21918344497680664f,-0.3794626295566559f,-0.4691496193408966f,0.5222136974334717f,0.05268651247024536f,-0.654662549495697f,0.2718934714794159f,0.053434062749147415f,0.024371149018406868f,-0.27870720624923706f,-0.1430879831314087f,0.2003219723701477f,-0.13682329654693604f,-0.31295764446258545f},
Lightvalve 120:17398540bb1c 203 {0.04983292520046234f,0.1452646702528f,-0.23319895565509796f,0.12819106876850128f,-0.46857011318206787f,0.32018986344337463f,-0.15703755617141724f,-0.6967725157737732f,-0.023273874074220657f,0.0937250480055809f,-0.04469524696469307f,-0.625782310962677f,0.33592408895492554f,-0.06288835406303406f,0.03769642114639282f,-0.12413319200277328f},
Lightvalve 120:17398540bb1c 204 {0.22675682604312897f,0.5973165035247803f,0.08977723121643066f,-0.2428070604801178f,-0.3495730757713318f,0.6904239058494568f,-0.06348633766174316f,-0.7936407327651978f,-0.2829691469669342f,0.2962890565395355f,-0.49142125248908997f,-0.2163258045911789f,0.2159746140241623f,-0.12937478721141815f,-0.2676756680011749f,-0.09756138920783997f},
Lightvalve 120:17398540bb1c 205 {0.056595273315906525f,0.04809652268886566f,0.16173982620239258f,0.020012572407722473f,-0.09903427213430405f,0.9706398844718933f,-0.26198261976242065f,-0.5410996675491333f,-0.05274199694395065f,-0.42306792736053467f,-0.33324792981147766f,-0.8957317471504211f,0.3466741442680359f,-0.6731507182121277f,0.3052974343299866f,-0.2763424217700958f},
Lightvalve 120:17398540bb1c 206 {0.5586411952972412f,0.43095552921295166f,0.32573211193084717f,0.4262547492980957f,-0.23946885764598846f,0.853289008140564f,-0.17817988991737366f,-0.5030534267425537f,-0.41963163018226624f,0.01310235820710659f,-0.10254285484552383f,-0.6943825483322144f,-0.03343270346522331f,-0.5341449975967407f,0.23379981517791748f,-0.5737422108650208f},
Lightvalve 120:17398540bb1c 207 {-0.43968984484672546f,-0.5982950925827026f,-0.3532183766365051f,-0.09305038303136826f,0.02779853157699108f,-0.31271958351135254f,0.13436567783355713f,0.3002631366252899f,-0.1767670065164566f,0.16469384729862213f,-0.5442917943000793f,-0.09487488865852356f,0.10150864720344543f,-0.1174691766500473f,0.09193113446235657f,-0.398308128118515f},
Lightvalve 120:17398540bb1c 208 {-0.29969802498817444f,-0.20802512764930725f,0.173875629901886f,-0.03646260127425194f,0.2339116930961609f,-0.025851814076304436f,-0.21062730252742767f,0.1728522628545761f,-0.1958557665348053f,-0.19184263050556183f,-0.16906322538852692f,-0.3767596185207367f,0.03815969452261925f,-0.034190502017736435f,-0.19507692754268646f,-0.6954120993614197f},
Lightvalve 120:17398540bb1c 209 {-0.5445505380630493f,-0.06667868793010712f,0.36161231994628906f,-0.3853375017642975f,-0.18679115176200867f,-0.17434139549732208f,-0.2803434431552887f,-0.1055828109383583f,-0.1492249220609665f,-0.22327004373073578f,-0.096988745033741f,-0.4720779061317444f,-0.33747512102127075f,-0.01742616668343544f,0.04202204942703247f,-0.3880178928375244f},
Lightvalve 120:17398540bb1c 210 {-0.30601173639297485f,0.6010074019432068f,0.1776806116104126f,-0.3648182153701782f,0.37388876080513f,-0.3927247226238251f,0.036818891763687134f,0.47357508540153503f,0.2354845255613327f,0.042778871953487396f,0.21399913728237152f,-1.0210378170013428f,0.033867064863443375f,0.33429262042045593f,0.058527231216430664f,-0.4199855625629425f},
Lightvalve 120:17398540bb1c 211 {-0.34438514709472656f,2.2698769569396973f,-0.3542669713497162f,-0.528469979763031f,-0.13626305758953094f,-2.7937612533569336f,-0.13638360798358917f,0.16776393353939056f,0.1462515890598297f,-0.03840259462594986f,1.0126919746398926f,-1.1838299036026f,-0.24433782696723938f,2.422633171081543f,-0.07223698496818542f,-0.3419298827648163f},
Lightvalve 120:17398540bb1c 212 {0.6194776892662048f,-2.516664743423462f,0.14635330438613892f,0.9439404606819153f,-0.4982180595397949f,2.151139259338379f,-0.03628063201904297f,-1.0738998651504517f,-0.08571594953536987f,0.0396052785217762f,-2.8291807174682617f,1.5088356733322144f,0.20211462676525116f,-2.522641181945801f,0.25779521465301514f,-0.026165809482336044f},
Lightvalve 120:17398540bb1c 213 {0.06352996081113815f,-0.05066967010498047f,0.18322283029556274f,0.03522790968418121f,-0.4696357548236847f,0.25518545508384705f,-0.3163079023361206f,-0.27377328276634216f,-0.3872103691101074f,-0.14478269219398499f,-0.6481943726539612f,0.3252601623535156f,0.25736236572265625f,-0.651495099067688f,-0.2407861351966858f,0.20217441022396088f},
Lightvalve 120:17398540bb1c 214 {-0.2707156240940094f,-0.923464834690094f,-0.2609631419181824f,0.26111695170402527f,0.2789458930492401f,-0.7849046587944031f,0.2401489019393921f,-0.3799836337566376f,-0.38324639201164246f,-0.012600225396454334f,-0.6569547653198242f,0.7391843199729919f,0.07483898103237152f,0.7388472557067871f,-0.28592410683631897f,-0.06940817087888718f},
Lightvalve 120:17398540bb1c 215 {0.14886534214019775f,-1.379183292388916f,0.1335710883140564f,-0.2705114483833313f,-0.1318787783384323f,-1.0396175384521484f,-0.1246849000453949f,-0.2070637196302414f,-0.1831875741481781f,0.0033268898259848356f,-0.176667258143425f,1.1407310962677002f,0.18566201627254486f,1.2869547605514526f,0.1255095899105072f,0.5903193950653076f},
Lightvalve 120:17398540bb1c 216 {-0.46475258469581604f,-1.7666163444519043f,-0.07108169794082642f,0.0038260819856077433f,-0.08281804621219635f,-1.5454415082931519f,0.13563674688339233f,0.305400013923645f,-0.3685535192489624f,-0.30845415592193604f,-0.4078262448310852f,0.7521111965179443f,-0.22504742443561554f,1.6817525625228882f,0.01829466223716736f,0.7402373552322388f},
Lightvalve 120:17398540bb1c 217 {-0.5450851917266846f,-1.325493335723877f,0.24740570783615112f,-0.5695751309394836f,0.3641650676727295f,-1.0611701011657715f,0.25593245029449463f,0.29514080286026f,-0.09460391849279404f,0.05305565521121025f,0.11546958982944489f,0.6832703351974487f,0.14349237084388733f,1.1527934074401855f,0.056514471769332886f,0.6130792498588562f},
Lightvalve 120:17398540bb1c 218 {-0.07460365444421768f,-0.3792673945426941f,-0.3288555443286896f,-0.2455163151025772f,-0.24700762331485748f,-0.4440239369869232f,-0.11800059676170349f,0.14122913777828217f,-0.29557308554649353f,0.2819157540798187f,0.260654479265213f,0.4827042520046234f,-0.06022251769900322f,0.44099026918411255f,-0.3194865584373474f,0.6340256929397583f},
Lightvalve 120:17398540bb1c 219 {-0.1879761815071106f,-0.2528689503669739f,-0.29844698309898376f,-0.5101702809333801f,0.339926540851593f,0.3075282871723175f,-0.249517560005188f,0.331373929977417f,-0.4385988116264343f,0.16865456104278564f,0.20783667266368866f,-0.0021506110206246376f,0.23602595925331116f,0.34091079235076904f,0.23831695318222046f,0.06740475445985794f},
Lightvalve 120:17398540bb1c 220 {-0.025915497913956642f,-0.1714746356010437f,0.20589900016784668f,-0.04402639716863632f,0.10800769180059433f,-0.639302134513855f,-0.2483310103416443f,0.1761297583580017f,-0.16761073470115662f,0.28876426815986633f,-0.0992262214422226f,-0.07243049889802933f,-0.3015822470188141f,-0.017708564177155495f,0.06927120685577393f,-0.09717927873134613f},
Lightvalve 120:17398540bb1c 221 {-0.429812490940094f,0.1543487310409546f,0.008588135242462158f,-0.5760452151298523f,-0.2914566993713379f,-0.2223208248615265f,0.013287186622619629f,-0.08880852162837982f,0.1582227200269699f,-0.024031326174736023f,0.3269001841545105f,-0.5358487367630005f,-0.009665273129940033f,-0.29968416690826416f,-0.1702093929052353f,-0.03628617152571678f},
Lightvalve 120:17398540bb1c 222 {-0.34342706203460693f,-0.039361659437417984f,0.06708025932312012f,-0.05964343994855881f,0.043768007308244705f,-0.27679672837257385f,0.27470332384109497f,-0.0833902433514595f,-0.11639530956745148f,0.2393946647644043f,0.49262282252311707f,-0.8204572796821594f,0.01190573163330555f,0.30590832233428955f,0.11447501182556152f,-0.21693718433380127f},
Lightvalve 65:a2d7c63419c2 223 };
Lightvalve 65:a2d7c63419c2 224
Lightvalve 112:8dcb1600cb90 225 const float h2[16][16] = {
Lightvalve 120:17398540bb1c 226 {-0.40168216824531555f,0.5186493396759033f,-0.06966331601142883f,-0.9802365303039551f,-0.21907491981983185f,0.6322985291481018f,0.09174512326717377f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,-0.3015476167201996f,0.15160076320171356f,0.12968102097511292f,0.321427583694458f,0.3973703384399414f,0.7016607522964478f},
Lightvalve 120:17398540bb1c 227 {-0.17964878678321838f,-19.759550094604492f,0.057057321071624756f,0.14957964420318604f,-0.35503754019737244f,-18.96450424194336f,-0.6501030325889587f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-1.3818602561950684f,-7.4136576652526855f,0.33698758482933044f,-1.7448585033416748f,-2.7991631031036377f,-10.538856506347656f},
Lightvalve 112:8dcb1600cb90 228 {-0.22745239734649658f,0.003037691116333008f,-0.061119019985198975f,0.35696902871131897f,0.05568113923072815f,0.011741191148757935f,-0.20225946605205536f,-0.08465918898582458f,0.3489862382411957f,0.0687277615070343f,0.31964078545570374f,0.3004753887653351f,0.36063823103904724f,-0.42892736196517944f,0.08652284741401672f,0.027493387460708618f},
Lightvalve 120:17398540bb1c 229 {-0.23776614665985107f,0.20758849382400513f,-0.2894435524940491f,0.21407021582126617f,0.08946844935417175f,-0.8848502039909363f,-0.3794410824775696f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.11218374967575073f,0.07981710880994797f,-0.404754102230072f,0.6458055973052979f,0.37363240122795105f,-0.5949528217315674f},
Lightvalve 120:17398540bb1c 230 {-0.4611620008945465f,0.4566289186477661f,-0.25313520431518555f,0.27121683955192566f,0.036378175020217896f,0.12893712520599365f,-0.19370491802692413f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,-0.2024049311876297f,-0.5216248035430908f,0.10077962279319763f,-0.422469824552536f,-0.2906075417995453f,-0.42898765206336975f},
Lightvalve 120:17398540bb1c 231 {0.08551257848739624f,-0.8909131288528442f,-0.3519742488861084f,0.2551344633102417f,-0.3015052080154419f,1.128373384475708f,-0.6188379526138306f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,-0.31142207980155945f,-0.8247268795967102f,-0.20959392189979553f,0.9023554921150208f,0.3796950578689575f,-2.667577028274536f},
Lightvalve 112:8dcb1600cb90 232 {-0.1828227937221527f,-0.02554568648338318f,-0.3260969817638397f,0.08422836661338806f,-0.38453540205955505f,-0.25432005524635315f,0.285016268491745f,0.12387624382972717f,-0.0982072651386261f,0.13111665844917297f,-0.03692615032196045f,-0.32796353101730347f,-0.21546880900859833f,0.049302369356155396f,-0.27088475227355957f,-0.4124959409236908f},
Lightvalve 120:17398540bb1c 233 {-0.06052946671843529f,0.42518696188926697f,0.33083590865135193f,-0.3584161102771759f,-0.14358049631118774f,-0.3736359179019928f,-0.21919091045856476f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.38830283284187317f,-0.7548213005065918f,-0.31673234701156616f,-0.31882062554359436f,0.2643463909626007f,-0.020919619128108025f},
Lightvalve 120:17398540bb1c 234 {-0.25820738077163696f,0.30604642629623413f,-0.11379697918891907f,0.1305476427078247f,0.041274964809417725f,-0.2976079285144806f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.011476963758468628f,-0.3197441101074219f,-0.37024784088134766f,-0.2545563280582428f,-0.3413182497024536f,-0.24413029849529266f},
Lightvalve 120:17398540bb1c 235 {-0.17419426143169403f,0.23410338163375854f,-0.13502129912376404f,0.12825390696525574f,0.12987366318702698f,0.10837459564208984f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.2463141530752182f,0.36859747767448425f,0.3811538517475128f,-0.2518221437931061f,0.0015065826009958982f,-0.22126294672489166f},
Lightvalve 120:17398540bb1c 236 {-0.5818582773208618f,-0.9885985851287842f,0.0457797646522522f,-1.0289779901504517f,-0.03321319818496704f,-0.10241472721099854f,-0.1456492394208908f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,0.03015293926000595f,-0.1720106303691864f,-0.3647043704986572f,-0.26887544989585876f,0.043931350111961365f,-1.271228551864624f},
Lightvalve 120:17398540bb1c 237 {-0.023775232955813408f,0.4065960645675659f,0.3954955041408539f,0.12153828144073486f,0.0033026933670043945f,-0.34759125113487244f,-0.46868860721588135f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,0.4603039026260376f,-0.684657633304596f,0.0820283591747284f,-0.7265788912773132f,0.4195437729358673f,0.7041466236114502f},
Lightvalve 120:17398540bb1c 238 {-0.3727343678474426f,-0.14289318025112152f,-0.15798500180244446f,0.3409014940261841f,-0.37393757700920105f,0.33053267002105713f,0.11292675137519836f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.06061609461903572f,-0.3116716742515564f,0.41839322447776794f,-0.10966654866933823f,-0.16619719564914703f,0.13714851438999176f},
Lightvalve 120:17398540bb1c 239 {-0.5560265779495239f,0.7481104135513306f,-0.2018718123435974f,-0.4556296467781067f,0.07545611262321472f,-1.7956639528274536f,-0.5900709629058838f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,1.6568773984909058f,-1.7330076694488525f,-0.16718891263008118f,-2.74723219871521f,0.004431179724633694f,-0.960465669631958f},
Lightvalve 112:8dcb1600cb90 240 {0.4138670265674591f,0.1604653298854828f,0.056746453046798706f,0.036025404930114746f,0.3228367865085602f,-0.07083973288536072f,0.018455177545547485f,0.0059362053871154785f,0.40515169501304626f,0.014240056276321411f,-0.07738298177719116f,0.1407785713672638f,-0.13024571537971497f,-0.29546058177948f,-0.11976784467697144f,-0.35825538635253906f},
Lightvalve 120:17398540bb1c 241 {-0.5551757216453552f,0.8669682145118713f,0.12081471085548401f,-0.34179648756980896f,0.29976895451545715f,-0.03801266476511955f,-0.23086988925933838f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-0.0883992463350296f,-0.21656711399555206f,-0.19991017878055573f,-1.109067440032959f,0.42645376920700073f,0.903927206993103f},
Lightvalve 65:a2d7c63419c2 242 };
Lightvalve 65:a2d7c63419c2 243
Lightvalve 112:8dcb1600cb90 244 const float h3[16][16] = {
Lightvalve 120:17398540bb1c 245 {-0.36079341173171997f,-0.1728317141532898f,0.0832991823554039f,-0.2757801115512848f,-0.014608257450163364f,-0.07343047857284546f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,0.04891335964202881f,-0.11870327591896057f,0.4001283347606659f,0.19365239143371582f,0.22657039761543274f,-0.4084663987159729f,0.15862074494361877f},
Lightvalve 120:17398540bb1c 246 {0.047732532024383545f,0.07508695870637894f,-0.40331459045410156f,-2.776319980621338f,-0.10381913185119629f,-0.224410742521286f,-0.3198729455471039f,0.06247803568840027f,-0.026402181014418602f,-0.9442688226699829f,0.649472713470459f,-0.3128277659416199f,-0.1413102000951767f,-1.077832579612732f,-0.426487535238266f,-0.34495070576667786f},
Lightvalve 115:f41863b95e6f 247 {0.07903262972831726f,0.2790505588054657f,-0.07798504829406738f,0.04248586297035217f,-0.1963958442211151f,-0.19260792434215546f,-0.4038352966308594f,0.015906542539596558f,0.15353140234947205f,0.030178606510162354f,0.2488909661769867f,0.13805970549583435f,-0.0816211998462677f,-0.20733052492141724f,-0.3036302626132965f,0.054825395345687866f},
Lightvalve 120:17398540bb1c 248 {-0.30922991037368774f,-0.4433991611003876f,0.4574945271015167f,0.09743720293045044f,-0.0694722980260849f,0.14645597338676453f,0.20021501183509827f,0.07002416253089905f,-0.24844947457313538f,-0.365601509809494f,-0.2854161858558655f,0.41021624207496643f,0.10841058939695358f,0.03622414171695709f,0.07073167711496353f,-0.040545202791690826f},
Lightvalve 112:8dcb1600cb90 249 {-0.39607733488082886f,-0.05481579899787903f,0.1976260244846344f,0.022423356771469116f,0.16892847418785095f,-0.27518749237060547f,0.16012099385261536f,0.3626593053340912f,-0.08640444278717041f,-0.11053556203842163f,-0.10529157519340515f,-0.31317979097366333f,-0.1530032455921173f,-0.1336749792098999f,0.22959044575691223f,0.19986507296562195f},
Lightvalve 120:17398540bb1c 250 {-0.37449589371681213f,0.02758697420358658f,-0.748950719833374f,3.097226619720459f,0.16600477695465088f,0.3010225296020508f,-0.18732719123363495f,0.22384825348854065f,-0.39487534761428833f,-0.2469484806060791f,-1.296645164489746f,0.03210585191845894f,1.1341166496276855f,-5.499073505401611f,0.7008980512619019f,-0.3663637042045593f},
Lightvalve 120:17398540bb1c 251 {0.4110594093799591f,0.41326889395713806f,-0.1446264535188675f,0.2394024282693863f,0.15542545914649963f,0.02894638292491436f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.09694360196590424f,0.23209775984287262f,0.21062560379505157f,-0.3391006588935852f},
Lightvalve 113:4535bc97a1db 252 {-0.40892091393470764f,0.043769627809524536f,-0.3867315948009491f,0.25968697667121887f,0.3424709737300873f,-0.051169753074645996f,-0.23312048614025116f,-0.390264093875885f,0.28059282898902893f,-0.1559126079082489f,-0.14134526252746582f,-0.0003446042537689209f,-0.2742875814437866f,-0.36560842394828796f,0.07994696497917175f,0.005298197269439697f},
Lightvalve 115:f41863b95e6f 253 {0.10697010159492493f,-0.12228584289550781f,-0.37870171666145325f,0.21184906363487244f,-0.37222859263420105f,-0.17138728499412537f,-0.1382003128528595f,0.3493293821811676f,-0.360889196395874f,-0.3875247836112976f,0.42142823338508606f,-0.3482915461063385f,-0.3289247751235962f,-0.2186824083328247f,0.09620395302772522f,-0.06898030638694763f},
Lightvalve 112:8dcb1600cb90 254 {0.2847062647342682f,0.018552124500274658f,0.11435768008232117f,0.36562982201576233f,-0.047046810388565063f,0.30447837710380554f,0.2430230677127838f,0.2909286320209503f,-0.2802048921585083f,0.18043199181556702f,0.41849127411842346f,-0.287167489528656f,0.24394884705543518f,-0.14084559679031372f,-0.10168051719665527f,0.010465055704116821f},
Lightvalve 120:17398540bb1c 255 {0.15459725260734558f,0.9851001501083374f,-0.5585569143295288f,-4.768768787384033f,-4.561844348907471f,-0.06768854707479477f,-0.08742031455039978f,0.05785742402076721f,-0.7121787667274475f,-0.7615283727645874f,-0.2505240738391876f,-0.4624474048614502f,0.17736832797527313f,0.07977358996868134f,1.0232466459274292f,0.12484536319971085f},
Lightvalve 120:17398540bb1c 256 {-0.408692330121994f,-0.6701602935791016f,0.3410312831401825f,3.574692726135254f,1.6209317445755005f,-0.1792183518409729f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,2.006563901901245f,-0.15693505108356476f,-3.104768991470337f,0.31507769227027893f},
Lightvalve 120:17398540bb1c 257 {-0.2991822361946106f,0.3794580399990082f,-0.07897943258285522f,-0.05932474136352539f,0.08582660555839539f,0.24227938055992126f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.015840977430343628f,-0.13475483655929565f,0.36124154925346375f,-0.16869547963142395f},
Lightvalve 120:17398540bb1c 258 {-0.2675279378890991f,0.6613599061965942f,-0.5254913568496704f,0.5071489214897156f,-0.8461319208145142f,-0.028701091185212135f,-0.32875844836235046f,-0.31893211603164673f,-0.8966178297996521f,-1.0070687532424927f,-4.600563049316406f,-0.5409274101257324f,2.186650276184082f,-9.456685066223145f,0.5640637874603271f,0.011688347905874252f},
Lightvalve 120:17398540bb1c 259 {-0.015470266342163086f,-1.0990486145019531f,0.36706429719924927f,-2.238311290740967f,1.893033504486084f,-0.9363606572151184f,0.05196094512939453f,-0.008358269929885864f,-0.43764856457710266f,-0.5347727537155151f,-0.9336159825325012f,-0.2734082341194153f,0.16708572208881378f,-0.05967127904295921f,-0.8606027364730835f,-0.6590554714202881f},
Lightvalve 120:17398540bb1c 260 {0.1863725483417511f,0.10718924552202225f,-0.20982491970062256f,6.906591415405273f,3.032275915145874f,0.411905974149704f,0.04860696196556091f,0.17769548296928406f,-0.2722950279712677f,0.3353809714317322f,0.8508809804916382f,0.03773829713463783f,2.3911309242248535f,4.472320079803467f,0.3127724826335907f,-0.14473260939121246f},
Lightvalve 66:a8e6799dbce3 261 };
Lightvalve 65:a2d7c63419c2 262
Lightvalve 120:17398540bb1c 263 const float hout[16] = { 0.45773375034332275f,0.3902415931224823f,-0.11512358486652374f,-0.18819743394851685f,-0.7611111402511597f,0.141798734664917f,0.0030125975608825684f,0.15066689252853394f,-0.07033118605613708f,-0.07679157704114914f,-0.12265626341104507f,-0.1242092102766037f,-0.20101481676101685f,0.2781880497932434f,0.12302208691835403f,-0.00921870581805706f };
Lightvalve 66:a8e6799dbce3 264
Lightvalve 120:17398540bb1c 265 const float b1[16] = { 0.6857439279556274f,0.8585952520370483f,-1.7145336866378784f,0.4170946180820465f,1.0364162921905518f,1.8229438066482544f,-0.058932315558195114f,0.5788186192512512f,0.48582303524017334f,-0.9250008463859558f,0.3594502806663513f,1.5126398801803589f,-0.3694119453430176f,-1.401212215423584f,-1.087764859199524f,1.1468214988708496f };
Lightvalve 87:471334725012 266
Lightvalve 120:17398540bb1c 267 const float b2[16] = { -0.46634921431541443f,-1.174963116645813f,-1.4564176797866821f,-0.7021169662475586f,-0.6939148902893066f,1.0442237854003906f,-0.016787389293313026f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.9218783378601074f,1.205435872077942f,-0.07918518036603928f,1.5303215980529785f,1.0930001735687256f,2.110299587249756f };
Lightvalve 65:a2d7c63419c2 268
Lightvalve 120:17398540bb1c 269 const float b3[16] = { -1.963319182395935f,-0.47111451625823975f,-0.1743324249982834f,0.8459889888763428f,0.4399511516094208f,-0.047738414257764816f,-0.45353031158447266f,-0.6562485098838806f,-0.035808175802230835f,-0.08489542454481125f,-1.1606186628341675f,-0.10742253065109253f,-0.42785224318504333f,-0.04730849713087082f,-1.0170482397079468f,-0.5944331884384155f };
Lightvalve 87:471334725012 270
Lightvalve 120:17398540bb1c 271 const float bout[1] = { -0.47615566849708557f };
Lightvalve 65:a2d7c63419c2 272
Lightvalve 66:a8e6799dbce3 273
Lightvalve 87:471334725012 274 float VALVE_POS_RAW_NN = 0.0f;
Lightvalve 87:471334725012 275 float DDV_JOINT_POS_FF(float REF_JOINT_VEL);
Lightvalve 61:bc8c8270f0ab 276
GiJeongKim 0:51c43836c1d7 277 int main()
GiJeongKim 0:51c43836c1d7 278 {
Lightvalve 66:a8e6799dbce3 279
Lightvalve 65:a2d7c63419c2 280 HAL_Init();
Lightvalve 65:a2d7c63419c2 281 SystemClock_Config();
Lightvalve 65:a2d7c63419c2 282
jobuuu 6:df07d3491e3a 283 /*********************************
jobuuu 1:e04e563be5ce 284 *** Initialization
jobuuu 6:df07d3491e3a 285 *********************************/
Lightvalve 69:3995ffeaa786 286 LED = 0;
Lightvalve 61:bc8c8270f0ab 287 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 288
GiJeongKim 0:51c43836c1d7 289 // i2c init
Lightvalve 8:5d2eebdad025 290 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 8:5d2eebdad025 291 wait_ms(2); // Power Up wait
Lightvalve 8:5d2eebdad025 292 look_for_hardware_i2c(); // Hardware present
Lightvalve 8:5d2eebdad025 293 init_as5510(i2c_slave_addr1);
Lightvalve 11:82d8768d7351 294 make_delay();
jobuuu 2:a1c0a37df760 295
GiJeongKim 0:51c43836c1d7 296 // // spi init
Lightvalve 16:903b5a4433b4 297 //eeprom.format(8,3);
Lightvalve 16:903b5a4433b4 298 //eeprom.frequency(5000000); //5M
GiJeongKim 0:51c43836c1d7 299 enc.format(8,0);
GiJeongKim 0:51c43836c1d7 300 enc.frequency(5000000); //5M
Lightvalve 11:82d8768d7351 301 make_delay();
Lightvalve 21:e5f1a43ea6f9 302
Lightvalve 16:903b5a4433b4 303 //rom
Lightvalve 19:23b7c1ad8683 304 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 305 make_delay();
Lightvalve 13:747daba9cf59 306
GiJeongKim 0:51c43836c1d7 307 // ADC init
jobuuu 5:a4319f79457b 308 Init_ADC();
Lightvalve 11:82d8768d7351 309 make_delay();
jobuuu 2:a1c0a37df760 310
GiJeongKim 0:51c43836c1d7 311 // Pwm init
GiJeongKim 0:51c43836c1d7 312 Init_PWM();
GiJeongKim 0:51c43836c1d7 313 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 314 make_delay();
Lightvalve 13:747daba9cf59 315
Lightvalve 11:82d8768d7351 316 // TMR3 init
Lightvalve 11:82d8768d7351 317 Init_TMR3();
Lightvalve 11:82d8768d7351 318 TIM3->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 319 make_delay();
Lightvalve 21:e5f1a43ea6f9 320
Lightvalve 50:3c630b5eba9f 321 // TMR2 init
Lightvalve 56:6f50d9d3bfee 322 // Init_TMR2();
Lightvalve 56:6f50d9d3bfee 323 // TIM2->CR1 ^= TIM_CR1_UDIS;
Lightvalve 56:6f50d9d3bfee 324 // make_delay();
Lightvalve 21:e5f1a43ea6f9 325
GiJeongKim 0:51c43836c1d7 326 // CAN
jobuuu 2:a1c0a37df760 327 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 328 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 329 make_delay();
Lightvalve 34:bb2ca2fc2a8e 330
Lightvalve 23:59218d4a256d 331 //Timer priority
Lightvalve 23:59218d4a256d 332 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 57:f4819de54e7a 333 //NVIC_SetPriority(TIM2_IRQn, 3);
Lightvalve 54:647072f5307a 334 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 335
Lightvalve 23:59218d4a256d 336 //can.reset();
Lightvalve 19:23b7c1ad8683 337 can.filter(msg.id, 0xFFFFF000, CANStandard);
Lightvalve 34:bb2ca2fc2a8e 338
GiJeongKim 0:51c43836c1d7 339 // spi _ enc
GiJeongKim 0:51c43836c1d7 340 spi_enc_set_init();
Lightvalve 11:82d8768d7351 341 make_delay();
Lightvalve 13:747daba9cf59 342
Lightvalve 11:82d8768d7351 343 //DAC init
Lightvalve 58:2eade98630e2 344 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 345 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 346 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 347 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 348 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 58:2eade98630e2 349 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 58:2eade98630e2 350 }
Lightvalve 11:82d8768d7351 351 make_delay();
Lightvalve 13:747daba9cf59 352
Lightvalve 19:23b7c1ad8683 353 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 354 if(i%2==0)
Lightvalve 38:118df027d851 355 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 356 else
Lightvalve 38:118df027d851 357 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 358 }
Lightvalve 61:bc8c8270f0ab 359
Lightvalve 61:bc8c8270f0ab 360
jobuuu 6:df07d3491e3a 361 /************************************
jobuuu 1:e04e563be5ce 362 *** Program is operating!
jobuuu 6:df07d3491e3a 363 *************************************/
GiJeongKim 0:51c43836c1d7 364 while(1) {
Lightvalve 66:a8e6799dbce3 365 // if(timer_while==1000 && OPERATING_MODE==5) {
Lightvalve 66:a8e6799dbce3 366 //if(timer_while==1000) {
Lightvalve 65:a2d7c63419c2 367 //i2c
Lightvalve 66:a8e6799dbce3 368
Lightvalve 65:a2d7c63419c2 369 read_field(i2c_slave_addr1);
Lightvalve 65:a2d7c63419c2 370 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 65:a2d7c63419c2 371 // if(LED==1) {
Lightvalve 65:a2d7c63419c2 372 // LED=0;
Lightvalve 65:a2d7c63419c2 373 // } else
Lightvalve 65:a2d7c63419c2 374 // LED = 1;
Lightvalve 65:a2d7c63419c2 375 timer_while = 0;
Lightvalve 66:a8e6799dbce3 376 //}
Lightvalve 66:a8e6799dbce3 377
Lightvalve 66:a8e6799dbce3 378 timer_while ++;
Lightvalve 66:a8e6799dbce3 379
Lightvalve 87:471334725012 380 //LED = 0;
Lightvalve 87:471334725012 381
Lightvalve 73:f80dc3970c99 382 if(NN_Control_Flag == 0) {
Lightvalve 73:f80dc3970c99 383 LED = 0;
Lightvalve 73:f80dc3970c99 384 }
Lightvalve 66:a8e6799dbce3 385
Lightvalve 73:f80dc3970c99 386 else if(NN_Control_Flag == 1) {
Lightvalve 117:7141c0517b82 387
Lightvalve 117:7141c0517b82 388 int ind = 0;
Lightvalve 117:7141c0517b82 389 for(int i=0; i<numpast_u; i++) {
Lightvalve 118:af86e883dcb4 390 input_NN[ind] = u_past[time_interval*i];
Lightvalve 117:7141c0517b82 391 ind = ind + 1;
Lightvalve 117:7141c0517b82 392 }
Lightvalve 117:7141c0517b82 393
Lightvalve 117:7141c0517b82 394 for(int i=0; i<numpast_x; i++) {
Lightvalve 118:af86e883dcb4 395 input_NN[ind] = x_past[time_interval*i] / 60.0f;
Lightvalve 117:7141c0517b82 396 ind = ind + 1;
Lightvalve 117:7141c0517b82 397 }
Lightvalve 117:7141c0517b82 398 input_NN[ind] = (pos.sen / ENC_PULSE_PER_POSITION) / 60.0f;
Lightvalve 117:7141c0517b82 399 ind = ind + 1;
Lightvalve 121:89396c37b03e 400
Lightvalve 121:89396c37b03e 401 for(int i=0; i<numfuture_x; i++) {
Lightvalve 121:89396c37b03e 402 input_NN[ind] = x_future[time_interval*i+time_interval] / 60.0f;
Lightvalve 121:89396c37b03e 403 ind = ind + 1;
Lightvalve 121:89396c37b03e 404 }
Lightvalve 117:7141c0517b82 405
Lightvalve 117:7141c0517b82 406 for(int i=0; i<numpast_f; i++) {
Lightvalve 118:af86e883dcb4 407 input_NN[ind] = f_past[time_interval*i] / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 408 ind = ind + 1;
Lightvalve 117:7141c0517b82 409 }
Lightvalve 117:7141c0517b82 410 input_NN[ind] = torq.sen / 10000.0f + 0.5f;
Lightvalve 117:7141c0517b82 411 ind = ind + 1;
Lightvalve 117:7141c0517b82 412 for(int i=0; i<numfuture_f; i++) {
Lightvalve 118:af86e883dcb4 413 input_NN[ind] = (f_future[time_interval*i+time_interval] - torq.sen)/10000.0f+0.5f;
Lightvalve 118:af86e883dcb4 414 // input_NN[ind] = (f_future[time_interval*i+time_interval])/10000.0f+0.5f;
Lightvalve 117:7141c0517b82 415 ind = ind + 1;
Lightvalve 117:7141c0517b82 416 }
Lightvalve 117:7141c0517b82 417
Lightvalve 112:8dcb1600cb90 418 float output1[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 419 float output2[16] = { 0.0f };
Lightvalve 112:8dcb1600cb90 420 float output3[16] = { 0.0f };
Lightvalve 66:a8e6799dbce3 421 float output = 0.0f;
Lightvalve 65:a2d7c63419c2 422
Lightvalve 112:8dcb1600cb90 423 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 68:328e1be06f5d 424 for (int index1 = 0; index1 < num_input; index1++) {
Lightvalve 66:a8e6799dbce3 425 output1[index2] = output1[index2]
Lightvalve 73:f80dc3970c99 426 + h1[index1][index2] * input_NN[index1];
Lightvalve 66:a8e6799dbce3 427 }
Lightvalve 66:a8e6799dbce3 428 output1[index2] = output1[index2] + b1[index2];
Lightvalve 66:a8e6799dbce3 429 if (output1[index2] < 0) {
Lightvalve 66:a8e6799dbce3 430 output1[index2] = 0;
Lightvalve 66:a8e6799dbce3 431 }
Lightvalve 66:a8e6799dbce3 432 }
Lightvalve 65:a2d7c63419c2 433
Lightvalve 112:8dcb1600cb90 434 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 435 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 436 output2[index2] = output2[index2]
Lightvalve 66:a8e6799dbce3 437 + h2[index1][index2] * output1[index1];
Lightvalve 66:a8e6799dbce3 438 }
Lightvalve 66:a8e6799dbce3 439 output2[index2] = output2[index2] + b2[index2];
Lightvalve 66:a8e6799dbce3 440 if (output2[index2] < 0) {
Lightvalve 66:a8e6799dbce3 441 output2[index2] = 0;
Lightvalve 66:a8e6799dbce3 442 }
Lightvalve 66:a8e6799dbce3 443 }
Lightvalve 65:a2d7c63419c2 444
Lightvalve 112:8dcb1600cb90 445 for (int index2 = 0; index2 < 16; index2++) {
Lightvalve 112:8dcb1600cb90 446 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 66:a8e6799dbce3 447 output3[index2] = output3[index2]
Lightvalve 66:a8e6799dbce3 448 + h3[index1][index2] * output2[index1];
Lightvalve 66:a8e6799dbce3 449 }
Lightvalve 66:a8e6799dbce3 450 output3[index2] = output3[index2] + b3[index2];
Lightvalve 66:a8e6799dbce3 451 if (output3[index2] < 0) {
Lightvalve 66:a8e6799dbce3 452 output3[index2] = 0;
Lightvalve 66:a8e6799dbce3 453 }
Lightvalve 65:a2d7c63419c2 454 }
Lightvalve 66:a8e6799dbce3 455
Lightvalve 66:a8e6799dbce3 456 for (int index2 = 0; index2 < 1; index2++) {
Lightvalve 112:8dcb1600cb90 457 for (int index1 = 0; index1 < 16; index1++) {
Lightvalve 73:f80dc3970c99 458 output = output + hout[index1] * output3[index1];
Lightvalve 66:a8e6799dbce3 459 }
Lightvalve 66:a8e6799dbce3 460 output = output + bout[index2];
Lightvalve 73:f80dc3970c99 461
Lightvalve 66:a8e6799dbce3 462 }
Lightvalve 73:f80dc3970c99 463 output = 1.0f/(1.0f+exp(-output));
Lightvalve 101:50159049a518 464 output_normalized = output;
Lightvalve 68:328e1be06f5d 465 output = output * 20000.0f - 10000.0f;
Lightvalve 101:50159049a518 466
Lightvalve 66:a8e6799dbce3 467 if(output>=0) {
Lightvalve 66:a8e6799dbce3 468 valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 66:a8e6799dbce3 469 } else {
Lightvalve 66:a8e6799dbce3 470 valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER;
Lightvalve 65:a2d7c63419c2 471 }
Lightvalve 87:471334725012 472
Lightvalve 88:d6e591bece22 473 // // torque feedback
Lightvalve 88:d6e591bece22 474 // torq.err = f_past[0] - torq.sen; //[N]
Lightvalve 88:d6e591bece22 475 //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 88:d6e591bece22 476 // torq.err_sum += torq.err/(float) 1500.0f; //[N]
Lightvalve 88:d6e591bece22 477 //
Lightvalve 88:d6e591bece22 478 //
Lightvalve 88:d6e591bece22 479 // valve_pos.ref = ((float) P_GAIN_JOINT_TORQUE * torq.err + (float) I_GAIN_JOINT_TORQUE * torq.err_sum) * 0.01f + DDV_JOINT_POS_FF(vel.sen) + valve_pos.ref * 0.01f;
Lightvalve 88:d6e591bece22 480 //
Lightvalve 88:d6e591bece22 481 // if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 88:d6e591bece22 482 // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 88:d6e591bece22 483 // if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 88:d6e591bece22 484 // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 485 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 486 // valve_pos.ref = VALVE_MAX_POS;
Lightvalve 88:d6e591bece22 487 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 488 // } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 88:d6e591bece22 489 // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 490 // valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 88:d6e591bece22 491 // valve_pos.ref = VALVE_MIN_POS;
Lightvalve 88:d6e591bece22 492 // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f;
Lightvalve 88:d6e591bece22 493 // }
Lightvalve 88:d6e591bece22 494 // }
Lightvalve 87:471334725012 495
Lightvalve 69:3995ffeaa786 496
Lightvalve 69:3995ffeaa786 497 if(LED==1) {
Lightvalve 69:3995ffeaa786 498 LED=0;
Lightvalve 69:3995ffeaa786 499 } else
Lightvalve 69:3995ffeaa786 500 LED = 1;
Lightvalve 69:3995ffeaa786 501
Lightvalve 65:a2d7c63419c2 502 }
Lightvalve 62:b5452adfb2cd 503
Lightvalve 87:471334725012 504 //LED = 1;
Lightvalve 69:3995ffeaa786 505
Lightvalve 66:a8e6799dbce3 506
GiJeongKim 0:51c43836c1d7 507 }
jobuuu 1:e04e563be5ce 508 }
jobuuu 1:e04e563be5ce 509
Lightvalve 33:91b17819ec30 510 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 511 {
Lightvalve 14:8e7590227d22 512
Lightvalve 13:747daba9cf59 513 int i = 0;
Lightvalve 48:889798ff9329 514 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 515 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 516 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 517 if(i==0) {
Lightvalve 50:3c630b5eba9f 518 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 519 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 520 } else {
Lightvalve 57:f4819de54e7a 521 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 522 }
Lightvalve 14:8e7590227d22 523 } else {
Lightvalve 50:3c630b5eba9f 524 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 525 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 526 } else {
Lightvalve 57:f4819de54e7a 527 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 528 }
Lightvalve 13:747daba9cf59 529 }
Lightvalve 13:747daba9cf59 530 break;
Lightvalve 13:747daba9cf59 531 }
Lightvalve 13:747daba9cf59 532 }
Lightvalve 14:8e7590227d22 533 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 534 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 535 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 536 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 537 }
Lightvalve 36:a46e63505ed8 538
Lightvalve 57:f4819de54e7a 539 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER);
Lightvalve 13:747daba9cf59 540 return Ref_Valve_Pos_FF;
Lightvalve 50:3c630b5eba9f 541
Lightvalve 13:747daba9cf59 542 }
jobuuu 6:df07d3491e3a 543
jobuuu 6:df07d3491e3a 544
Lightvalve 30:8d561f16383b 545 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 546 {
Lightvalve 13:747daba9cf59 547 int i = 0;
Lightvalve 13:747daba9cf59 548
Lightvalve 38:118df027d851 549 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 550 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 551 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 552 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 553 }
Lightvalve 38:118df027d851 554
Lightvalve 89:a7b45368ea0f 555 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 556 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 557 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 558 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 559 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 560 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 561
Lightvalve 13:747daba9cf59 562 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 563
Lightvalve 18:b8adf1582ea3 564 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 565 if(REF_VALVE_POS >= min(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1]) && (float) REF_VALVE_POS <= max(VALVE_POS_VS_PWM[i],VALVE_POS_VS_PWM[i+1])) {
Lightvalve 14:8e7590227d22 566 if(i==0) {
Lightvalve 48:889798ff9329 567 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 568 } else {
Lightvalve 48:889798ff9329 569 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 570 }
Lightvalve 13:747daba9cf59 571 break;
Lightvalve 13:747daba9cf59 572 }
Lightvalve 13:747daba9cf59 573 }
Lightvalve 59:f308b1656d9c 574 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 575 }
Lightvalve 13:747daba9cf59 576
Lightvalve 14:8e7590227d22 577 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 578 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 579 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 580 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 581 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 582 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 583 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 584 }; // duty
Lightvalve 67:c2812cf26c38 585 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 586 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 587 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 588 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 589 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 590 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 591 }; // mV
Lightvalve 13:747daba9cf59 592
Lightvalve 30:8d561f16383b 593 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 594 {
Lightvalve 30:8d561f16383b 595 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 596 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 597 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 598 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 599 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 600 } else {
Lightvalve 13:747daba9cf59 601 int idx = 0;
Lightvalve 13:747daba9cf59 602 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 603 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 604 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 605 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 606 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 607 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 608 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 609 break;
Lightvalve 13:747daba9cf59 610 }
Lightvalve 13:747daba9cf59 611 }
Lightvalve 13:747daba9cf59 612 }
Lightvalve 14:8e7590227d22 613
Lightvalve 13:747daba9cf59 614 return PWM_duty;
Lightvalve 13:747daba9cf59 615 }
jobuuu 6:df07d3491e3a 616
Lightvalve 57:f4819de54e7a 617
Lightvalve 57:f4819de54e7a 618
Lightvalve 57:f4819de54e7a 619
Lightvalve 57:f4819de54e7a 620
jobuuu 2:a1c0a37df760 621 /*******************************************************************************
jobuuu 2:a1c0a37df760 622 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 623 *******************************************************************************/
jobuuu 2:a1c0a37df760 624
Lightvalve 51:b46bed7fec80 625 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 626 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 627 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 628 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 629 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 630 {
Lightvalve 19:23b7c1ad8683 631 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 21:e5f1a43ea6f9 632
Lightvalve 21:e5f1a43ea6f9 633 /*******************************************************
Lightvalve 21:e5f1a43ea6f9 634 *** Sensor Read & Data Handling
Lightvalve 21:e5f1a43ea6f9 635 ********************************************************/
Lightvalve 13:747daba9cf59 636
Lightvalve 57:f4819de54e7a 637 //Encoder
Lightvalve 57:f4819de54e7a 638 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 639 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 640 }
Lightvalve 61:bc8c8270f0ab 641
Lightvalve 61:bc8c8270f0ab 642 ADC1->CR2 |= 0x40000000;
Lightvalve 58:2eade98630e2 643 if (SENSING_MODE == 0) {
Lightvalve 58:2eade98630e2 644 // Torque Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 645 float pres_A_new = (((float) ADC1->DR) - 2047.5f);
Lightvalve 58:2eade98630e2 646 double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz
Lightvalve 58:2eade98630e2 647 pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new;
Lightvalve 67:c2812cf26c38 648 torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE;
Lightvalve 67:c2812cf26c38 649
Lightvalve 67:c2812cf26c38 650
Lightvalve 67:c2812cf26c38 651 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 67:c2812cf26c38 652 //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 67:c2812cf26c38 653 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 67:c2812cf26c38 654 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 67:c2812cf26c38 655 // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047
Lightvalve 67:c2812cf26c38 656
Lightvalve 17:1865016ca2e7 657
Lightvalve 58:2eade98630e2 658 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 659 // Pressure Sensing (0~210)bar =============================================
Lightvalve 58:2eade98630e2 660 float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL);
Lightvalve 58:2eade98630e2 661 float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL);
Lightvalve 58:2eade98630e2 662 double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz
Lightvalve 58:2eade98630e2 663 pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new;
Lightvalve 58:2eade98630e2 664 pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new;
Lightvalve 58:2eade98630e2 665 CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR;
Lightvalve 58:2eade98630e2 666 CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR;
Lightvalve 50:3c630b5eba9f 667
Lightvalve 58:2eade98630e2 668 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 58:2eade98630e2 669 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 670 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
Lightvalve 58:2eade98630e2 671 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 672 }
Lightvalve 58:2eade98630e2 673 }
Lightvalve 61:bc8c8270f0ab 674
Lightvalve 58:2eade98630e2 675 // //Pressure sensor A
Lightvalve 58:2eade98630e2 676 // ADC1->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 58:2eade98630e2 677 // //while((ADC1->SR & 0b10));
Lightvalve 58:2eade98630e2 678 // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 679 // float pres_A_new = ((float)ADC1->DR);
Lightvalve 58:2eade98630e2 680 // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A);
Lightvalve 58:2eade98630e2 681 // 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 682 //
Lightvalve 58:2eade98630e2 683 //
Lightvalve 58:2eade98630e2 684 // //Pressure sensor B
Lightvalve 58:2eade98630e2 685 // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f));
Lightvalve 58:2eade98630e2 686 // float pres_B_new = ((float)ADC2->DR);
Lightvalve 58:2eade98630e2 687 // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B);
Lightvalve 58:2eade98630e2 688 // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B;
Lightvalve 17:1865016ca2e7 689
Lightvalve 17:1865016ca2e7 690
Lightvalve 21:e5f1a43ea6f9 691 //Current
Lightvalve 21:e5f1a43ea6f9 692 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 25:3e6b574cab5c 693 //int raw_cur = ADC3->DR;
Lightvalve 21:e5f1a43ea6f9 694 //while((ADC3->SR & 0b10));
Lightvalve 51:b46bed7fec80 695 float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz
Lightvalve 30:8d561f16383b 696 float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA
Lightvalve 30:8d561f16383b 697 cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur);
Lightvalve 25:3e6b574cab5c 698 //cur.sen = raw_cur;
Lightvalve 58:2eade98630e2 699
Lightvalve 57:f4819de54e7a 700 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 701 }
Lightvalve 11:82d8768d7351 702 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 703 }
Lightvalve 19:23b7c1ad8683 704
Lightvalve 19:23b7c1ad8683 705
Lightvalve 18:b8adf1582ea3 706 int j =0;
Lightvalve 54:647072f5307a 707 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 708 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 709 int cnt_trans = 0;
Lightvalve 48:889798ff9329 710 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 711 int can_rest =0;
Lightvalve 48:889798ff9329 712
Lightvalve 11:82d8768d7351 713 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 714 {
Lightvalve 19:23b7c1ad8683 715 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 716
Lightvalve 57:f4819de54e7a 717 if (((OPERATING_MODE&0b110)>>1) == 0) {
Lightvalve 57:f4819de54e7a 718 K_v = 0.4f; // Moog (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 719 mV_PER_mA = 500.0f; // 5000mV/10mA
Lightvalve 57:f4819de54e7a 720 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 721 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 57:f4819de54e7a 722 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 57:f4819de54e7a 723 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
Lightvalve 57:f4819de54e7a 724 mV_PER_mA = 166.6666f; // 5000mV/30mA
Lightvalve 57:f4819de54e7a 725 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
Lightvalve 57:f4819de54e7a 726 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 57:f4819de54e7a 727 }
Lightvalve 50:3c630b5eba9f 728
Lightvalve 50:3c630b5eba9f 729 if(MODE_POS_FT_TRANS == 1) {
Lightvalve 48:889798ff9329 730 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 731 cnt_trans++;
Lightvalve 46:2694daea349b 732 torq.err_sum = 0;
Lightvalve 48:889798ff9329 733 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 734 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 735 } else if(MODE_POS_FT_TRANS == 3) {
Lightvalve 48:889798ff9329 736 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 737 cnt_trans++;
Lightvalve 46:2694daea349b 738 torq.err_sum = 0;
Lightvalve 48:889798ff9329 739 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 740 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 741 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 742 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 743 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 744 } else {
Lightvalve 58:2eade98630e2 745 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 746 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 747 }
Lightvalve 45:35fa6884d0c6 748
Lightvalve 50:3c630b5eba9f 749
Lightvalve 57:f4819de54e7a 750 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 751 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 752
Lightvalve 57:f4819de54e7a 753 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 754 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 755 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 756 } else {
Lightvalve 57:f4819de54e7a 757 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 758 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 759 }
Lightvalve 56:6f50d9d3bfee 760
Lightvalve 56:6f50d9d3bfee 761
Lightvalve 56:6f50d9d3bfee 762
Lightvalve 57:f4819de54e7a 763 // UTILITY MODE ------------------------------------------------------------
Lightvalve 56:6f50d9d3bfee 764
Lightvalve 57:f4819de54e7a 765 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 766 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 767 break;
Lightvalve 13:747daba9cf59 768 }
Lightvalve 14:8e7590227d22 769
Lightvalve 14:8e7590227d22 770 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 771 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 772 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) {
Lightvalve 15:bd0d12728506 773 CUR_TORQUE_sum += torq.sen;
Lightvalve 19:23b7c1ad8683 774
Lightvalve 14:8e7590227d22 775 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 776 CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f;
Lightvalve 13:747daba9cf59 777 CUR_TORQUE_sum = 0;
Lightvalve 14:8e7590227d22 778
Lightvalve 84:c355d3e52bf1 779 TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean);
Lightvalve 19:23b7c1ad8683 780
Lightvalve 30:8d561f16383b 781 if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f;
Lightvalve 59:f308b1656d9c 782 if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f;
Lightvalve 50:3c630b5eba9f 783
Lightvalve 16:903b5a4433b4 784 //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0));
Lightvalve 30:8d561f16383b 785 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 13:747daba9cf59 786 }
Lightvalve 13:747daba9cf59 787 } else {
Lightvalve 58:2eade98630e2 788 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 789 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 790 CUR_TORQUE_sum = 0;
Lightvalve 13:747daba9cf59 791 CUR_TORQUE_mean = 0;
Lightvalve 19:23b7c1ad8683 792
Lightvalve 16:903b5a4433b4 793 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 794
Lightvalve 30:8d561f16383b 795 dac_1 = TORQUE_VREF / 3.3f;
Lightvalve 14:8e7590227d22 796
Lightvalve 13:747daba9cf59 797 }
Lightvalve 14:8e7590227d22 798 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 799 break;
Lightvalve 19:23b7c1ad8683 800 }
Lightvalve 14:8e7590227d22 801
Lightvalve 50:3c630b5eba9f 802 // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: {
Lightvalve 50:3c630b5eba9f 803 // if (TMR3_COUNT_DEADZONE == 0) {
Lightvalve 50:3c630b5eba9f 804 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 805 // else temp_time = 0;
Lightvalve 50:3c630b5eba9f 806 // }
Lightvalve 50:3c630b5eba9f 807 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 808 // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 809 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 810 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 811 // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 812 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 813 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 814 // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false;
Lightvalve 50:3c630b5eba9f 815 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 816 // }
Lightvalve 50:3c630b5eba9f 817 //
Lightvalve 50:3c630b5eba9f 818 // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 819 // 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 820 // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0;
Lightvalve 50:3c630b5eba9f 821 //
Lightvalve 50:3c630b5eba9f 822 // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) {
Lightvalve 50:3c630b5eba9f 823 // V_out = 0;
Lightvalve 50:3c630b5eba9f 824 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 825 // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 826 // if (CUR_VELOCITY_sum == 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 827 // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1;
Lightvalve 50:3c630b5eba9f 828 // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1;
Lightvalve 50:3c630b5eba9f 829 // else DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 830 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 831 // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 832 // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end;
Lightvalve 50:3c630b5eba9f 833 //
Lightvalve 50:3c630b5eba9f 834 // // Position of Dead Zone
Lightvalve 50:3c630b5eba9f 835 // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0)
Lightvalve 50:3c630b5eba9f 836 // // | / | / |/
Lightvalve 50:3c630b5eba9f 837 // // | ______/ ___|___/ ______/|
Lightvalve 50:3c630b5eba9f 838 // // |/ / | / |
Lightvalve 50:3c630b5eba9f 839 // // /| / | / |
Lightvalve 50:3c630b5eba9f 840 // // 0V 0V 0V
Lightvalve 50:3c630b5eba9f 841 //
Lightvalve 50:3c630b5eba9f 842 // if (DZ_temp_cnt2 < DZ_end) {
Lightvalve 50:3c630b5eba9f 843 // if (TMR3_COUNT_DEADZONE % 20 != 0) {
Lightvalve 50:3c630b5eba9f 844 // CUR_VELOCITY_sum += CUR_VELOCITY;
Lightvalve 50:3c630b5eba9f 845 // } else {
Lightvalve 50:3c630b5eba9f 846 // V_out -= DZ_dir;
Lightvalve 50:3c630b5eba9f 847 // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++;
Lightvalve 50:3c630b5eba9f 848 // CUR_VELOCITY_sum = 0;
Lightvalve 50:3c630b5eba9f 849 // }
Lightvalve 50:3c630b5eba9f 850 // if (DZ_temp_cnt == 5) {
Lightvalve 50:3c630b5eba9f 851 // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 852 // else VALVE_DEADZONE_PLUS = (int16_t) V_out;
Lightvalve 50:3c630b5eba9f 853 // DZ_dir = -DZ_dir;
Lightvalve 50:3c630b5eba9f 854 // DZ_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 855 // DZ_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 856 // }
Lightvalve 50:3c630b5eba9f 857 // } else {
Lightvalve 50:3c630b5eba9f 858 // TMR3_COUNT_DEADZONE = -1;
Lightvalve 50:3c630b5eba9f 859 // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2;
Lightvalve 50:3c630b5eba9f 860 // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) {
Lightvalve 50:3c630b5eba9f 861 // VALVE_DEADZONE_PLUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 862 // VALVE_DEADZONE_MINUS = VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 863 // }
Lightvalve 50:3c630b5eba9f 864 // V_out = 0;
Lightvalve 50:3c630b5eba9f 865 //
Lightvalve 50:3c630b5eba9f 866 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 867 //
Lightvalve 50:3c630b5eba9f 868 // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS);
Lightvalve 50:3c630b5eba9f 869 // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS);
Lightvalve 50:3c630b5eba9f 870 //
Lightvalve 50:3c630b5eba9f 871 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 872 // DZ_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 873 // }
Lightvalve 50:3c630b5eba9f 874 // }
Lightvalve 50:3c630b5eba9f 875 // TMR3_COUNT_DEADZONE++;
Lightvalve 50:3c630b5eba9f 876 // break;
Lightvalve 50:3c630b5eba9f 877 // }
Lightvalve 14:8e7590227d22 878
Lightvalve 14:8e7590227d22 879 case MODE_FIND_HOME: {
Lightvalve 29:69f3f5445d6d 880 if (FINDHOME_STAGE == FINDHOME_INIT) {
Lightvalve 14:8e7590227d22 881 cnt_findhome = 0;
Lightvalve 14:8e7590227d22 882 cnt_vel_findhome = 0;
Lightvalve 14:8e7590227d22 883 //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO
Lightvalve 59:f308b1656d9c 884 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 885 vel.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 886 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 887 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
Lightvalve 67:c2812cf26c38 888 int cnt_check_enc = (TMR_FREQ_5k/20);
Lightvalve 29:69f3f5445d6d 889 if(cnt_findhome%cnt_check_enc == 0) {
Lightvalve 29:69f3f5445d6d 890 FINDHOME_POSITION = pos.sen;
Lightvalve 29:69f3f5445d6d 891 FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD;
Lightvalve 29:69f3f5445d6d 892 FINDHOME_POSITION_OLD = FINDHOME_POSITION;
Lightvalve 29:69f3f5445d6d 893 }
Lightvalve 29:69f3f5445d6d 894 cnt_findhome++;
Lightvalve 14:8e7590227d22 895
Lightvalve 29:69f3f5445d6d 896 if (abs(FINDHOME_VELOCITY) <= 1) {
Lightvalve 29:69f3f5445d6d 897 cnt_vel_findhome = cnt_vel_findhome + 1;
Lightvalve 29:69f3f5445d6d 898 } else {
Lightvalve 29:69f3f5445d6d 899 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 900 }
Lightvalve 19:23b7c1ad8683 901
Lightvalve 57:f4819de54e7a 902 if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
Lightvalve 29:69f3f5445d6d 903 //REFERENCE_MODE = MODE_REF_NO_ACT;
Lightvalve 67:c2812cf26c38 904 if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f;
Lightvalve 67:c2812cf26c38 905 else pos.ref = pos.ref - 12.0f;
Lightvalve 61:bc8c8270f0ab 906
Lightvalve 59:f308b1656d9c 907 // pos.err = pos.ref_home_pos - pos.sen;
Lightvalve 59:f308b1656d9c 908 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 909 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f;
Lightvalve 59:f308b1656d9c 910 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 911 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 912
Lightvalve 59:f308b1656d9c 913 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 914 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 915
Lightvalve 34:bb2ca2fc2a8e 916
Lightvalve 29:69f3f5445d6d 917 } else {
Lightvalve 29:69f3f5445d6d 918 ENC_SET(HOMEPOS_OFFSET);
Lightvalve 67:c2812cf26c38 919 // ENC_SET_ZERO();
Lightvalve 29:69f3f5445d6d 920 INIT_REF_POS = HOMEPOS_OFFSET;
Lightvalve 29:69f3f5445d6d 921 REF_POSITION = 0;
Lightvalve 29:69f3f5445d6d 922 REF_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 923 FINDHOME_POSITION = 0;
Lightvalve 29:69f3f5445d6d 924 FINDHOME_POSITION_OLD = 0;
Lightvalve 29:69f3f5445d6d 925 FINDHOME_VELOCITY = 0;
Lightvalve 29:69f3f5445d6d 926 cnt_findhome = 0;
Lightvalve 29:69f3f5445d6d 927 cnt_vel_findhome = 0;
Lightvalve 29:69f3f5445d6d 928 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 67:c2812cf26c38 929
Lightvalve 67:c2812cf26c38 930
Lightvalve 67:c2812cf26c38 931 cnt_findhome = 0;
Lightvalve 67:c2812cf26c38 932 pos.ref = 0.0f;
Lightvalve 67:c2812cf26c38 933 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 934 pos.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 935 vel.ref_home_pos = 0.0f;
Lightvalve 67:c2812cf26c38 936 //FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 67:c2812cf26c38 937 //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 938
Lightvalve 67:c2812cf26c38 939
Lightvalve 29:69f3f5445d6d 940 }
Lightvalve 29:69f3f5445d6d 941 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 29:69f3f5445d6d 942 int T_move = 2*TMR_FREQ_5k;
Lightvalve 59:f308b1656d9c 943 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 944 //pos.ref = 0.0f;
Lightvalve 59:f308b1656d9c 945 vel.ref = 0.0f;
Lightvalve 67:c2812cf26c38 946
Lightvalve 29:69f3f5445d6d 947 // input for position control
Lightvalve 67:c2812cf26c38 948
Lightvalve 67:c2812cf26c38 949 // CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 67:c2812cf26c38 950 alpha_trans = 0.0f;
Lightvalve 61:bc8c8270f0ab 951
Lightvalve 67:c2812cf26c38 952 double torq_ref = 0.0f;
Lightvalve 67:c2812cf26c38 953 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 954 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 67:c2812cf26c38 955 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 956
Lightvalve 67:c2812cf26c38 957 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 67:c2812cf26c38 958
Lightvalve 67:c2812cf26c38 959 double I_REF_POS = 0.0f;
Lightvalve 67:c2812cf26c38 960 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 67:c2812cf26c38 961 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 67:c2812cf26c38 962
Lightvalve 67:c2812cf26c38 963 double temp_vel_pos = 0.0f;
Lightvalve 67:c2812cf26c38 964 double temp_vel_torq = 0.0f;
Lightvalve 67:c2812cf26c38 965 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 67:c2812cf26c38 966
Lightvalve 69:3995ffeaa786 967 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 67:c2812cf26c38 968 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 969 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 970 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 67:c2812cf26c38 971 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 972 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 67:c2812cf26c38 973 }
Lightvalve 67:c2812cf26c38 974 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 975 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 67:c2812cf26c38 976
Lightvalve 67:c2812cf26c38 977 I_REF = I_REF_POS;
Lightvalve 67:c2812cf26c38 978
Lightvalve 67:c2812cf26c38 979
Lightvalve 67:c2812cf26c38 980
Lightvalve 67:c2812cf26c38 981 } else {
Lightvalve 67:c2812cf26c38 982 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 67:c2812cf26c38 983 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 984
Lightvalve 67:c2812cf26c38 985 if (VALVE_POS_RAW_FORCE_FB >= 0) {
Lightvalve 67:c2812cf26c38 986 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS;
Lightvalve 67:c2812cf26c38 987 } else {
Lightvalve 67:c2812cf26c38 988 valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS;
Lightvalve 67:c2812cf26c38 989 }
Lightvalve 67:c2812cf26c38 990
Lightvalve 67:c2812cf26c38 991 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 67:c2812cf26c38 992
Lightvalve 67:c2812cf26c38 993 V_out = (float) Vout.ref;
Lightvalve 67:c2812cf26c38 994
Lightvalve 67:c2812cf26c38 995 }
Lightvalve 67:c2812cf26c38 996
Lightvalve 67:c2812cf26c38 997
Lightvalve 67:c2812cf26c38 998
Lightvalve 67:c2812cf26c38 999
Lightvalve 59:f308b1656d9c 1000 // pos.err = pos.ref - (float)pos.sen;
Lightvalve 59:f308b1656d9c 1001 // float VALVE_POS_RAW_POS_FB = 0.0f;
Lightvalve 59:f308b1656d9c 1002 // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION;
Lightvalve 59:f308b1656d9c 1003 // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER;
Lightvalve 59:f308b1656d9c 1004 // VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 29:69f3f5445d6d 1005
Lightvalve 29:69f3f5445d6d 1006 cnt_findhome++;
Lightvalve 29:69f3f5445d6d 1007 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 1008 //REFERENCE_MODE = MODE_REF_DIRECT;
Lightvalve 29:69f3f5445d6d 1009 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 1010 pos.ref = 0.0f;
Lightvalve 30:8d561f16383b 1011 vel.ref = 0.0f;
Lightvalve 30:8d561f16383b 1012 pos.ref_home_pos = 0.0f;
Lightvalve 30:8d561f16383b 1013 vel.ref_home_pos = 0.0f;
Lightvalve 29:69f3f5445d6d 1014 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 1015 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
Lightvalve 29:69f3f5445d6d 1016 }
Lightvalve 13:747daba9cf59 1017 }
Lightvalve 19:23b7c1ad8683 1018
Lightvalve 13:747daba9cf59 1019 break;
Lightvalve 13:747daba9cf59 1020 }
Lightvalve 14:8e7590227d22 1021
Lightvalve 50:3c630b5eba9f 1022 // case MODE_VALVE_GAIN_SETTING: {
Lightvalve 50:3c630b5eba9f 1023 // if (TMR3_COUNT_FLOWRATE == 0) {
Lightvalve 50:3c630b5eba9f 1024 // if (pos_plus_end == pos_minus_end) need_enc_init = true;
Lightvalve 50:3c630b5eba9f 1025 // else {
Lightvalve 50:3c630b5eba9f 1026 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1027 // temp_time = (int) (0.5f * (float) TMR_FREQ_5k);
Lightvalve 50:3c630b5eba9f 1028 // }
Lightvalve 50:3c630b5eba9f 1029 // }
Lightvalve 50:3c630b5eba9f 1030 // if (need_enc_init) {
Lightvalve 50:3c630b5eba9f 1031 // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) {
Lightvalve 50:3c630b5eba9f 1032 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1033 // pos_plus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1034 // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1035 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1036 // pos_minus_end = pos.sen;
Lightvalve 50:3c630b5eba9f 1037 // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1038 // need_enc_init = false;
Lightvalve 50:3c630b5eba9f 1039 // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1040 // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end));
Lightvalve 50:3c630b5eba9f 1041 // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init;
Lightvalve 50:3c630b5eba9f 1042 // }
Lightvalve 50:3c630b5eba9f 1043 // temp_time = TMR_FREQ_5k;
Lightvalve 50:3c630b5eba9f 1044 // }
Lightvalve 50:3c630b5eba9f 1045 // TMR3_COUNT_FLOWRATE++;
Lightvalve 50:3c630b5eba9f 1046 // if (TMR3_COUNT_FLOWRATE > temp_time) {
Lightvalve 50:3c630b5eba9f 1047 // if (flag_flowrate % 2 == 0) { // (+)
Lightvalve 50:3c630b5eba9f 1048 // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1049 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1050 // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1051 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1052 // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1053 // 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 1054 // // 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 1055 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1056 // }
Lightvalve 50:3c630b5eba9f 1057 // } else if (flag_flowrate % 2 == 1) { // (-)
Lightvalve 50:3c630b5eba9f 1058 // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1);
Lightvalve 50:3c630b5eba9f 1059 // V_out = VALVE_VOLTAGE;
Lightvalve 50:3c630b5eba9f 1060 // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) {
Lightvalve 50:3c630b5eba9f 1061 // fl_temp_cnt++;
Lightvalve 50:3c630b5eba9f 1062 // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) {
Lightvalve 50:3c630b5eba9f 1063 // 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 1064 // // 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 1065 // fl_temp_cnt2++;
Lightvalve 50:3c630b5eba9f 1066 // }
Lightvalve 50:3c630b5eba9f 1067 // }
Lightvalve 50:3c630b5eba9f 1068 // if (fl_temp_cnt2 == 100) {
Lightvalve 50:3c630b5eba9f 1069 //
Lightvalve 50:3c630b5eba9f 1070 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1071 //
Lightvalve 50:3c630b5eba9f 1072 // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f));
Lightvalve 50:3c630b5eba9f 1073 // cur_vel_sum = 0;
Lightvalve 50:3c630b5eba9f 1074 // fl_temp_cnt = 0;
Lightvalve 50:3c630b5eba9f 1075 // fl_temp_cnt2 = 0;
Lightvalve 50:3c630b5eba9f 1076 // flag_flowrate++;
Lightvalve 50:3c630b5eba9f 1077 // }
Lightvalve 50:3c630b5eba9f 1078 // if (flag_flowrate == 10) {
Lightvalve 50:3c630b5eba9f 1079 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1080 // flag_flowrate = 0;
Lightvalve 50:3c630b5eba9f 1081 // TMR3_COUNT_FLOWRATE = 0;
Lightvalve 50:3c630b5eba9f 1082 // valve_gain_repeat_cnt++;
Lightvalve 50:3c630b5eba9f 1083 // if (valve_gain_repeat_cnt >= 1) {
Lightvalve 50:3c630b5eba9f 1084 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1085 // valve_gain_repeat_cnt = 0;
Lightvalve 50:3c630b5eba9f 1086 // }
Lightvalve 50:3c630b5eba9f 1087 //
Lightvalve 50:3c630b5eba9f 1088 // }
Lightvalve 50:3c630b5eba9f 1089 // break;
Lightvalve 50:3c630b5eba9f 1090 // }
Lightvalve 50:3c630b5eba9f 1091 //
Lightvalve 50:3c630b5eba9f 1092 // }
Lightvalve 14:8e7590227d22 1093 case MODE_PRESSURE_SENSOR_NULLING: {
Lightvalve 13:747daba9cf59 1094 // DAC Voltage reference set
Lightvalve 14:8e7590227d22 1095 if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) {
Lightvalve 14:8e7590227d22 1096 CUR_PRES_A_sum += pres_A.sen;
Lightvalve 14:8e7590227d22 1097 CUR_PRES_B_sum += pres_B.sen;
Lightvalve 14:8e7590227d22 1098
Lightvalve 14:8e7590227d22 1099 if (TMR3_COUNT_PRES_NULL % 10 == 0) {
Lightvalve 30:8d561f16383b 1100 CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f;
Lightvalve 30:8d561f16383b 1101 CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f;
Lightvalve 13:747daba9cf59 1102 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1103 CUR_PRES_B_sum = 0;
Lightvalve 14:8e7590227d22 1104
Lightvalve 38:118df027d851 1105 float VREF_NullingGain = 0.0003f;
Lightvalve 58:2eade98630e2 1106 PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean;
Lightvalve 58:2eade98630e2 1107 PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean;
Lightvalve 14:8e7590227d22 1108
Lightvalve 30:8d561f16383b 1109 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1110 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
Lightvalve 30:8d561f16383b 1111 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 30:8d561f16383b 1112 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
Lightvalve 19:23b7c1ad8683 1113
Lightvalve 30:8d561f16383b 1114 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1115 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 13:747daba9cf59 1116 }
Lightvalve 13:747daba9cf59 1117 } else {
Lightvalve 57:f4819de54e7a 1118 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 1119 TMR3_COUNT_PRES_NULL = 0;
Lightvalve 13:747daba9cf59 1120 CUR_PRES_A_sum = 0;
Lightvalve 13:747daba9cf59 1121 CUR_PRES_B_sum = 0;
Lightvalve 13:747daba9cf59 1122 CUR_PRES_A_mean = 0;
Lightvalve 13:747daba9cf59 1123 CUR_PRES_B_mean = 0;
Lightvalve 14:8e7590227d22 1124
Lightvalve 16:903b5a4433b4 1125 ROM_RESET_DATA();
Lightvalve 19:23b7c1ad8683 1126
Lightvalve 30:8d561f16383b 1127 dac_1 = PRES_A_VREF / 3.3f;
Lightvalve 30:8d561f16383b 1128 dac_2 = PRES_B_VREF / 3.3f;
Lightvalve 17:1865016ca2e7 1129 //pc.printf("nulling end");
Lightvalve 13:747daba9cf59 1130 }
Lightvalve 14:8e7590227d22 1131 TMR3_COUNT_PRES_NULL++;
Lightvalve 13:747daba9cf59 1132 break;
Lightvalve 13:747daba9cf59 1133 }
Lightvalve 14:8e7590227d22 1134
Lightvalve 50:3c630b5eba9f 1135 // case MODE_PRESSURE_SENSOR_CALIB: {
Lightvalve 50:3c630b5eba9f 1136 // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1137 // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1138 // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1139 // CUR_PRES_A_sum += CUR_PRES_A;
Lightvalve 50:3c630b5eba9f 1140 // }
Lightvalve 50:3c630b5eba9f 1141 // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1142 // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1143 // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1144 // CUR_PRES_B_sum += CUR_PRES_B;
Lightvalve 50:3c630b5eba9f 1145 // }
Lightvalve 50:3c630b5eba9f 1146 // } else {
Lightvalve 50:3c630b5eba9f 1147 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1148 // TMR3_COUNT_PRES_CALIB = 0;
Lightvalve 50:3c630b5eba9f 1149 // V_out = 0;
Lightvalve 50:3c630b5eba9f 1150 // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL;
Lightvalve 50:3c630b5eba9f 1151 // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1152 // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL;
Lightvalve 50:3c630b5eba9f 1153 // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f);
Lightvalve 50:3c630b5eba9f 1154 // CUR_PRES_A_sum = 0;
Lightvalve 50:3c630b5eba9f 1155 // CUR_PRES_B_sum = 0;
Lightvalve 50:3c630b5eba9f 1156 // CUR_PRES_A_mean = 0;
Lightvalve 50:3c630b5eba9f 1157 // CUR_PRES_B_mean = 0;
Lightvalve 50:3c630b5eba9f 1158 //
Lightvalve 50:3c630b5eba9f 1159 // ROM_RESET_DATA();
Lightvalve 50:3c630b5eba9f 1160 //
Lightvalve 50:3c630b5eba9f 1161 // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1162 // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f));
Lightvalve 50:3c630b5eba9f 1163 // }
Lightvalve 50:3c630b5eba9f 1164 // TMR3_COUNT_PRES_CALIB++;
Lightvalve 50:3c630b5eba9f 1165 // break;
Lightvalve 50:3c630b5eba9f 1166 // }
Lightvalve 19:23b7c1ad8683 1167
Lightvalve 50:3c630b5eba9f 1168 // case MODE_ROTARY_FRICTION_TUNING: {
Lightvalve 50:3c630b5eba9f 1169 // 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 1170 // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f);
Lightvalve 50:3c630b5eba9f 1171 // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1172 // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 50:3c630b5eba9f 1173 // TMR3_COUNT_ROTARY_FRIC_TUNE++;
Lightvalve 50:3c630b5eba9f 1174 // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) {
Lightvalve 50:3c630b5eba9f 1175 // TMR3_COUNT_ROTARY_FRIC_TUNE = 0;
Lightvalve 50:3c630b5eba9f 1176 // V_out = 0.0f;
Lightvalve 50:3c630b5eba9f 1177 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 50:3c630b5eba9f 1178 // }
Lightvalve 50:3c630b5eba9f 1179 // break;
Lightvalve 50:3c630b5eba9f 1180 // }
Lightvalve 14:8e7590227d22 1181
Lightvalve 14:8e7590227d22 1182 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 59:f308b1656d9c 1183 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1184 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 14:8e7590227d22 1185
Lightvalve 14:8e7590227d22 1186 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 60:64181f1d3e60 1187 Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 14:8e7590227d22 1188 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 59:f308b1656d9c 1189 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 14:8e7590227d22 1190 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 13:747daba9cf59 1191 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1192 data_num = 0;
Lightvalve 14:8e7590227d22 1193 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 13:747daba9cf59 1194 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1195 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 14:8e7590227d22 1196 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 59:f308b1656d9c 1197 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1198 } else {
Lightvalve 13:747daba9cf59 1199 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 13:747daba9cf59 1200 VALVE_ID_timer = 0;
Lightvalve 13:747daba9cf59 1201 ID_index= ID_index +1;
Lightvalve 13:747daba9cf59 1202 }
Lightvalve 14:8e7590227d22 1203
Lightvalve 17:1865016ca2e7 1204 if(ID_index>=25) {
Lightvalve 13:747daba9cf59 1205 int i;
Lightvalve 13:747daba9cf59 1206 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 17:1865016ca2e7 1207 for(i=0; i<25; i++) {
Lightvalve 13:747daba9cf59 1208 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 14:8e7590227d22 1209 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1210 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1211 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 1212 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 13:747daba9cf59 1213 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 13:747daba9cf59 1214 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 1215 }
Lightvalve 13:747daba9cf59 1216 }
Lightvalve 59:f308b1656d9c 1217 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1218 ID_index = 0;
Lightvalve 57:f4819de54e7a 1219 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1220 }
Lightvalve 14:8e7590227d22 1221
Lightvalve 14:8e7590227d22 1222
Lightvalve 13:747daba9cf59 1223 break;
Lightvalve 13:747daba9cf59 1224 }
Lightvalve 14:8e7590227d22 1225
Lightvalve 14:8e7590227d22 1226 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 59:f308b1656d9c 1227 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1228 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 14:8e7590227d22 1229 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1230 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1231 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1232 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1233 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1234 pos_plus_end = pos.sen;
Lightvalve 30:8d561f16383b 1235 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1236 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1237 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1238 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1239 pos_minus_end = pos.sen;
Lightvalve 30:8d561f16383b 1240 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1241 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 1242 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1243 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 1244 data_num = data_num + 1;
Lightvalve 13:747daba9cf59 1245 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 30:8d561f16383b 1246 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1247 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 1248 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 14:8e7590227d22 1249 START_POS = pos.sen;
Lightvalve 13:747daba9cf59 1250 VALVE_POS_TMP = 0;
Lightvalve 13:747daba9cf59 1251 data_num = 0;
Lightvalve 14:8e7590227d22 1252
Lightvalve 30:8d561f16383b 1253 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1254 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1255 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1256
Lightvalve 30:8d561f16383b 1257 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1258 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1259 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1260
Lightvalve 30:8d561f16383b 1261 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1262 valve_pos.ref = DDV_POS_AVG;
Lightvalve 14:8e7590227d22 1263 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1264 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1265
Lightvalve 60:64181f1d3e60 1266 if((FINAL_POS - START_POS)>200) {
Lightvalve 13:747daba9cf59 1267 DZ_case = 1;
Lightvalve 60:64181f1d3e60 1268 } else if((FINAL_POS - START_POS)<-200) {
Lightvalve 13:747daba9cf59 1269 DZ_case = -1;
Lightvalve 14:8e7590227d22 1270 } else {
Lightvalve 13:747daba9cf59 1271 DZ_case = 0;
Lightvalve 13:747daba9cf59 1272 }
Lightvalve 61:bc8c8270f0ab 1273
Lightvalve 60:64181f1d3e60 1274 CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6));
Lightvalve 50:3c630b5eba9f 1275
Lightvalve 13:747daba9cf59 1276 first_check = 1;
Lightvalve 13:747daba9cf59 1277 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1278 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1279 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 13:747daba9cf59 1280 DZ_NUM = 1;
Lightvalve 13:747daba9cf59 1281 DZ_index = 1;
Lightvalve 14:8e7590227d22 1282
Lightvalve 13:747daba9cf59 1283 }
Lightvalve 19:23b7c1ad8683 1284 } else {
Lightvalve 14:8e7590227d22 1285 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 30:8d561f16383b 1286 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1287 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 1288 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1289 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1290 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1291 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1292 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1293 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1294 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1295 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1296 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1297 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1298 }
Lightvalve 14:8e7590227d22 1299 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1300
Lightvalve 30:8d561f16383b 1301 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1302 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1303 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1304
Lightvalve 14:8e7590227d22 1305 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1306 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1307 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1308 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1309 } else {
Lightvalve 13:747daba9cf59 1310 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 13:747daba9cf59 1311 }
Lightvalve 14:8e7590227d22 1312
Lightvalve 13:747daba9cf59 1313 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1314 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1315 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1316 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1317 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1318 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1319 DZ_index = 1;
Lightvalve 13:747daba9cf59 1320 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1321 }
Lightvalve 13:747daba9cf59 1322 }
Lightvalve 14:8e7590227d22 1323 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
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 60:64181f1d3e60 1331 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * 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 59:f308b1656d9c 1340 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1341 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1342 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1343 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1344
Lightvalve 14:8e7590227d22 1345 if((FINAL_POS - START_POS)>100) {
Lightvalve 60:64181f1d3e60 1346 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 14:8e7590227d22 1347 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1348 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 14:8e7590227d22 1349 } else {
Lightvalve 60:64181f1d3e60 1350 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 13:747daba9cf59 1351 }
Lightvalve 14:8e7590227d22 1352
Lightvalve 13:747daba9cf59 1353 VALVE_DZ_timer = 0;
Lightvalve 60:64181f1d3e60 1354 DZ_index= DZ_index * 2;
Lightvalve 14:8e7590227d22 1355 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1356 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1357 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1358 first_check = 0;
Lightvalve 33:91b17819ec30 1359 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1360 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 19:23b7c1ad8683 1361
Lightvalve 16:903b5a4433b4 1362 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1363
Lightvalve 60:64181f1d3e60 1364 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1365 DZ_index = 1;
Lightvalve 13:747daba9cf59 1366 }
Lightvalve 13:747daba9cf59 1367 }
Lightvalve 14:8e7590227d22 1368 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 30:8d561f16383b 1369 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1370 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 1371 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1372 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1373 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1374 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1375 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1376 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1377 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1378 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1379 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1380 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 13:747daba9cf59 1381 }
Lightvalve 14:8e7590227d22 1382 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1383
Lightvalve 30:8d561f16383b 1384 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1385 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1386 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1387
Lightvalve 14:8e7590227d22 1388 if((FINAL_POS - START_POS)>100) {
Lightvalve 14:8e7590227d22 1389 DZ_DIRECTION = 1;
Lightvalve 14:8e7590227d22 1390 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 14:8e7590227d22 1391 DZ_DIRECTION = -1;
Lightvalve 14:8e7590227d22 1392 } else {
Lightvalve 13:747daba9cf59 1393 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1394 }
Lightvalve 13:747daba9cf59 1395 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1396 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1397 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1398 FIRST_DZ = valve_pos.ref;
Lightvalve 13:747daba9cf59 1399 DZ_NUM = 2;
Lightvalve 13:747daba9cf59 1400 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 13:747daba9cf59 1401 DZ_index = 1;
Lightvalve 13:747daba9cf59 1402 DZ_DIRECTION = 1;
Lightvalve 13:747daba9cf59 1403 }
Lightvalve 13:747daba9cf59 1404 }
Lightvalve 14:8e7590227d22 1405 } else {
Lightvalve 30:8d561f16383b 1406 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 60:64181f1d3e60 1407 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 1408 //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 60:64181f1d3e60 1409 //CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1410 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1411 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1412 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1413 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 14:8e7590227d22 1414 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 14:8e7590227d22 1415 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 14:8e7590227d22 1416 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 14:8e7590227d22 1417 valve_pos.ref = VALVE_MAX_POS - 1;
Lightvalve 13:747daba9cf59 1418 }
Lightvalve 14:8e7590227d22 1419 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 60:64181f1d3e60 1420
Lightvalve 30:8d561f16383b 1421 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1422 Vout.ref = 0.0f;
Lightvalve 59:f308b1656d9c 1423 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1424 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 14:8e7590227d22 1425 FINAL_POS = pos.sen;
Lightvalve 61:bc8c8270f0ab 1426
Lightvalve 60:64181f1d3e60 1427 if((FINAL_POS - START_POS)>100) {
Lightvalve 13:747daba9cf59 1428 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1429 } else if((FINAL_POS - START_POS)<-100) {
Lightvalve 60:64181f1d3e60 1430 DZ_DIRECTION = -1;
Lightvalve 60:64181f1d3e60 1431 } else {
Lightvalve 13:747daba9cf59 1432 DZ_DIRECTION = 1;
Lightvalve 60:64181f1d3e60 1433 }
Lightvalve 14:8e7590227d22 1434
Lightvalve 13:747daba9cf59 1435 VALVE_DZ_timer = 0;
Lightvalve 13:747daba9cf59 1436 DZ_index= DZ_index *2;
Lightvalve 14:8e7590227d22 1437 if(DZ_index >= 128) {
Lightvalve 14:8e7590227d22 1438 SECOND_DZ = valve_pos.ref;
Lightvalve 57:f4819de54e7a 1439 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 13:747daba9cf59 1440 first_check = 0;
Lightvalve 33:91b17819ec30 1441 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 33:91b17819ec30 1442 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 61:bc8c8270f0ab 1443
Lightvalve 59:f308b1656d9c 1444 ROM_RESET_DATA();
Lightvalve 34:bb2ca2fc2a8e 1445
Lightvalve 57:f4819de54e7a 1446 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 13:747daba9cf59 1447 DZ_index = 1;
Lightvalve 13:747daba9cf59 1448 }
Lightvalve 13:747daba9cf59 1449 }
Lightvalve 13:747daba9cf59 1450 }
Lightvalve 14:8e7590227d22 1451 }
Lightvalve 13:747daba9cf59 1452 break;
Lightvalve 13:747daba9cf59 1453 }
Lightvalve 14:8e7590227d22 1454
Lightvalve 14:8e7590227d22 1455 case MODE_DDV_POS_VS_FLOWRATE: {
Lightvalve 59:f308b1656d9c 1456 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 13:747daba9cf59 1457 VALVE_FR_timer = VALVE_FR_timer + 1;
Lightvalve 14:8e7590227d22 1458 if(first_check == 0) {
Lightvalve 30:8d561f16383b 1459 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1460 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 23:59218d4a256d 1461 //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 30:8d561f16383b 1462 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1463 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1464 pos_plus_end = pos.sen;
Lightvalve 14:8e7590227d22 1465 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7));
Lightvalve 30:8d561f16383b 1466 } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1467 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 30:8d561f16383b 1468 } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1469 // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8));
Lightvalve 59:f308b1656d9c 1470 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 14:8e7590227d22 1471 pos_minus_end = pos.sen;
Lightvalve 13:747daba9cf59 1472 first_check = 1;
Lightvalve 13:747daba9cf59 1473 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1474 valve_pos.ref = (float) VALVE_CENTER;
Lightvalve 13:747daba9cf59 1475 ID_index = 0;
Lightvalve 13:747daba9cf59 1476 max_check = 0;
Lightvalve 13:747daba9cf59 1477 min_check = 0;
Lightvalve 13:747daba9cf59 1478 }
Lightvalve 14:8e7590227d22 1479 } else {
Lightvalve 30:8d561f16383b 1480 if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 59:f308b1656d9c 1481 //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 1482 pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end;
Lightvalve 59:f308b1656d9c 1483 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 30:8d561f16383b 1484 } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 13:747daba9cf59 1485 data_num = 0;
Lightvalve 57:f4819de54e7a 1486 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1487
Lightvalve 14:8e7590227d22 1488 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 14:8e7590227d22 1489 START_POS = pos.sen;
Lightvalve 30:8d561f16383b 1490 } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 57:f4819de54e7a 1491 valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER;
Lightvalve 14:8e7590227d22 1492 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 13:747daba9cf59 1493 data_num = data_num + 1;
Lightvalve 30:8d561f16383b 1494 if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) {
Lightvalve 14:8e7590227d22 1495 FINAL_POS = pos.sen;
Lightvalve 14:8e7590227d22 1496 one_period_end = 1;
Lightvalve 13:747daba9cf59 1497 }
Lightvalve 30:8d561f16383b 1498 } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 14:8e7590227d22 1499 FINAL_POS = pos.sen;
Lightvalve 13:747daba9cf59 1500 one_period_end = 1;
Lightvalve 59:f308b1656d9c 1501 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1502 }
Lightvalve 14:8e7590227d22 1503
Lightvalve 14:8e7590227d22 1504 if(one_period_end == 1) {
Lightvalve 14:8e7590227d22 1505 if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 13:747daba9cf59 1506 max_check = 1;
Lightvalve 14:8e7590227d22 1507 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 13:747daba9cf59 1508 min_check = 1;
Lightvalve 13:747daba9cf59 1509 }
Lightvalve 13:747daba9cf59 1510 JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec
Lightvalve 19:23b7c1ad8683 1511
Lightvalve 13:747daba9cf59 1512 VALVE_FR_timer = 0;
Lightvalve 13:747daba9cf59 1513 one_period_end = 0;
Lightvalve 13:747daba9cf59 1514 ID_index= ID_index +1;
Lightvalve 30:8d561f16383b 1515 V_out = 0.0f;
Lightvalve 13:747daba9cf59 1516 }
Lightvalve 14:8e7590227d22 1517
Lightvalve 14:8e7590227d22 1518 if(max_check == 1 && min_check == 1) {
Lightvalve 19:23b7c1ad8683 1519
Lightvalve 13:747daba9cf59 1520 VALVE_POS_NUM = ID_index;
Lightvalve 59:f308b1656d9c 1521 ROM_RESET_DATA();
Lightvalve 13:747daba9cf59 1522 ID_index = 0;
Lightvalve 13:747daba9cf59 1523 first_check = 0;
Lightvalve 13:747daba9cf59 1524 VALVE_FR_timer = 0;
Lightvalve 57:f4819de54e7a 1525 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 49:e7bcfc244d40 1526 // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6));
Lightvalve 13:747daba9cf59 1527 }
Lightvalve 13:747daba9cf59 1528 }
Lightvalve 13:747daba9cf59 1529 break;
Lightvalve 13:747daba9cf59 1530 }
Lightvalve 58:2eade98630e2 1531
Lightvalve 57:f4819de54e7a 1532 case MODE_SYSTEM_ID: {
Lightvalve 57:f4819de54e7a 1533 freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.;
Lightvalve 57:f4819de54e7a 1534 valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3);
Lightvalve 57:f4819de54e7a 1535 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 57:f4819de54e7a 1536 cnt_sysid++;
Lightvalve 57:f4819de54e7a 1537 if (freq_sysid_Iref >= 300) {
Lightvalve 57:f4819de54e7a 1538 cnt_sysid = 0;
Lightvalve 57:f4819de54e7a 1539 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 1540 }
Lightvalve 57:f4819de54e7a 1541 break;
Lightvalve 57:f4819de54e7a 1542 }
Lightvalve 58:2eade98630e2 1543
Lightvalve 58:2eade98630e2 1544
Lightvalve 57:f4819de54e7a 1545
Lightvalve 57:f4819de54e7a 1546 default:
Lightvalve 57:f4819de54e7a 1547 break;
Lightvalve 57:f4819de54e7a 1548 }
Lightvalve 57:f4819de54e7a 1549
Lightvalve 57:f4819de54e7a 1550 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1551
Lightvalve 57:f4819de54e7a 1552 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1553 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1554 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1555 break;
Lightvalve 57:f4819de54e7a 1556 }
Lightvalve 57:f4819de54e7a 1557
Lightvalve 57:f4819de54e7a 1558 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1559 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1560 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1561 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1562 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 67:c2812cf26c38 1563 V_out = valve_pos.ref;
Lightvalve 67:c2812cf26c38 1564 } else {
Lightvalve 67:c2812cf26c38 1565 I_REF = valve_pos.ref * 0.001f;
Lightvalve 57:f4819de54e7a 1566 }
Lightvalve 58:2eade98630e2 1567
Lightvalve 57:f4819de54e7a 1568 break;
Lightvalve 57:f4819de54e7a 1569 }
Lightvalve 57:f4819de54e7a 1570
Lightvalve 57:f4819de54e7a 1571 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1572 double torq_ref = 0.0f;
Lightvalve 57:f4819de54e7a 1573 pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
Lightvalve 67:c2812cf26c38 1574 vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
Lightvalve 57:f4819de54e7a 1575 pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
Lightvalve 67:c2812cf26c38 1576
Lightvalve 67:c2812cf26c38 1577 //K & D Low Pass Filter
Lightvalve 67:c2812cf26c38 1578 float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz
Lightvalve 67:c2812cf26c38 1579 K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1580 D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D);
Lightvalve 67:c2812cf26c38 1581
Lightvalve 67:c2812cf26c38 1582 torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N]
Lightvalve 57:f4819de54e7a 1583
Lightvalve 57:f4819de54e7a 1584 // torque feedback
Lightvalve 67:c2812cf26c38 1585 torq.err = torq_ref - torq.sen; //[N]
Lightvalve 57:f4819de54e7a 1586 torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
Lightvalve 57:f4819de54e7a 1587
Lightvalve 57:f4819de54e7a 1588 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) {
Lightvalve 58:2eade98630e2 1589
Lightvalve 57:f4819de54e7a 1590 double I_REF_POS = 0.0f;
Lightvalve 57:f4819de54e7a 1591 double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback
Lightvalve 57:f4819de54e7a 1592 double I_REF_VC = 0.0f; // I_REF for velocity compensation
Lightvalve 57:f4819de54e7a 1593
Lightvalve 57:f4819de54e7a 1594 double temp_vel_pos = 0.0f;
Lightvalve 57:f4819de54e7a 1595 double temp_vel_torq = 0.0f;
Lightvalve 57:f4819de54e7a 1596 double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 58:2eade98630e2 1597
Lightvalve 69:3995ffeaa786 1598 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1599 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 1600 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 69:3995ffeaa786 1601 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1602 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 1603 // L when P-gain = 100, f_cut = 10Hz L feedforward velocity
Lightvalve 57:f4819de54e7a 1604 }
Lightvalve 57:f4819de54e7a 1605 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 1606 else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1607
Lightvalve 57:f4819de54e7a 1608 // velocity compensation for torque control
Lightvalve 69:3995ffeaa786 1609 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 57:f4819de54e7a 1610 I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum);
Lightvalve 57:f4819de54e7a 1611 // 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 1612 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s
Lightvalve 57:f4819de54e7a 1613 // L feedforward velocity
Lightvalve 69:3995ffeaa786 1614 } else if ((OPERATING_MODE & 0x01) == 1) {
Lightvalve 57:f4819de54e7a 1615 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 1616 // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1617 temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s
Lightvalve 57:f4819de54e7a 1618 // L feedforward velocity
Lightvalve 57:f4819de54e7a 1619 }
Lightvalve 57:f4819de54e7a 1620 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 1621 else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f))));
Lightvalve 57:f4819de54e7a 1622 // L velocity(rad/s or mm/s) >> I_ref(mA)
Lightvalve 57:f4819de54e7a 1623 // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k;
Lightvalve 57:f4819de54e7a 1624 // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm;
Lightvalve 57:f4819de54e7a 1625
Lightvalve 57:f4819de54e7a 1626 I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB);
Lightvalve 67:c2812cf26c38 1627
Lightvalve 67:c2812cf26c38 1628 // Anti-windup for FT
Lightvalve 67:c2812cf26c38 1629 if (I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 67:c2812cf26c38 1630 double I_MAX = 10.0f; // Maximum Current : 10mV
Lightvalve 67:c2812cf26c38 1631 double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f);
Lightvalve 67:c2812cf26c38 1632 if (I_REF > I_MAX) {
Lightvalve 67:c2812cf26c38 1633 double I_rem = I_REF - I_MAX;
Lightvalve 67:c2812cf26c38 1634 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1635 I_REF = I_MAX;
Lightvalve 67:c2812cf26c38 1636 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1637 } else if (I_REF < -I_MAX) {
Lightvalve 67:c2812cf26c38 1638 double I_rem = I_REF - (-I_MAX);
Lightvalve 67:c2812cf26c38 1639 I_rem = Ka*I_rem;
Lightvalve 67:c2812cf26c38 1640 I_REF = -I_MAX;
Lightvalve 67:c2812cf26c38 1641 torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k;
Lightvalve 67:c2812cf26c38 1642 }
Lightvalve 67:c2812cf26c38 1643 }
Lightvalve 57:f4819de54e7a 1644
Lightvalve 57:f4819de54e7a 1645 } else {
Lightvalve 57:f4819de54e7a 1646 float VALVE_POS_RAW_FORCE_FB = 0.0f;
Lightvalve 72:3436ce769b1e 1647 float VALVE_POS_RAW_FORCE_FF = 0.0f;
Lightvalve 72:3436ce769b1e 1648 float VALVE_POS_RAW = 0.0f;
Lightvalve 72:3436ce769b1e 1649
Lightvalve 57:f4819de54e7a 1650 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 1651 + 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 1652
Lightvalve 72:3436ce769b1e 1653 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 1654
Lightvalve 72:3436ce769b1e 1655 VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF;
Lightvalve 72:3436ce769b1e 1656
Lightvalve 72:3436ce769b1e 1657
Lightvalve 72:3436ce769b1e 1658 if (VALVE_POS_RAW >= 0) {
Lightvalve 72:3436ce769b1e 1659 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS;
Lightvalve 57:f4819de54e7a 1660 } else {
Lightvalve 72:3436ce769b1e 1661 valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS;
Lightvalve 57:f4819de54e7a 1662 }
Lightvalve 57:f4819de54e7a 1663
Lightvalve 57:f4819de54e7a 1664 if(I_GAIN_JOINT_TORQUE != 0) {
Lightvalve 57:f4819de54e7a 1665 double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f;
Lightvalve 57:f4819de54e7a 1666 if(valve_pos.ref>VALVE_MAX_POS) {
Lightvalve 57:f4819de54e7a 1667 double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1668 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1669 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 57:f4819de54e7a 1670 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1671 } else if(valve_pos.ref < VALVE_MIN_POS) {
Lightvalve 57:f4819de54e7a 1672 double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1673 valve_pos_rem = valve_pos_rem * Ka;
Lightvalve 57:f4819de54e7a 1674 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 57:f4819de54e7a 1675 torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k;
Lightvalve 57:f4819de54e7a 1676 }
Lightvalve 57:f4819de54e7a 1677 }
Lightvalve 61:bc8c8270f0ab 1678
Lightvalve 57:f4819de54e7a 1679 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 61:bc8c8270f0ab 1680
Lightvalve 67:c2812cf26c38 1681 // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err);
Lightvalve 60:64181f1d3e60 1682 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1683
Lightvalve 57:f4819de54e7a 1684 }
Lightvalve 72:3436ce769b1e 1685
Lightvalve 72:3436ce769b1e 1686 torq_ref_past = torq_ref;
Lightvalve 58:2eade98630e2 1687
Lightvalve 57:f4819de54e7a 1688 break;
Lightvalve 57:f4819de54e7a 1689 }
Lightvalve 58:2eade98630e2 1690
Lightvalve 57:f4819de54e7a 1691 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1692 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1693 break;
Lightvalve 57:f4819de54e7a 1694 }
Lightvalve 14:8e7590227d22 1695
Lightvalve 12:6f2531038ea4 1696 default:
Lightvalve 12:6f2531038ea4 1697 break;
Lightvalve 12:6f2531038ea4 1698 }
Lightvalve 14:8e7590227d22 1699
Lightvalve 57:f4819de54e7a 1700
Lightvalve 57:f4819de54e7a 1701 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1702
Lightvalve 57:f4819de54e7a 1703 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1704 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1705 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1706 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1707 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1708 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1709
Lightvalve 57:f4819de54e7a 1710 I_ERR = I_REF_fil - cur.sen;
Lightvalve 67:c2812cf26c38 1711 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1712
Lightvalve 57:f4819de54e7a 1713
Lightvalve 57:f4819de54e7a 1714 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1715 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1716 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1717 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1718 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1719 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1720
Lightvalve 57:f4819de54e7a 1721 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1722 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1723 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1724 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1725 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1726 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1727 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1728 }
Lightvalve 57:f4819de54e7a 1729
Lightvalve 57:f4819de54e7a 1730 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1731
Lightvalve 67:c2812cf26c38 1732 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
Lightvalve 57:f4819de54e7a 1733 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV
Lightvalve 57:f4819de54e7a 1734 I_REF_fil_diff = I_REF_fil - I_REF_fil_old;
Lightvalve 57:f4819de54e7a 1735 I_REF_fil_old = I_REF_fil;
Lightvalve 67:c2812cf26c38 1736 // 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 1737 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV
Lightvalve 67:c2812cf26c38 1738 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1739
Lightvalve 57:f4819de54e7a 1740 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1741 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1742 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1743 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1744 VALVE_PWM_RAW = V_MAX;
Lightvalve 67:c2812cf26c38 1745 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1746 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1747 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1748 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1749 VALVE_PWM_RAW = -V_MAX;
Lightvalve 67:c2812cf26c38 1750 I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 57:f4819de54e7a 1751 }
Lightvalve 57:f4819de54e7a 1752 Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1753 } else {
Lightvalve 57:f4819de54e7a 1754 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1755 Cur_Valve_Open_pulse = I_REF / mA_PER_pulse;
Lightvalve 57:f4819de54e7a 1756 }
Lightvalve 57:f4819de54e7a 1757
Lightvalve 57:f4819de54e7a 1758 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1759 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1760 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1761 // Dead Zone Cancellation (Mechanical Valve dead-zone)
Lightvalve 57:f4819de54e7a 1762 if (FLAG_VALVE_DEADZONE) {
Lightvalve 57:f4819de54e7a 1763 if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1764 else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1765
Lightvalve 57:f4819de54e7a 1766 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV
Lightvalve 57:f4819de54e7a 1767
Lightvalve 57:f4819de54e7a 1768 } else {
Lightvalve 57:f4819de54e7a 1769 VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW;
Lightvalve 57:f4819de54e7a 1770 }
Lightvalve 57:f4819de54e7a 1771
Lightvalve 57:f4819de54e7a 1772 // Output Voltage Linearization
Lightvalve 57:f4819de54e7a 1773 double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV
Lightvalve 67:c2812cf26c38 1774 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1775
Lightvalve 57:f4819de54e7a 1776 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1777 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1778 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1779 else V_out = (float) (CUR_PWM_lin);
Lightvalve 57:f4819de54e7a 1780 }
Lightvalve 89:a7b45368ea0f 1781 else { //////////////////////////sw valve
Lightvalve 89:a7b45368ea0f 1782 // Output Voltage Linearization
Lightvalve 89:a7b45368ea0f 1783 double CUR_PWM_nonlin = V_out; // Unit : mV
Lightvalve 89:a7b45368ea0f 1784 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 89:a7b45368ea0f 1785
Lightvalve 89:a7b45368ea0f 1786 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 89:a7b45368ea0f 1787 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 89:a7b45368ea0f 1788 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 89:a7b45368ea0f 1789 else V_out = (float) (CUR_PWM_lin);
Lightvalve 89:a7b45368ea0f 1790 }
Lightvalve 67:c2812cf26c38 1791
Lightvalve 67:c2812cf26c38 1792 // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f);
Lightvalve 67:c2812cf26c38 1793 // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f);
Lightvalve 67:c2812cf26c38 1794 // else V_out = V_out;
Lightvalve 67:c2812cf26c38 1795
jobuuu 7:e9086c72bb22 1796 /*******************************************************
jobuuu 7:e9086c72bb22 1797 *** PWM
jobuuu 7:e9086c72bb22 1798 ********************************************************/
Lightvalve 67:c2812cf26c38 1799 if(DIR_VALVE<0){
Lightvalve 67:c2812cf26c38 1800 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1801 }
Lightvalve 67:c2812cf26c38 1802
Lightvalve 49:e7bcfc244d40 1803 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1804 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1805 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1806 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1807 }
Lightvalve 49:e7bcfc244d40 1808 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV
Lightvalve 13:747daba9cf59 1809
Lightvalve 19:23b7c1ad8683 1810 // Saturation of output voltage to 12.0V
Lightvalve 30:8d561f16383b 1811 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1812 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1813
Lightvalve 30:8d561f16383b 1814 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1815 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1816 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1817 } else {
jobuuu 2:a1c0a37df760 1818 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1819 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1820 }
Lightvalve 13:747daba9cf59 1821
jobuuu 1:e04e563be5ce 1822 //pwm
Lightvalve 30:8d561f16383b 1823 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1824 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1825
Lightvalve 61:bc8c8270f0ab 1826
Lightvalve 57:f4819de54e7a 1827 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 20:806196fda269 1828
Lightvalve 54:647072f5307a 1829 // Position, Velocity, and Torque (ID:1200)
Lightvalve 56:6f50d9d3bfee 1830 if (flag_data_request[0] == HIGH) {
Lightvalve 57:f4819de54e7a 1831 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 54:647072f5307a 1832 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1833 CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f));
Lightvalve 54:647072f5307a 1834 } else if (SENSING_MODE == 1) {
Lightvalve 58:2eade98630e2 1835 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 1836 }
Lightvalve 57:f4819de54e7a 1837 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 54:647072f5307a 1838 if (SENSING_MODE == 0) {
Lightvalve 67:c2812cf26c38 1839 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 1840 } else if (SENSING_MODE == 1) {
Lightvalve 67:c2812cf26c38 1841 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 1842 }
Lightvalve 52:8ea76864368a 1843 }
Lightvalve 52:8ea76864368a 1844 }
Lightvalve 56:6f50d9d3bfee 1845 if (flag_data_request[1] == HIGH) {
Lightvalve 54:647072f5307a 1846 //valve position
Lightvalve 54:647072f5307a 1847 double t_value = 0;
Lightvalve 97:d71c57e3515e 1848 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1849 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1850 } else {
Lightvalve 97:d71c57e3515e 1851 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1852 }
Lightvalve 97:d71c57e3515e 1853 // if(OPERATING_MODE==5) {
Lightvalve 97:d71c57e3515e 1854 // if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 97:d71c57e3515e 1855 // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1856 // } else {
Lightvalve 97:d71c57e3515e 1857 // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 97:d71c57e3515e 1858 // }
Lightvalve 97:d71c57e3515e 1859 //t_value = (double) value;
Lightvalve 97:d71c57e3515e 1860 // } else if(CURRENT_CONTROL_MODE==1) {
Lightvalve 97:d71c57e3515e 1861 // t_value = cur.sen * 1000.0f;
Lightvalve 89:a7b45368ea0f 1862 // } else {
Lightvalve 97:d71c57e3515e 1863 // t_value = V_out;
Lightvalve 89:a7b45368ea0f 1864 // }
Lightvalve 67:c2812cf26c38 1865 CAN_TX_TORQUE((int16_t) (t_value)); //1300
Lightvalve 67:c2812cf26c38 1866 //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300
Lightvalve 67:c2812cf26c38 1867 //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300
Lightvalve 54:647072f5307a 1868 }
Lightvalve 58:2eade98630e2 1869
Lightvalve 58:2eade98630e2 1870
Lightvalve 98:cd1b2da4704f 1871 if (flag_data_request[2] == HIGH) {
Lightvalve 89:a7b45368ea0f 1872 //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400
Lightvalve 89:a7b45368ea0f 1873 double t_value = 0;
Lightvalve 89:a7b45368ea0f 1874 if(valve_pos.ref>=(float) VALVE_CENTER) {
Lightvalve 89:a7b45368ea0f 1875 t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1876 } else {
Lightvalve 89:a7b45368ea0f 1877 t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
Lightvalve 89:a7b45368ea0f 1878 }
Lightvalve 89:a7b45368ea0f 1879 CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400
Lightvalve 55:b25725257569 1880 }
Lightvalve 58:2eade98630e2 1881
Lightvalve 57:f4819de54e7a 1882 //If it doesn't rest, below can can not work.
Lightvalve 57:f4819de54e7a 1883 for (can_rest = 0; can_rest < 10000; can_rest++) {
Lightvalve 57:f4819de54e7a 1884 ;
Lightvalve 57:f4819de54e7a 1885 }
Lightvalve 58:2eade98630e2 1886
Lightvalve 56:6f50d9d3bfee 1887 if (flag_data_request[3] == HIGH) {
Lightvalve 54:647072f5307a 1888 //PWM
Lightvalve 73:f80dc3970c99 1889 //CAN_TX_PWM((int16_t) value); //1500
Lightvalve 73:f80dc3970c99 1890 CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500
Lightvalve 54:647072f5307a 1891 }
Lightvalve 57:f4819de54e7a 1892 //for (i = 0; i < 10000; i++) {
Lightvalve 57:f4819de54e7a 1893 // ;
Lightvalve 57:f4819de54e7a 1894 // }
Lightvalve 56:6f50d9d3bfee 1895 if (flag_data_request[4] == HIGH) {
Lightvalve 54:647072f5307a 1896 //valve position
Lightvalve 73:f80dc3970c99 1897 CAN_TX_VALVE_POSITION((int16_t) (input_NN[1] * 100.0f), (int16_t) (input_NN[2]* 100.0f), (int16_t) (input_NN[3]* 100.0f), (int16_t) (input_NN[4]* 100.0f)); //1600
Lightvalve 54:647072f5307a 1898 }
Lightvalve 20:806196fda269 1899
Lightvalve 54:647072f5307a 1900 // Others : Reference position, Reference FT, PWM, Current (ID:1300)
Lightvalve 52:8ea76864368a 1901 // if (flag_data_request[1] == HIGH) {
Lightvalve 52:8ea76864368a 1902 // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3));
Lightvalve 52:8ea76864368a 1903 // }
Lightvalve 54:647072f5307a 1904 //if (flag_delay_test == 1){
Lightvalve 58:2eade98630e2 1905 //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref);
Lightvalve 54:647072f5307a 1906 //}
Lightvalve 52:8ea76864368a 1907
Lightvalve 54:647072f5307a 1908 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1909 }
Lightvalve 54:647072f5307a 1910 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1911
Lightvalve 20:806196fda269 1912 }
Lightvalve 52:8ea76864368a 1913 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1914
Lightvalve 58:2eade98630e2 1915 }