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2011
main.cpp@106:a511a5a84439, 2020-09-09 (annotated)
- Committer:
- Lightvalve
- Date:
- Wed Sep 09 07:59:49 2020 +0000
- Revision:
- 106:a511a5a84439
- Parent:
- 105:9118e2878373
- Child:
- 107:562ce0156532
200909-3
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Lightvalve | 106:a511a5a84439 | 1 | //200909-3 |
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 | 90:a6cfef34bdce | 195 | const float h1[num_input][16] = { |
Lightvalve | 106:a511a5a84439 | 196 | {-0.7205343246459961f,0.7419704794883728f,0.12024858593940735f,0.38752004504203796f,-0.9582854509353638f,0.8627209663391113f,-0.1628284603357315f,0.5959230065345764f,-0.27036166191101074f,-0.05762685090303421f,-0.19153670966625214f,1.0370631217956543f,-0.07188097387552261f,-0.4302806854248047f,-0.2396446317434311f,-0.8284722566604614f}, |
Lightvalve | 106:a511a5a84439 | 197 | {-0.7194277048110962f,0.663811981678009f,-0.36603355407714844f,0.08603872358798981f,-0.8419951796531677f,0.550467312335968f,-0.3777896761894226f,0.3841404914855957f,-0.07829008251428604f,0.17515970766544342f,-0.2257521003484726f,0.36814022064208984f,0.11784404516220093f,-0.8009785413742065f,-0.1953967958688736f,-0.4288317859172821f}, |
Lightvalve | 106:a511a5a84439 | 198 | {-0.6284462213516235f,0.48318836092948914f,0.33912619948387146f,-0.24606414139270782f,-0.3897612988948822f,0.48486700654029846f,0.2676515281200409f,0.41653814911842346f,-0.15395483374595642f,0.1774345338344574f,-0.29445499181747437f,-0.4113295376300812f,-0.3272067606449127f,-0.18403460085391998f,0.05209478735923767f,-0.4740968942642212f}, |
Lightvalve | 106:a511a5a84439 | 199 | {-0.3094835877418518f,-0.023736318573355675f,0.3703531324863434f,0.3815275728702545f,-0.03493168205022812f,-0.19027291238307953f,-0.10795548558235168f,0.4229019284248352f,0.017679547891020775f,0.3006705641746521f,0.11927741765975952f,-0.6338480114936829f,-0.6180754899978638f,-0.00576560664921999f,-0.27597576379776f,0.11007877439260483f}, |
Lightvalve | 106:a511a5a84439 | 200 | {0.5881397128105164f,-0.33633923530578613f,-0.004794687032699585f,0.36331984400749207f,0.4700590670108795f,-0.41323167085647583f,0.12058994174003601f,-0.34995532035827637f,0.024007221683859825f,0.12634949386119843f,0.354213148355484f,-0.9676119685173035f,-0.4644494950771332f,0.5638055801391602f,-0.36018112301826477f,0.22210441529750824f}, |
Lightvalve | 106:a511a5a84439 | 201 | {1.5646047592163086f,-1.691567301750183f,0.20290347933769226f,0.4277845621109009f,1.4553509950637817f,-1.4792941808700562f,0.15389427542686462f,-1.4074681997299194f,0.027464931830763817f,0.1330241858959198f,-0.20056027173995972f,0.2283659428358078f,-0.18869847059249878f,1.4480334520339966f,-0.38513508439064026f,0.7740161418914795f}, |
Lightvalve | 106:a511a5a84439 | 202 | {0.07315056025981903f,-0.10020650178194046f,-0.2331579178571701f,-0.5290883183479309f,-0.27339714765548706f,0.13000839948654175f,0.05604562163352966f,-0.42487725615501404f,0.3342047929763794f,0.08126848191022873f,0.16734424233436584f,0.14318615198135376f,-0.020626740530133247f,0.36356982588768005f,-0.14554673433303833f,-0.3457086384296417f}, |
Lightvalve | 106:a511a5a84439 | 203 | {0.009768801741302013f,-0.2827050983905792f,-0.24806702136993408f,-0.116264209151268f,-0.28403201699256897f,-0.16823835670948029f,-0.16704979538917542f,-0.3876325190067291f,0.0200372152030468f,0.12407517433166504f,0.12481429427862167f,0.14211106300354004f,0.5974664092063904f,0.10399382561445236f,0.04009982943534851f,0.03040451742708683f}, |
Lightvalve | 106:a511a5a84439 | 204 | {0.1903877854347229f,0.24740448594093323f,0.09550115466117859f,-0.6463638544082642f,-0.12743352353572845f,0.05189865082502365f,-0.06753402948379517f,-0.48754027485847473f,-0.2562808096408844f,0.33943983912467957f,-0.2503495514392853f,1.5401339530944824f,0.6530331969261169f,0.18994569778442383f,-0.2847418785095215f,0.16921773552894592f}, |
Lightvalve | 106:a511a5a84439 | 205 | {0.018991850316524506f,-0.2982185482978821f,0.17205187678337097f,-0.43302521109580994f,0.19336019456386566f,0.16474361717700958f,-0.2786858379840851f,-0.2566869854927063f,-0.011198584921658039f,-0.425802618265152f,0.018935799598693848f,1.3210058212280273f,0.7750313878059387f,-0.16118350625038147f,0.3247623145580292f,0.2511598765850067f}, |
Lightvalve | 106:a511a5a84439 | 206 | {0.3365301787853241f,0.1671297699213028f,0.34649983048439026f,-0.0508774109184742f,-0.08637697249650955f,0.11029358953237534f,-0.1895401030778885f,0.008466334082186222f,-0.401608407497406f,0.038096848875284195f,0.35123616456985474f,0.04587366059422493f,-0.331816703081131f,-0.10900888592004776f,0.24870619177818298f,-0.08113718777894974f}, |
Lightvalve | 106:a511a5a84439 | 207 | {-0.6724706292152405f,-0.04440240561962128f,-0.3757385015487671f,-0.2130572646856308f,-0.2125193029642105f,0.27195048332214355f,0.1429324448108673f,0.7561992406845093f,-0.14329275488853455f,0.19957302510738373f,-0.3593345284461975f,-3.8846237659454346f,-1.500577688217163f,-0.37282925844192505f,0.09779238700866699f,-0.35725072026252747f}, |
Lightvalve | 106:a511a5a84439 | 208 | {0.04182598739862442f,-0.3434183597564697f,0.18496140837669373f,-0.08634470403194427f,0.3166789412498474f,-0.024002427235245705f,-0.22405625879764557f,0.021628160029649734f,-0.15976841747760773f,-0.17521367967128754f,-0.07410822808742523f,-0.8040768504142761f,0.26287204027175903f,0.14514821767807007f,-0.2075144499540329f,-0.8606001734733582f}, |
Lightvalve | 106:a511a5a84439 | 209 | {0.00047114171320572495f,-0.32387128472328186f,0.38466766476631165f,-0.36545827984809875f,-0.19024938344955444f,-0.4352966248989105f,-0.2982172966003418f,-0.4868769645690918f,-0.10956888645887375f,-0.20816442370414734f,-0.15371173620224f,1.149558186531067f,-0.6369872689247131f,0.12389315664768219f,0.04470124840736389f,-0.6724342107772827f}, |
Lightvalve | 106:a511a5a84439 | 210 | {0.14582407474517822f,-0.04093043878674507f,0.18900898098945618f,-0.22146084904670715f,0.23115453124046326f,-0.16587874293327332f,0.03916636109352112f,0.2159150093793869f,0.30006158351898193f,0.0751003697514534f,-0.23226957023143768f,1.208760380744934f,-0.30131998658180237f,-0.05107875168323517f,0.062258750200271606f,-0.5829180479049683f}, |
Lightvalve | 106:a511a5a84439 | 211 | {-0.08866515755653381f,-0.27252885699272156f,-0.37685394287109375f,-0.2777993977069855f,-0.23848019540309906f,0.03124363161623478f,-0.14507901668548584f,0.006778541952371597f,0.20509424805641174f,-0.011224335990846157f,-0.4133926331996918f,0.5038067698478699f,-0.4255642592906952f,-0.05953584238886833f,-0.07684260606765747f,-0.3335677981376648f}, |
Lightvalve | 106:a511a5a84439 | 212 | {-0.08247224241495132f,-0.11288215219974518f,0.15568438172340393f,-0.016921447589993477f,-0.04755457490682602f,-0.2318030297756195f,-0.03859376907348633f,0.011767009273171425f,-0.0416894406080246f,0.07188878953456879f,-0.30125221610069275f,0.16349679231643677f,-0.167131245136261f,0.29581838846206665f,0.2742314636707306f,-0.33326107263565063f}, |
Lightvalve | 106:a511a5a84439 | 213 | {0.005308357533067465f,-0.058676086366176605f,0.19490453600883484f,-0.2061605006456375f,-0.3000243008136749f,-0.21581299602985382f,-0.336474746465683f,-0.02189900167286396f,-0.36205869913101196f,-0.12414123862981796f,-0.12676608562469482f,0.10858763754367828f,-0.16615992784500122f,-0.010149971581995487f,-0.2561379373073578f,-0.2327856719493866f}, |
Lightvalve | 106:a511a5a84439 | 214 | {-0.29800769686698914f,0.061823371797800064f,-0.2776013910770416f,0.1834843009710312f,0.351822167634964f,-0.18955576419830322f,0.25546005368232727f,-0.3548872470855713f,-0.35744574666023254f,0.01672988384962082f,-0.36751410365104675f,-0.017727170139551163f,-0.43373245000839233f,0.27730315923690796f,-0.30415377020835876f,-0.6896868944168091f}, |
Lightvalve | 106:a511a5a84439 | 215 | {0.20595230162143707f,0.40023162961006165f,0.1420871913433075f,-0.26757368445396423f,-0.3140244483947754f,0.13928018510341644f,-0.13263443112373352f,-0.2674402892589569f,-0.1444980353116989f,0.03381512314081192f,0.12867237627506256f,-0.06305091083049774f,-0.16141922771930695f,0.3491332530975342f,0.13351169228553772f,-0.1378682404756546f}, |
Lightvalve | 106:a511a5a84439 | 216 | {-0.2598593831062317f,-0.20998069643974304f,-0.07561364769935608f,0.15943816304206848f,-0.30184200406074524f,-0.19948355853557587f,0.14428457617759705f,0.058048065751791f,-0.34185507893562317f,-0.297762930393219f,-0.3541494309902191f,-0.2737050950527191f,-0.24019746482372284f,0.41691821813583374f,0.019461065530776978f,0.05305967107415199f}, |
Lightvalve | 106:a511a5a84439 | 217 | {-0.23449298739433289f,-0.3391593098640442f,0.2631795108318329f,-0.4546434283256531f,0.2766669690608978f,-0.4402789771556854f,0.27224990725517273f,-0.01527832355350256f,-0.05046592280268669f,0.08712353557348251f,0.0664888545870781f,0.06529980152845383f,0.4431493282318115f,0.19581477344036102f,0.06011766195297241f,0.098237045109272f}, |
Lightvalve | 65:a2d7c63419c2 | 218 | }; |
Lightvalve | 65:a2d7c63419c2 | 219 | |
Lightvalve | 90:a6cfef34bdce | 220 | const float h2[16][16] = { |
Lightvalve | 106:a511a5a84439 | 221 | {-2.011418342590332f,0.66354900598526f,-0.06966331601142883f,0.266120046377182f,-0.21907491981983185f,1.551965594291687f,0.11646361649036407f,0.0904630720615387f,-0.43008196353912354f,-0.1415480375289917f,2.077694892883301f,-0.29647549986839294f,0.04047860950231552f,-1.6273587942123413f,-0.8223180174827576f,0.5573763847351074f}, |
Lightvalve | 106:a511a5a84439 | 222 | {0.8606846332550049f,-0.6045804023742676f,0.057057321071624756f,-0.2407878190279007f,-0.35503754019737244f,-0.8900831341743469f,-0.4798884689807892f,-0.2990124225616455f,-0.33757925033569336f,0.2895788848400116f,-0.9539225101470947f,-0.679617702960968f,0.2324916571378708f,0.9474988579750061f,0.09201426804065704f,-1.1725492477416992f}, |
Lightvalve | 90:a6cfef34bdce | 223 | {-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 | 106:a511a5a84439 | 224 | {-0.03076210804283619f,-0.36051371693611145f,-0.2894435524940491f,0.3910362720489502f,0.08946844935417175f,0.17786893248558044f,-0.23805393278598785f,0.4122363030910492f,0.26211628317832947f,0.2953031361103058f,0.21434222161769867f,0.2971459925174713f,-0.5151641964912415f,0.04401179775595665f,0.4101961553096771f,0.15710106492042542f}, |
Lightvalve | 106:a511a5a84439 | 225 | {-0.552639901638031f,0.12118880450725555f,-0.25313520431518555f,0.07695791125297546f,0.036378175020217896f,0.21381855010986328f,-0.3850887715816498f,-0.08570799231529236f,-0.024399548768997192f,-0.39465832710266113f,0.470564067363739f,-0.7306436896324158f,-0.0011296207085251808f,0.16337630152702332f,-0.6304192543029785f,-0.4033041298389435f}, |
Lightvalve | 106:a511a5a84439 | 226 | {0.6029080152511597f,-0.21391348540782928f,-0.3519742488861084f,0.05109525844454765f,-0.3015052080154419f,-0.6223318576812744f,-0.5689435005187988f,-0.019414573907852173f,-0.23047015070915222f,0.3579089343547821f,0.21507896482944489f,-0.3183901309967041f,-0.3099704682826996f,-0.34512659907341003f,0.14357130229473114f,-1.0389233827590942f}, |
Lightvalve | 90:a6cfef34bdce | 227 | {-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 | 106:a511a5a84439 | 228 | {0.31874772906303406f,-0.48234909772872925f,0.33083590865135193f,-0.7641312479972839f,-0.14358049631118774f,-0.8910525441169739f,-0.21761532127857208f,-0.3003333508968353f,0.2600560486316681f,-0.37898191809654236f,0.024734262377023697f,-0.35538432002067566f,-0.41408634185791016f,1.6746866703033447f,-0.26790979504585266f,-0.36940354108810425f}, |
Lightvalve | 106:a511a5a84439 | 229 | {-0.20805826783180237f,0.3221401870250702f,-0.11379697918891907f,0.10322239995002747f,0.041274964809417725f,-0.3837966024875641f,-0.10284432768821716f,0.0019084513187408447f,0.06103590130805969f,-0.38046833872795105f,0.036657851189374924f,-0.3197441101074219f,-0.37024784088134766f,-0.2710683345794678f,-0.37486517429351807f,-0.2382662147283554f}, |
Lightvalve | 106:a511a5a84439 | 230 | {-0.13247865438461304f,0.2027098387479782f,-0.13502129912376404f,0.0760958343744278f,0.12987366318702698f,0.09067129343748093f,0.2711336314678192f,-0.3632148504257202f,-0.13619378209114075f,0.16938945651054382f,0.2211703509092331f,0.3686046898365021f,0.3811538517475128f,-0.2216392159461975f,0.03086618334054947f,-0.25772354006767273f}, |
Lightvalve | 106:a511a5a84439 | 231 | {-0.2795250713825226f,-0.03190617635846138f,0.0457797646522522f,-0.4016319811344147f,-0.03321319818496704f,-0.40776312351226807f,0.17873415350914001f,-0.20421427488327026f,-0.050184011459350586f,0.12480869889259338f,-0.23398490250110626f,0.3545852601528168f,-0.3647043704986572f,0.4472369849681854f,-0.3694407045841217f,-0.3125919699668884f}, |
Lightvalve | 106:a511a5a84439 | 232 | {0.48079368472099304f,0.8067870736122131f,0.3954955041408539f,0.05574827641248703f,0.0033026933670043945f,0.4055675268173218f,-0.3359658718109131f,-0.11795541644096375f,0.3487861454486847f,-0.32520344853401184f,-0.24555759131908417f,-0.45610931515693665f,-0.020625948905944824f,-1.1760506629943848f,0.8001130819320679f,-0.20443212985992432f}, |
Lightvalve | 106:a511a5a84439 | 233 | {0.18895186483860016f,0.3147413432598114f,-0.15798500180244446f,0.15786811709403992f,-0.37393757700920105f,-0.2874547243118286f,-0.02463788166642189f,-0.2947862446308136f,-0.3764709532260895f,0.2424570620059967f,-0.6756131052970886f,-0.44619011878967285f,0.3147597312927246f,-1.0995818376541138f,-1.0115329027175903f,0.09324407577514648f}, |
Lightvalve | 106:a511a5a84439 | 234 | {-0.43092072010040283f,0.7953181266784668f,-0.2018718123435974f,-0.0025991906877607107f,0.07545611262321472f,0.4165809154510498f,-0.2669230103492737f,-0.21416273713111877f,-0.24509364366531372f,0.19522181153297424f,-0.44402000308036804f,-0.5985558032989502f,-0.2859877645969391f,0.08705544471740723f,-0.39378318190574646f,0.030345579609274864f}, |
Lightvalve | 90:a6cfef34bdce | 235 | {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 | 106:a511a5a84439 | 236 | {-0.23918215930461884f,0.006884745322167873f,0.12081471085548401f,-0.2690953314304352f,0.29976895451545715f,-0.7412405014038086f,-0.19714364409446716f,0.31089308857917786f,-0.3893685042858124f,-0.02222958207130432f,-0.4336813986301422f,-0.16207142174243927f,-0.3038010001182556f,0.0891510546207428f,-1.447880744934082f,-0.20797188580036163f}, |
Lightvalve | 65:a2d7c63419c2 | 237 | }; |
Lightvalve | 65:a2d7c63419c2 | 238 | |
Lightvalve | 90:a6cfef34bdce | 239 | const float h3[16][16] = { |
Lightvalve | 106:a511a5a84439 | 240 | {-0.36079341173171997f,-2.807149648666382f,-0.6200020909309387f,-0.6962459683418274f,-0.3255932927131653f,0.7693279981613159f,0.3332441747188568f,0.3036012351512909f,-0.2405819296836853f,-0.10299688577651978f,-0.7548122406005859f,0.2476046085357666f,1.675858497619629f,0.7385035157203674f,-0.46183863282203674f,1.6698130369186401f}, |
Lightvalve | 106:a511a5a84439 | 241 | {0.047732532024383545f,0.5485827326774597f,-0.7834116220474243f,-0.31200599670410156f,-1.2432564496994019f,-0.08440756052732468f,-0.3198729455471039f,0.06247803568840027f,0.21882383525371552f,-0.2795126736164093f,1.1186026334762573f,-0.4649718105792999f,0.7214251160621643f,-0.3016168177127838f,-1.0697804689407349f,-0.8627910017967224f}, |
Lightvalve | 97:d71c57e3515e | 242 | {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 | 106:a511a5a84439 | 243 | {-0.30922991037368774f,-0.10844157636165619f,0.24370351433753967f,-0.3752414286136627f,-0.2799035310745239f,0.11482025682926178f,0.20021501183509827f,0.07002416253089905f,-0.17697909474372864f,-0.365601509809494f,0.05610799789428711f,0.41021624207496643f,-0.10943176597356796f,0.1265021413564682f,0.19687585532665253f,-0.15066522359848022f}, |
Lightvalve | 104:be89a3a18c7e | 244 | {-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 | 106:a511a5a84439 | 245 | {-0.37449589371681213f,0.8138107657432556f,-0.5966983437538147f,0.01996510662138462f,-0.26122617721557617f,0.3970755636692047f,-0.18732719123363495f,0.22384825348854065f,-0.4603998064994812f,-0.2525792419910431f,-0.18898500502109528f,0.03716854378581047f,-1.2102360725402832f,-0.017480900511145592f,0.8051949739456177f,-0.6421521306037903f}, |
Lightvalve | 106:a511a5a84439 | 246 | {0.4110594093799591f,0.2575571537017822f,-0.2829606235027313f,0.37246426939964294f,0.1494692862033844f,-0.09544742852449417f,-0.08670487999916077f,-0.25336313247680664f,-0.030661463737487793f,-0.06259563565254211f,-0.1344406008720398f,0.35313835740089417f,0.21619804203510284f,0.09352782368659973f,0.302450031042099f,-0.3391006588935852f}, |
Lightvalve | 106:a511a5a84439 | 247 | {-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 | 90:a6cfef34bdce | 248 | {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 | 90:a6cfef34bdce | 249 | {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 | 106:a511a5a84439 | 250 | {0.15459725260734558f,0.2684120833873749f,0.19281090795993805f,-0.23334281146526337f,0.42064112424850464f,0.13330669701099396f,-0.08742031455039978f,0.05785742402076721f,-0.10703469812870026f,-0.3555331230163574f,-4.099601745605469f,-0.30447322130203247f,-4.643102169036865f,0.08451677858829498f,0.23248213529586792f,0.14514295756816864f}, |
Lightvalve | 106:a511a5a84439 | 251 | {-0.408692330121994f,-0.08732582628726959f,0.19967782497406006f,0.0922636091709137f,0.10512958467006683f,-0.3146759867668152f,0.03285527229309082f,0.38763079047203064f,-0.20705322921276093f,-0.25883403420448303f,0.12809070944786072f,0.03996849060058594f,-0.4165765047073364f,-0.3874877691268921f,-0.32974645495414734f,0.34212207794189453f}, |
Lightvalve | 106:a511a5a84439 | 252 | {-0.2991822361946106f,0.25162002444267273f,0.040185634046792984f,-0.05932474136352539f,0.20402681827545166f,0.12170617282390594f,-0.11253207921981812f,0.34576353430747986f,0.04814547300338745f,-0.35770976543426514f,-0.044228196144104004f,-0.36229726672172546f,0.13443897664546967f,-0.2534151077270508f,0.2412060648202896f,-0.04798906669020653f}, |
Lightvalve | 106:a511a5a84439 | 253 | {-0.2675279378890991f,-0.004467185586690903f,0.22158296406269073f,-0.10471480339765549f,0.26637670397758484f,-0.41637933254241943f,-0.32875844836235046f,-0.31893211603164673f,-0.48884138464927673f,-0.6636244058609009f,-1.410874366760254f,-0.5651125311851501f,-0.2373117059469223f,-0.34833693504333496f,0.7316285967826843f,0.5321375131607056f}, |
Lightvalve | 106:a511a5a84439 | 254 | {-0.015470266342163086f,-0.5351518392562866f,0.9574418067932129f,0.2444150596857071f,0.6173192262649536f,0.3776930570602417f,0.05196094512939453f,-0.008358269929885864f,-0.47192806005477905f,-0.5418168306350708f,0.17384567856788635f,-0.24931377172470093f,1.4269436597824097f,0.11368156224489212f,-0.9144942760467529f,0.824849009513855f}, |
Lightvalve | 106:a511a5a84439 | 255 | {0.1863725483417511f,0.2647557854652405f,-0.053099680691957474f,-0.5838266015052795f,0.16582004725933075f,0.2729530930519104f,0.04860696196556091f,0.17769548296928406f,-0.09623570740222931f,0.13812074065208435f,0.60963374376297f,0.04573923349380493f,-0.9541709423065186f,-0.035604771226644516f,0.3689681887626648f,-0.18582205474376678f}, |
Lightvalve | 66:a8e6799dbce3 | 256 | }; |
Lightvalve | 65:a2d7c63419c2 | 257 | |
Lightvalve | 106:a511a5a84439 | 258 | const float hout[16] = { 0.45773375034332275f,0.3591092824935913f,-0.13520705699920654f,-0.12559610605239868f,-0.13056552410125732f,0.3744151294231415f,0.0030125975608825684f,0.15066689252853394f,-0.1979801505804062f,-0.0912344828248024f,0.8885056972503662f,-0.1337854266166687f,-0.34207358956336975f,0.033815596252679825f,0.18102125823497772f,-0.38011065125465393f }; |
Lightvalve | 66:a8e6799dbce3 | 259 | |
Lightvalve | 106:a511a5a84439 | 260 | const float b1[16] = { 0.6026520133018494f,1.0227911472320557f,-1.7145336866378784f,0.12106171250343323f,1.0229506492614746f,0.885691225528717f,-0.058932315558195114f,0.9778276681900024f,0.5295315384864807f,-0.9006378054618835f,0.6019347310066223f,0.42815279960632324f,0.822638213634491f,-0.8606744408607483f,-1.087764859199524f,1.3601866960525513f }; |
Lightvalve | 87:471334725012 | 261 | |
Lightvalve | 106:a511a5a84439 | 262 | const float b2[16] = { -0.018663981929421425f,-0.8035765290260315f,-1.4564176797866821f,-0.7603859305381775f,-0.6939148902893066f,0.2634040117263794f,0.29558777809143066f,-0.30969977378845215f,-1.20063054561615f,-1.912178635597229f,0.10520845651626587f,0.3829072117805481f,-0.18266476690769196f,1.8565086126327515f,-0.11708316951990128f,0.8565111756324768f }; |
Lightvalve | 65:a2d7c63419c2 | 263 | |
Lightvalve | 106:a511a5a84439 | 264 | const float b3[16] = { -1.963319182395935f,-0.18257209658622742f,0.20342917740345f,-0.20930224657058716f,0.04115280136466026f,0.8082581162452698f,-0.45353031158447266f,-0.6562485098838806f,0.43290436267852783f,0.2585538923740387f,-0.7908613085746765f,-0.10547517985105515f,-1.3251028060913086f,0.3596514165401459f,-0.8781511783599854f,-0.1490040123462677f }; |
Lightvalve | 87:471334725012 | 265 | |
Lightvalve | 106:a511a5a84439 | 266 | const float bout[1] = { -0.3784976899623871f }; |
Lightvalve | 65:a2d7c63419c2 | 267 | |
Lightvalve | 66:a8e6799dbce3 | 268 | |
Lightvalve | 87:471334725012 | 269 | float VALVE_POS_RAW_NN = 0.0f; |
Lightvalve | 87:471334725012 | 270 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL); |
Lightvalve | 61:bc8c8270f0ab | 271 | |
GiJeongKim | 0:51c43836c1d7 | 272 | int main() |
GiJeongKim | 0:51c43836c1d7 | 273 | { |
Lightvalve | 66:a8e6799dbce3 | 274 | |
Lightvalve | 65:a2d7c63419c2 | 275 | HAL_Init(); |
Lightvalve | 65:a2d7c63419c2 | 276 | SystemClock_Config(); |
Lightvalve | 65:a2d7c63419c2 | 277 | |
jobuuu | 6:df07d3491e3a | 278 | /********************************* |
jobuuu | 1:e04e563be5ce | 279 | *** Initialization |
jobuuu | 6:df07d3491e3a | 280 | *********************************/ |
Lightvalve | 69:3995ffeaa786 | 281 | LED = 0; |
Lightvalve | 61:bc8c8270f0ab | 282 | pc.baud(9600); |
Lightvalve | 21:e5f1a43ea6f9 | 283 | |
GiJeongKim | 0:51c43836c1d7 | 284 | // i2c init |
Lightvalve | 8:5d2eebdad025 | 285 | i2c.frequency(400 * 1000); // 0.4 mHz |
Lightvalve | 8:5d2eebdad025 | 286 | wait_ms(2); // Power Up wait |
Lightvalve | 8:5d2eebdad025 | 287 | look_for_hardware_i2c(); // Hardware present |
Lightvalve | 8:5d2eebdad025 | 288 | init_as5510(i2c_slave_addr1); |
Lightvalve | 11:82d8768d7351 | 289 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 290 | |
GiJeongKim | 0:51c43836c1d7 | 291 | // // spi init |
Lightvalve | 16:903b5a4433b4 | 292 | //eeprom.format(8,3); |
Lightvalve | 16:903b5a4433b4 | 293 | //eeprom.frequency(5000000); //5M |
GiJeongKim | 0:51c43836c1d7 | 294 | enc.format(8,0); |
GiJeongKim | 0:51c43836c1d7 | 295 | enc.frequency(5000000); //5M |
Lightvalve | 11:82d8768d7351 | 296 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 297 | |
Lightvalve | 16:903b5a4433b4 | 298 | //rom |
Lightvalve | 19:23b7c1ad8683 | 299 | ROM_CALL_DATA(); |
Lightvalve | 16:903b5a4433b4 | 300 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 301 | |
GiJeongKim | 0:51c43836c1d7 | 302 | // ADC init |
jobuuu | 5:a4319f79457b | 303 | Init_ADC(); |
Lightvalve | 11:82d8768d7351 | 304 | make_delay(); |
jobuuu | 2:a1c0a37df760 | 305 | |
GiJeongKim | 0:51c43836c1d7 | 306 | // Pwm init |
GiJeongKim | 0:51c43836c1d7 | 307 | Init_PWM(); |
GiJeongKim | 0:51c43836c1d7 | 308 | TIM4->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 309 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 310 | |
Lightvalve | 11:82d8768d7351 | 311 | // TMR3 init |
Lightvalve | 11:82d8768d7351 | 312 | Init_TMR3(); |
Lightvalve | 11:82d8768d7351 | 313 | TIM3->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 11:82d8768d7351 | 314 | make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 315 | |
Lightvalve | 50:3c630b5eba9f | 316 | // TMR2 init |
Lightvalve | 56:6f50d9d3bfee | 317 | // Init_TMR2(); |
Lightvalve | 56:6f50d9d3bfee | 318 | // TIM2->CR1 ^= TIM_CR1_UDIS; |
Lightvalve | 56:6f50d9d3bfee | 319 | // make_delay(); |
Lightvalve | 21:e5f1a43ea6f9 | 320 | |
GiJeongKim | 0:51c43836c1d7 | 321 | // CAN |
jobuuu | 2:a1c0a37df760 | 322 | can.attach(&CAN_RX_HANDLER); |
Lightvalve | 11:82d8768d7351 | 323 | CAN_ID_INIT(); |
Lightvalve | 11:82d8768d7351 | 324 | make_delay(); |
Lightvalve | 34:bb2ca2fc2a8e | 325 | |
Lightvalve | 23:59218d4a256d | 326 | //Timer priority |
Lightvalve | 23:59218d4a256d | 327 | NVIC_SetPriority(TIM3_IRQn, 2); |
Lightvalve | 57:f4819de54e7a | 328 | //NVIC_SetPriority(TIM2_IRQn, 3); |
Lightvalve | 54:647072f5307a | 329 | NVIC_SetPriority(TIM4_IRQn, 3); |
Lightvalve | 34:bb2ca2fc2a8e | 330 | |
Lightvalve | 23:59218d4a256d | 331 | //can.reset(); |
Lightvalve | 19:23b7c1ad8683 | 332 | can.filter(msg.id, 0xFFFFF000, CANStandard); |
Lightvalve | 34:bb2ca2fc2a8e | 333 | |
GiJeongKim | 0:51c43836c1d7 | 334 | // spi _ enc |
GiJeongKim | 0:51c43836c1d7 | 335 | spi_enc_set_init(); |
Lightvalve | 11:82d8768d7351 | 336 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 337 | |
Lightvalve | 11:82d8768d7351 | 338 | //DAC init |
Lightvalve | 58:2eade98630e2 | 339 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 340 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 341 | dac_2 = 0.0f; |
Lightvalve | 58:2eade98630e2 | 342 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 343 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 344 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 58:2eade98630e2 | 345 | } |
Lightvalve | 11:82d8768d7351 | 346 | make_delay(); |
Lightvalve | 13:747daba9cf59 | 347 | |
Lightvalve | 19:23b7c1ad8683 | 348 | for (int i=0; i<50; i++) { |
Lightvalve | 11:82d8768d7351 | 349 | if(i%2==0) |
Lightvalve | 38:118df027d851 | 350 | ID_index_array[i] = - i * 0.5f; |
Lightvalve | 11:82d8768d7351 | 351 | else |
Lightvalve | 38:118df027d851 | 352 | ID_index_array[i] = (i+1) * 0.5f; |
Lightvalve | 11:82d8768d7351 | 353 | } |
Lightvalve | 61:bc8c8270f0ab | 354 | |
Lightvalve | 61:bc8c8270f0ab | 355 | |
jobuuu | 6:df07d3491e3a | 356 | /************************************ |
jobuuu | 1:e04e563be5ce | 357 | *** Program is operating! |
jobuuu | 6:df07d3491e3a | 358 | *************************************/ |
GiJeongKim | 0:51c43836c1d7 | 359 | while(1) { |
Lightvalve | 66:a8e6799dbce3 | 360 | // if(timer_while==1000 && OPERATING_MODE==5) { |
Lightvalve | 66:a8e6799dbce3 | 361 | //if(timer_while==1000) { |
Lightvalve | 65:a2d7c63419c2 | 362 | //i2c |
Lightvalve | 66:a8e6799dbce3 | 363 | |
Lightvalve | 65:a2d7c63419c2 | 364 | read_field(i2c_slave_addr1); |
Lightvalve | 65:a2d7c63419c2 | 365 | if(DIR_VALVE_ENC < 0) value = 1023 - value; |
Lightvalve | 65:a2d7c63419c2 | 366 | // if(LED==1) { |
Lightvalve | 65:a2d7c63419c2 | 367 | // LED=0; |
Lightvalve | 65:a2d7c63419c2 | 368 | // } else |
Lightvalve | 65:a2d7c63419c2 | 369 | // LED = 1; |
Lightvalve | 65:a2d7c63419c2 | 370 | timer_while = 0; |
Lightvalve | 66:a8e6799dbce3 | 371 | //} |
Lightvalve | 66:a8e6799dbce3 | 372 | |
Lightvalve | 66:a8e6799dbce3 | 373 | timer_while ++; |
Lightvalve | 66:a8e6799dbce3 | 374 | |
Lightvalve | 87:471334725012 | 375 | //LED = 0; |
Lightvalve | 87:471334725012 | 376 | |
Lightvalve | 73:f80dc3970c99 | 377 | if(NN_Control_Flag == 0) { |
Lightvalve | 73:f80dc3970c99 | 378 | LED = 0; |
Lightvalve | 73:f80dc3970c99 | 379 | } |
Lightvalve | 66:a8e6799dbce3 | 380 | |
Lightvalve | 73:f80dc3970c99 | 381 | else if(NN_Control_Flag == 1) { |
Lightvalve | 88:d6e591bece22 | 382 | float output1[16] = { 0.0f }; |
Lightvalve | 88:d6e591bece22 | 383 | float output2[16] = { 0.0f }; |
Lightvalve | 88:d6e591bece22 | 384 | float output3[16] = { 0.0f }; |
Lightvalve | 66:a8e6799dbce3 | 385 | float output = 0.0f; |
Lightvalve | 65:a2d7c63419c2 | 386 | |
Lightvalve | 88:d6e591bece22 | 387 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 68:328e1be06f5d | 388 | for (int index1 = 0; index1 < num_input; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 389 | output1[index2] = output1[index2] |
Lightvalve | 73:f80dc3970c99 | 390 | + h1[index1][index2] * input_NN[index1]; |
Lightvalve | 66:a8e6799dbce3 | 391 | } |
Lightvalve | 66:a8e6799dbce3 | 392 | output1[index2] = output1[index2] + b1[index2]; |
Lightvalve | 66:a8e6799dbce3 | 393 | if (output1[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 394 | output1[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 395 | } |
Lightvalve | 66:a8e6799dbce3 | 396 | } |
Lightvalve | 65:a2d7c63419c2 | 397 | |
Lightvalve | 88:d6e591bece22 | 398 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 88:d6e591bece22 | 399 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 400 | output2[index2] = output2[index2] |
Lightvalve | 66:a8e6799dbce3 | 401 | + h2[index1][index2] * output1[index1]; |
Lightvalve | 66:a8e6799dbce3 | 402 | } |
Lightvalve | 66:a8e6799dbce3 | 403 | output2[index2] = output2[index2] + b2[index2]; |
Lightvalve | 66:a8e6799dbce3 | 404 | if (output2[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 405 | output2[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 406 | } |
Lightvalve | 66:a8e6799dbce3 | 407 | } |
Lightvalve | 65:a2d7c63419c2 | 408 | |
Lightvalve | 88:d6e591bece22 | 409 | for (int index2 = 0; index2 < 16; index2++) { |
Lightvalve | 88:d6e591bece22 | 410 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 66:a8e6799dbce3 | 411 | output3[index2] = output3[index2] |
Lightvalve | 66:a8e6799dbce3 | 412 | + h3[index1][index2] * output2[index1]; |
Lightvalve | 66:a8e6799dbce3 | 413 | } |
Lightvalve | 66:a8e6799dbce3 | 414 | output3[index2] = output3[index2] + b3[index2]; |
Lightvalve | 66:a8e6799dbce3 | 415 | if (output3[index2] < 0) { |
Lightvalve | 66:a8e6799dbce3 | 416 | output3[index2] = 0; |
Lightvalve | 66:a8e6799dbce3 | 417 | } |
Lightvalve | 65:a2d7c63419c2 | 418 | } |
Lightvalve | 66:a8e6799dbce3 | 419 | |
Lightvalve | 66:a8e6799dbce3 | 420 | for (int index2 = 0; index2 < 1; index2++) { |
Lightvalve | 88:d6e591bece22 | 421 | for (int index1 = 0; index1 < 16; index1++) { |
Lightvalve | 73:f80dc3970c99 | 422 | output = output + hout[index1] * output3[index1]; |
Lightvalve | 66:a8e6799dbce3 | 423 | } |
Lightvalve | 66:a8e6799dbce3 | 424 | output = output + bout[index2]; |
Lightvalve | 73:f80dc3970c99 | 425 | |
Lightvalve | 66:a8e6799dbce3 | 426 | } |
Lightvalve | 73:f80dc3970c99 | 427 | output = 1.0f/(1.0f+exp(-output)); |
Lightvalve | 101:50159049a518 | 428 | output_normalized = output; |
Lightvalve | 68:328e1be06f5d | 429 | output = output * 20000.0f - 10000.0f; |
Lightvalve | 101:50159049a518 | 430 | |
Lightvalve | 66:a8e6799dbce3 | 431 | if(output>=0) { |
Lightvalve | 66:a8e6799dbce3 | 432 | valve_pos.ref = output*0.0001f*((double)VALVE_MAX_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 66:a8e6799dbce3 | 433 | } else { |
Lightvalve | 66:a8e6799dbce3 | 434 | valve_pos.ref = -output*0.0001f*((double)VALVE_MIN_POS - (double) VALVE_CENTER) + (double) VALVE_CENTER; |
Lightvalve | 65:a2d7c63419c2 | 435 | } |
Lightvalve | 87:471334725012 | 436 | |
Lightvalve | 88:d6e591bece22 | 437 | // // torque feedback |
Lightvalve | 88:d6e591bece22 | 438 | // torq.err = f_past[0] - torq.sen; //[N] |
Lightvalve | 88:d6e591bece22 | 439 | //// torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 88:d6e591bece22 | 440 | // torq.err_sum += torq.err/(float) 1500.0f; //[N] |
Lightvalve | 88:d6e591bece22 | 441 | // |
Lightvalve | 88:d6e591bece22 | 442 | // |
Lightvalve | 88:d6e591bece22 | 443 | // 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 | 444 | // |
Lightvalve | 88:d6e591bece22 | 445 | // if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 88:d6e591bece22 | 446 | // double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 88:d6e591bece22 | 447 | // if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 88:d6e591bece22 | 448 | // double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 449 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 450 | // valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 88:d6e591bece22 | 451 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 452 | // } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 88:d6e591bece22 | 453 | // double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 454 | // valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 88:d6e591bece22 | 455 | // valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 88:d6e591bece22 | 456 | // torq.err_sum = torq.err_sum - valve_pos_rem/(float) 1500.0f; |
Lightvalve | 88:d6e591bece22 | 457 | // } |
Lightvalve | 88:d6e591bece22 | 458 | // } |
Lightvalve | 87:471334725012 | 459 | |
Lightvalve | 69:3995ffeaa786 | 460 | |
Lightvalve | 69:3995ffeaa786 | 461 | if(LED==1) { |
Lightvalve | 69:3995ffeaa786 | 462 | LED=0; |
Lightvalve | 69:3995ffeaa786 | 463 | } else |
Lightvalve | 69:3995ffeaa786 | 464 | LED = 1; |
Lightvalve | 69:3995ffeaa786 | 465 | |
Lightvalve | 65:a2d7c63419c2 | 466 | } |
Lightvalve | 62:b5452adfb2cd | 467 | |
Lightvalve | 87:471334725012 | 468 | //LED = 1; |
Lightvalve | 69:3995ffeaa786 | 469 | |
Lightvalve | 66:a8e6799dbce3 | 470 | |
GiJeongKim | 0:51c43836c1d7 | 471 | } |
jobuuu | 1:e04e563be5ce | 472 | } |
jobuuu | 1:e04e563be5ce | 473 | |
Lightvalve | 33:91b17819ec30 | 474 | float DDV_JOINT_POS_FF(float REF_JOINT_VEL) |
Lightvalve | 14:8e7590227d22 | 475 | { |
Lightvalve | 14:8e7590227d22 | 476 | |
Lightvalve | 13:747daba9cf59 | 477 | int i = 0; |
Lightvalve | 48:889798ff9329 | 478 | float Ref_Valve_Pos_FF = 0.0f; |
Lightvalve | 14:8e7590227d22 | 479 | for(i=0; i<VALVE_POS_NUM; i++) { |
Lightvalve | 14:8e7590227d22 | 480 | 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 | 481 | if(i==0) { |
Lightvalve | 50:3c630b5eba9f | 482 | if(JOINT_VEL[i+1] == JOINT_VEL[i]) { |
Lightvalve | 57:f4819de54e7a | 483 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 484 | } else { |
Lightvalve | 57:f4819de54e7a | 485 | 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 | 486 | } |
Lightvalve | 14:8e7590227d22 | 487 | } else { |
Lightvalve | 50:3c630b5eba9f | 488 | if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) { |
Lightvalve | 57:f4819de54e7a | 489 | Ref_Valve_Pos_FF = (float) VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 490 | } else { |
Lightvalve | 57:f4819de54e7a | 491 | 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 | 492 | } |
Lightvalve | 13:747daba9cf59 | 493 | } |
Lightvalve | 13:747daba9cf59 | 494 | break; |
Lightvalve | 13:747daba9cf59 | 495 | } |
Lightvalve | 13:747daba9cf59 | 496 | } |
Lightvalve | 14:8e7590227d22 | 497 | if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 498 | Ref_Valve_Pos_FF = (float) VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 499 | } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) { |
Lightvalve | 33:91b17819ec30 | 500 | Ref_Valve_Pos_FF = (float) VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 501 | } |
Lightvalve | 36:a46e63505ed8 | 502 | |
Lightvalve | 57:f4819de54e7a | 503 | Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); |
Lightvalve | 13:747daba9cf59 | 504 | return Ref_Valve_Pos_FF; |
Lightvalve | 50:3c630b5eba9f | 505 | |
Lightvalve | 13:747daba9cf59 | 506 | } |
jobuuu | 6:df07d3491e3a | 507 | |
jobuuu | 6:df07d3491e3a | 508 | |
Lightvalve | 30:8d561f16383b | 509 | void VALVE_POS_CONTROL(float REF_VALVE_POS) |
Lightvalve | 14:8e7590227d22 | 510 | { |
Lightvalve | 13:747daba9cf59 | 511 | int i = 0; |
Lightvalve | 13:747daba9cf59 | 512 | |
Lightvalve | 38:118df027d851 | 513 | if(REF_VALVE_POS > VALVE_MAX_POS) { |
Lightvalve | 38:118df027d851 | 514 | REF_VALVE_POS = VALVE_MAX_POS; |
Lightvalve | 38:118df027d851 | 515 | } else if(REF_VALVE_POS < VALVE_MIN_POS) { |
Lightvalve | 38:118df027d851 | 516 | REF_VALVE_POS = VALVE_MIN_POS; |
Lightvalve | 38:118df027d851 | 517 | } |
Lightvalve | 38:118df027d851 | 518 | |
Lightvalve | 89:a7b45368ea0f | 519 | valve_pos_err = (float) (REF_VALVE_POS - value); |
Lightvalve | 13:747daba9cf59 | 520 | valve_pos_err_diff = valve_pos_err - valve_pos_err_old; |
Lightvalve | 13:747daba9cf59 | 521 | valve_pos_err_old = valve_pos_err; |
Lightvalve | 13:747daba9cf59 | 522 | valve_pos_err_sum += valve_pos_err; |
Lightvalve | 89:a7b45368ea0f | 523 | if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 524 | if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f; |
Lightvalve | 13:747daba9cf59 | 525 | |
Lightvalve | 13:747daba9cf59 | 526 | 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 | 527 | |
Lightvalve | 18:b8adf1582ea3 | 528 | for(i=0; i<24; i++) { |
Lightvalve | 89:a7b45368ea0f | 529 | 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 | 530 | if(i==0) { |
Lightvalve | 48:889798ff9329 | 531 | 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 | 532 | } else { |
Lightvalve | 48:889798ff9329 | 533 | 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 | 534 | } |
Lightvalve | 13:747daba9cf59 | 535 | break; |
Lightvalve | 13:747daba9cf59 | 536 | } |
Lightvalve | 13:747daba9cf59 | 537 | } |
Lightvalve | 59:f308b1656d9c | 538 | Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB; |
Lightvalve | 13:747daba9cf59 | 539 | } |
Lightvalve | 13:747daba9cf59 | 540 | |
Lightvalve | 14:8e7590227d22 | 541 | #define LT_MAX_IDX 57 |
Lightvalve | 30:8d561f16383b | 542 | 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 | 543 | -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 544 | -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 545 | 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 546 | 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f, |
Lightvalve | 34:bb2ca2fc2a8e | 547 | 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f |
Lightvalve | 34:bb2ca2fc2a8e | 548 | }; // duty |
Lightvalve | 67:c2812cf26c38 | 549 | 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 | 550 | -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f, |
Lightvalve | 67:c2812cf26c38 | 551 | -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f, |
Lightvalve | 67:c2812cf26c38 | 552 | 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f, |
Lightvalve | 67:c2812cf26c38 | 553 | 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f, |
Lightvalve | 67:c2812cf26c38 | 554 | 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f |
Lightvalve | 34:bb2ca2fc2a8e | 555 | }; // mV |
Lightvalve | 13:747daba9cf59 | 556 | |
Lightvalve | 30:8d561f16383b | 557 | float PWM_duty_byLT(float Ref_V) |
Lightvalve | 14:8e7590227d22 | 558 | { |
Lightvalve | 30:8d561f16383b | 559 | float PWM_duty = 0.0f; |
Lightvalve | 13:747daba9cf59 | 560 | if(Ref_V<LT_Voltage_Output[0]) { |
Lightvalve | 30:8d561f16383b | 561 | PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0]; |
Lightvalve | 13:747daba9cf59 | 562 | } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) { |
Lightvalve | 30:8d561f16383b | 563 | PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1]; |
Lightvalve | 13:747daba9cf59 | 564 | } else { |
Lightvalve | 13:747daba9cf59 | 565 | int idx = 0; |
Lightvalve | 13:747daba9cf59 | 566 | for(idx=0; idx<LT_MAX_IDX-1; idx++) { |
Lightvalve | 30:8d561f16383b | 567 | float ini_x = LT_Voltage_Output[idx]; |
Lightvalve | 30:8d561f16383b | 568 | float fin_x = LT_Voltage_Output[idx+1]; |
Lightvalve | 30:8d561f16383b | 569 | float ini_y = LT_PWM_duty[idx]; |
Lightvalve | 30:8d561f16383b | 570 | float fin_y = LT_PWM_duty[idx+1]; |
Lightvalve | 13:747daba9cf59 | 571 | if(Ref_V>=ini_x && Ref_V<fin_x) { |
Lightvalve | 13:747daba9cf59 | 572 | PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y; |
Lightvalve | 13:747daba9cf59 | 573 | break; |
Lightvalve | 13:747daba9cf59 | 574 | } |
Lightvalve | 13:747daba9cf59 | 575 | } |
Lightvalve | 13:747daba9cf59 | 576 | } |
Lightvalve | 14:8e7590227d22 | 577 | |
Lightvalve | 13:747daba9cf59 | 578 | return PWM_duty; |
Lightvalve | 13:747daba9cf59 | 579 | } |
jobuuu | 6:df07d3491e3a | 580 | |
Lightvalve | 57:f4819de54e7a | 581 | |
Lightvalve | 57:f4819de54e7a | 582 | |
Lightvalve | 57:f4819de54e7a | 583 | |
Lightvalve | 57:f4819de54e7a | 584 | |
jobuuu | 2:a1c0a37df760 | 585 | /******************************************************************************* |
jobuuu | 2:a1c0a37df760 | 586 | TIMER INTERRUPT |
jobuuu | 2:a1c0a37df760 | 587 | *******************************************************************************/ |
jobuuu | 2:a1c0a37df760 | 588 | |
Lightvalve | 51:b46bed7fec80 | 589 | float FREQ_TMR4 = (float)FREQ_20k; |
Lightvalve | 51:b46bed7fec80 | 590 | float DT_TMR4 = (float)DT_20k; |
Lightvalve | 57:f4819de54e7a | 591 | long CNT_TMR4 = 0; |
Lightvalve | 57:f4819de54e7a | 592 | int TMR4_FREQ_10k = (int)FREQ_10k; |
jobuuu | 1:e04e563be5ce | 593 | extern "C" void TIM4_IRQHandler(void) |
jobuuu | 1:e04e563be5ce | 594 | { |
Lightvalve | 19:23b7c1ad8683 | 595 | if (TIM4->SR & TIM_SR_UIF ) { |
Lightvalve | 21:e5f1a43ea6f9 | 596 | |
Lightvalve | 21:e5f1a43ea6f9 | 597 | /******************************************************* |
Lightvalve | 21:e5f1a43ea6f9 | 598 | *** Sensor Read & Data Handling |
Lightvalve | 21:e5f1a43ea6f9 | 599 | ********************************************************/ |
Lightvalve | 13:747daba9cf59 | 600 | |
Lightvalve | 57:f4819de54e7a | 601 | //Encoder |
Lightvalve | 57:f4819de54e7a | 602 | if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) { |
Lightvalve | 57:f4819de54e7a | 603 | ENC_UPDATE(); |
Lightvalve | 57:f4819de54e7a | 604 | } |
Lightvalve | 61:bc8c8270f0ab | 605 | |
Lightvalve | 61:bc8c8270f0ab | 606 | ADC1->CR2 |= 0x40000000; |
Lightvalve | 58:2eade98630e2 | 607 | if (SENSING_MODE == 0) { |
Lightvalve | 58:2eade98630e2 | 608 | // Torque Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 609 | float pres_A_new = (((float) ADC1->DR) - 2047.5f); |
Lightvalve | 58:2eade98630e2 | 610 | double alpha_update_ft = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 100.0f)); // f_cutoff : 200Hz |
Lightvalve | 58:2eade98630e2 | 611 | pres_A.sen = (1.0f - alpha_update_ft) * pres_A.sen + alpha_update_ft * pres_A_new; |
Lightvalve | 67:c2812cf26c38 | 612 | torq.sen = -pres_A.sen / TORQUE_SENSOR_PULSE_PER_TORQUE; |
Lightvalve | 67:c2812cf26c38 | 613 | |
Lightvalve | 67:c2812cf26c38 | 614 | |
Lightvalve | 67:c2812cf26c38 | 615 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 67:c2812cf26c38 | 616 | //// float pres_A_new = ((float)ADC1->DR - PRES_A_NULL) / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 67:c2812cf26c38 | 617 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 67:c2812cf26c38 | 618 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 67:c2812cf26c38 | 619 | // torq.sen = - (pres_A.sen-2048.0f); //pulse -2047~2047 |
Lightvalve | 67:c2812cf26c38 | 620 | |
Lightvalve | 17:1865016ca2e7 | 621 | |
Lightvalve | 58:2eade98630e2 | 622 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 623 | // Pressure Sensing (0~210)bar ============================================= |
Lightvalve | 58:2eade98630e2 | 624 | float pres_A_new = (((float)ADC1->DR) - PRES_A_NULL); |
Lightvalve | 58:2eade98630e2 | 625 | float pres_B_new = (((float)ADC2->DR) - PRES_B_NULL); |
Lightvalve | 58:2eade98630e2 | 626 | double alpha_update_pres = 1.0f / (1.0f + FREQ_TMR4 / (2.0f * 3.14f * 200.0f)); // f_cutoff : 500Hz |
Lightvalve | 58:2eade98630e2 | 627 | pres_A.sen = (1.0f - alpha_update_pres) * pres_A.sen + alpha_update_pres * pres_A_new; |
Lightvalve | 58:2eade98630e2 | 628 | pres_B.sen = (1.0f - alpha_update_pres) * pres_B.sen + alpha_update_pres * pres_B_new; |
Lightvalve | 58:2eade98630e2 | 629 | CUR_PRES_A_BAR = pres_A.sen / PRES_SENSOR_A_PULSE_PER_BAR; |
Lightvalve | 58:2eade98630e2 | 630 | CUR_PRES_B_BAR = pres_B.sen / PRES_SENSOR_B_PULSE_PER_BAR; |
Lightvalve | 50:3c630b5eba9f | 631 | |
Lightvalve | 58:2eade98630e2 | 632 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator |
Lightvalve | 58:2eade98630e2 | 633 | 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 | 634 | } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator |
Lightvalve | 58:2eade98630e2 | 635 | 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 | 636 | } |
Lightvalve | 58:2eade98630e2 | 637 | } |
Lightvalve | 61:bc8c8270f0ab | 638 | |
Lightvalve | 58:2eade98630e2 | 639 | // //Pressure sensor A |
Lightvalve | 58:2eade98630e2 | 640 | // ADC1->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 58:2eade98630e2 | 641 | // //while((ADC1->SR & 0b10)); |
Lightvalve | 58:2eade98630e2 | 642 | // float alpha_update_pres_A = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 643 | // float pres_A_new = ((float)ADC1->DR); |
Lightvalve | 58:2eade98630e2 | 644 | // pres_A.sen = pres_A.sen*(1.0f-alpha_update_pres_A)+pres_A_new*(alpha_update_pres_A); |
Lightvalve | 58:2eade98630e2 | 645 | // 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 | 646 | // |
Lightvalve | 58:2eade98630e2 | 647 | // |
Lightvalve | 58:2eade98630e2 | 648 | // //Pressure sensor B |
Lightvalve | 58:2eade98630e2 | 649 | // float alpha_update_pres_B = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*100.0f)); |
Lightvalve | 58:2eade98630e2 | 650 | // float pres_B_new = ((float)ADC2->DR); |
Lightvalve | 58:2eade98630e2 | 651 | // pres_B.sen = pres_B.sen*(1.0f-alpha_update_pres_B)+pres_B_new*(alpha_update_pres_B); |
Lightvalve | 58:2eade98630e2 | 652 | // //torq.sen = pres_A.sen * (float) PISTON_AREA_A - pres_B.sen * (float) PISTON_AREA_B; |
Lightvalve | 17:1865016ca2e7 | 653 | |
Lightvalve | 17:1865016ca2e7 | 654 | |
Lightvalve | 21:e5f1a43ea6f9 | 655 | //Current |
Lightvalve | 21:e5f1a43ea6f9 | 656 | //ADC3->CR2 |= 0x40000000; // adc _ 12bit |
Lightvalve | 25:3e6b574cab5c | 657 | //int raw_cur = ADC3->DR; |
Lightvalve | 21:e5f1a43ea6f9 | 658 | //while((ADC3->SR & 0b10)); |
Lightvalve | 51:b46bed7fec80 | 659 | float alpha_update_cur = 1.0f/(1.0f + FREQ_TMR4/(2.0f*3.14f*500.0f)); // f_cutoff : 500Hz |
Lightvalve | 30:8d561f16383b | 660 | float cur_new = ((float)ADC3->DR-2048.0f)*20.0f/4096.0f; // unit : mA |
Lightvalve | 30:8d561f16383b | 661 | cur.sen=cur.sen*(1.0f-alpha_update_cur)+cur_new*(alpha_update_cur); |
Lightvalve | 25:3e6b574cab5c | 662 | //cur.sen = raw_cur; |
Lightvalve | 58:2eade98630e2 | 663 | |
Lightvalve | 57:f4819de54e7a | 664 | CNT_TMR4++; |
Lightvalve | 21:e5f1a43ea6f9 | 665 | } |
Lightvalve | 11:82d8768d7351 | 666 | TIM4->SR = 0x0; // reset the status register |
Lightvalve | 11:82d8768d7351 | 667 | } |
Lightvalve | 19:23b7c1ad8683 | 668 | |
Lightvalve | 19:23b7c1ad8683 | 669 | |
Lightvalve | 18:b8adf1582ea3 | 670 | int j =0; |
Lightvalve | 54:647072f5307a | 671 | float FREQ_TMR3 = (float)FREQ_5k; |
Lightvalve | 48:889798ff9329 | 672 | float DT_TMR3 = (float)DT_5k; |
Lightvalve | 45:35fa6884d0c6 | 673 | int cnt_trans = 0; |
Lightvalve | 48:889798ff9329 | 674 | double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f; |
Lightvalve | 57:f4819de54e7a | 675 | int can_rest =0; |
Lightvalve | 48:889798ff9329 | 676 | |
Lightvalve | 11:82d8768d7351 | 677 | extern "C" void TIM3_IRQHandler(void) |
Lightvalve | 21:e5f1a43ea6f9 | 678 | { |
Lightvalve | 19:23b7c1ad8683 | 679 | if (TIM3->SR & TIM_SR_UIF ) { |
Lightvalve | 57:f4819de54e7a | 680 | |
Lightvalve | 57:f4819de54e7a | 681 | if (((OPERATING_MODE&0b110)>>1) == 0) { |
Lightvalve | 57:f4819de54e7a | 682 | K_v = 0.4f; // Moog (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 683 | mV_PER_mA = 500.0f; // 5000mV/10mA |
Lightvalve | 57:f4819de54e7a | 684 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 685 | mA_PER_pulse = 0.001f; // 10mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 686 | } else if (((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 57:f4819de54e7a | 687 | K_v = 0.5f; // KNR (LPM >> mA) , 100bar |
Lightvalve | 57:f4819de54e7a | 688 | mV_PER_mA = 166.6666f; // 5000mV/30mA |
Lightvalve | 57:f4819de54e7a | 689 | mV_PER_pulse = 0.5f; // 5000mV/10000pulse |
Lightvalve | 57:f4819de54e7a | 690 | mA_PER_pulse = 0.003f; // 30mA/10000pulse |
Lightvalve | 57:f4819de54e7a | 691 | } |
Lightvalve | 50:3c630b5eba9f | 692 | |
Lightvalve | 50:3c630b5eba9f | 693 | if(MODE_POS_FT_TRANS == 1) { |
Lightvalve | 48:889798ff9329 | 694 | alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 695 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 696 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 697 | if((float)cnt_trans * DT_TMR3 > 3.0f) |
Lightvalve | 45:35fa6884d0c6 | 698 | MODE_POS_FT_TRANS = 2; |
Lightvalve | 50:3c630b5eba9f | 699 | } else if(MODE_POS_FT_TRANS == 3) { |
Lightvalve | 48:889798ff9329 | 700 | alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f; |
Lightvalve | 45:35fa6884d0c6 | 701 | cnt_trans++; |
Lightvalve | 46:2694daea349b | 702 | torq.err_sum = 0; |
Lightvalve | 48:889798ff9329 | 703 | if((float) cnt_trans * DT_TMR3 > 3.0f ) |
Lightvalve | 45:35fa6884d0c6 | 704 | MODE_POS_FT_TRANS = 0; |
Lightvalve | 50:3c630b5eba9f | 705 | } else if(MODE_POS_FT_TRANS == 2) { |
Lightvalve | 58:2eade98630e2 | 706 | alpha_trans = 1.0f; |
Lightvalve | 45:35fa6884d0c6 | 707 | cnt_trans = 0; |
Lightvalve | 50:3c630b5eba9f | 708 | } else { |
Lightvalve | 58:2eade98630e2 | 709 | alpha_trans = 0.0f; |
Lightvalve | 45:35fa6884d0c6 | 710 | cnt_trans = 0; |
Lightvalve | 45:35fa6884d0c6 | 711 | } |
Lightvalve | 45:35fa6884d0c6 | 712 | |
Lightvalve | 50:3c630b5eba9f | 713 | |
Lightvalve | 57:f4819de54e7a | 714 | int UTILITY_MODE = 0; |
Lightvalve | 57:f4819de54e7a | 715 | int CONTROL_MODE = 0; |
Lightvalve | 58:2eade98630e2 | 716 | |
Lightvalve | 57:f4819de54e7a | 717 | if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) { |
Lightvalve | 57:f4819de54e7a | 718 | UTILITY_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 719 | CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 720 | } else { |
Lightvalve | 57:f4819de54e7a | 721 | CONTROL_MODE = CONTROL_UTILITY_MODE; |
Lightvalve | 57:f4819de54e7a | 722 | UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 723 | } |
Lightvalve | 56:6f50d9d3bfee | 724 | |
Lightvalve | 56:6f50d9d3bfee | 725 | |
Lightvalve | 56:6f50d9d3bfee | 726 | |
Lightvalve | 57:f4819de54e7a | 727 | // UTILITY MODE ------------------------------------------------------------ |
Lightvalve | 56:6f50d9d3bfee | 728 | |
Lightvalve | 57:f4819de54e7a | 729 | switch (UTILITY_MODE) { |
Lightvalve | 57:f4819de54e7a | 730 | case MODE_NO_ACT: { |
Lightvalve | 13:747daba9cf59 | 731 | break; |
Lightvalve | 13:747daba9cf59 | 732 | } |
Lightvalve | 14:8e7590227d22 | 733 | |
Lightvalve | 14:8e7590227d22 | 734 | case MODE_TORQUE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 735 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 736 | if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 15:bd0d12728506 | 737 | CUR_TORQUE_sum += torq.sen; |
Lightvalve | 19:23b7c1ad8683 | 738 | |
Lightvalve | 14:8e7590227d22 | 739 | if (TMR3_COUNT_TORQUE_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 740 | CUR_TORQUE_mean = CUR_TORQUE_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 741 | CUR_TORQUE_sum = 0; |
Lightvalve | 14:8e7590227d22 | 742 | |
Lightvalve | 84:c355d3e52bf1 | 743 | TORQUE_VREF += 0.000003f * (0.0f - CUR_TORQUE_mean); |
Lightvalve | 19:23b7c1ad8683 | 744 | |
Lightvalve | 30:8d561f16383b | 745 | if (TORQUE_VREF > 3.3f) TORQUE_VREF = 3.3f; |
Lightvalve | 59:f308b1656d9c | 746 | if (TORQUE_VREF < 0.0f) TORQUE_VREF = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 747 | |
Lightvalve | 16:903b5a4433b4 | 748 | //spi_eeprom_write(RID_TORQUE_SENSOR_VREF, (int16_t) (TORQUE_VREF * 1000.0)); |
Lightvalve | 30:8d561f16383b | 749 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 750 | } |
Lightvalve | 13:747daba9cf59 | 751 | } else { |
Lightvalve | 58:2eade98630e2 | 752 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 753 | TMR3_COUNT_TORQUE_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 754 | CUR_TORQUE_sum = 0; |
Lightvalve | 13:747daba9cf59 | 755 | CUR_TORQUE_mean = 0; |
Lightvalve | 19:23b7c1ad8683 | 756 | |
Lightvalve | 16:903b5a4433b4 | 757 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 758 | |
Lightvalve | 30:8d561f16383b | 759 | dac_1 = TORQUE_VREF / 3.3f; |
Lightvalve | 14:8e7590227d22 | 760 | |
Lightvalve | 13:747daba9cf59 | 761 | } |
Lightvalve | 14:8e7590227d22 | 762 | TMR3_COUNT_TORQUE_NULL++; |
Lightvalve | 13:747daba9cf59 | 763 | break; |
Lightvalve | 19:23b7c1ad8683 | 764 | } |
Lightvalve | 14:8e7590227d22 | 765 | |
Lightvalve | 50:3c630b5eba9f | 766 | // case MODE_VALVE_NULLING_AND_DEADZONE_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 767 | // if (TMR3_COUNT_DEADZONE == 0) { |
Lightvalve | 50:3c630b5eba9f | 768 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 769 | // else temp_time = 0; |
Lightvalve | 50:3c630b5eba9f | 770 | // } |
Lightvalve | 50:3c630b5eba9f | 771 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 772 | // if (TMR3_COUNT_DEADZONE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 773 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 774 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 775 | // } else if (TMR3_COUNT_DEADZONE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 776 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 777 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 778 | // } else if (TMR3_COUNT_DEADZONE == TMR_FREQ_5k) need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 779 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 780 | // } |
Lightvalve | 50:3c630b5eba9f | 781 | // |
Lightvalve | 50:3c630b5eba9f | 782 | // if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 783 | // 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 | 784 | // VALVE_CENTER = VALVE_DEADZONE_PLUS = VALVE_DEADZONE_MINUS = 0; |
Lightvalve | 50:3c630b5eba9f | 785 | // |
Lightvalve | 50:3c630b5eba9f | 786 | // } else if (temp_time <= TMR3_COUNT_DEADZONE && TMR3_COUNT_DEADZONE < (temp_time + (int) (1.9f * (float) TMR_FREQ_5k))) { |
Lightvalve | 50:3c630b5eba9f | 787 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 788 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 789 | // } else if (TMR3_COUNT_DEADZONE == (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 790 | // if (CUR_VELOCITY_sum == 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 791 | // else if (CUR_VELOCITY_sum > 0) DZ_dir = 1; |
Lightvalve | 50:3c630b5eba9f | 792 | // else if (CUR_VELOCITY_sum < 0) DZ_dir = -1; |
Lightvalve | 50:3c630b5eba9f | 793 | // else DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 794 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 795 | // } else if (TMR3_COUNT_DEADZONE > (temp_time + 2 * TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 796 | // if (TMR3_COUNT_DEADZONE > (temp_time + 10 * TMR_FREQ_5k)) DZ_temp_cnt2 = DZ_end; |
Lightvalve | 50:3c630b5eba9f | 797 | // |
Lightvalve | 50:3c630b5eba9f | 798 | // // Position of Dead Zone |
Lightvalve | 50:3c630b5eba9f | 799 | // // (CUR_VELOCITY < 0) (CUR_VELOCITY == 0) (CUR_VELOCITY > 0) |
Lightvalve | 50:3c630b5eba9f | 800 | // // | / | / |/ |
Lightvalve | 50:3c630b5eba9f | 801 | // // | ______/ ___|___/ ______/| |
Lightvalve | 50:3c630b5eba9f | 802 | // // |/ / | / | |
Lightvalve | 50:3c630b5eba9f | 803 | // // /| / | / | |
Lightvalve | 50:3c630b5eba9f | 804 | // // 0V 0V 0V |
Lightvalve | 50:3c630b5eba9f | 805 | // |
Lightvalve | 50:3c630b5eba9f | 806 | // if (DZ_temp_cnt2 < DZ_end) { |
Lightvalve | 50:3c630b5eba9f | 807 | // if (TMR3_COUNT_DEADZONE % 20 != 0) { |
Lightvalve | 50:3c630b5eba9f | 808 | // CUR_VELOCITY_sum += CUR_VELOCITY; |
Lightvalve | 50:3c630b5eba9f | 809 | // } else { |
Lightvalve | 50:3c630b5eba9f | 810 | // V_out -= DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 811 | // if (CUR_VELOCITY_sum * DZ_dir < 0) DZ_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 812 | // CUR_VELOCITY_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 813 | // } |
Lightvalve | 50:3c630b5eba9f | 814 | // if (DZ_temp_cnt == 5) { |
Lightvalve | 50:3c630b5eba9f | 815 | // if (DZ_dir >= 0) VALVE_DEADZONE_MINUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 816 | // else VALVE_DEADZONE_PLUS = (int16_t) V_out; |
Lightvalve | 50:3c630b5eba9f | 817 | // DZ_dir = -DZ_dir; |
Lightvalve | 50:3c630b5eba9f | 818 | // DZ_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 819 | // DZ_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 820 | // } |
Lightvalve | 50:3c630b5eba9f | 821 | // } else { |
Lightvalve | 50:3c630b5eba9f | 822 | // TMR3_COUNT_DEADZONE = -1; |
Lightvalve | 50:3c630b5eba9f | 823 | // VALVE_CENTER = VALVE_DEADZONE_PLUS / 2 + VALVE_DEADZONE_MINUS / 2; |
Lightvalve | 50:3c630b5eba9f | 824 | // if (VALVE_DEADZONE_PLUS < VALVE_DEADZONE_MINUS) { |
Lightvalve | 50:3c630b5eba9f | 825 | // VALVE_DEADZONE_PLUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 826 | // VALVE_DEADZONE_MINUS = VALVE_CENTER; |
Lightvalve | 50:3c630b5eba9f | 827 | // } |
Lightvalve | 50:3c630b5eba9f | 828 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 829 | // |
Lightvalve | 50:3c630b5eba9f | 830 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 831 | // |
Lightvalve | 50:3c630b5eba9f | 832 | // //spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, VALVE_DEADZONE_PLUS); |
Lightvalve | 50:3c630b5eba9f | 833 | // //spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, VALVE_DEADZONE_MINUS); |
Lightvalve | 50:3c630b5eba9f | 834 | // |
Lightvalve | 50:3c630b5eba9f | 835 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 836 | // DZ_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 837 | // } |
Lightvalve | 50:3c630b5eba9f | 838 | // } |
Lightvalve | 50:3c630b5eba9f | 839 | // TMR3_COUNT_DEADZONE++; |
Lightvalve | 50:3c630b5eba9f | 840 | // break; |
Lightvalve | 50:3c630b5eba9f | 841 | // } |
Lightvalve | 14:8e7590227d22 | 842 | |
Lightvalve | 14:8e7590227d22 | 843 | case MODE_FIND_HOME: { |
Lightvalve | 29:69f3f5445d6d | 844 | if (FINDHOME_STAGE == FINDHOME_INIT) { |
Lightvalve | 14:8e7590227d22 | 845 | cnt_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 846 | cnt_vel_findhome = 0; |
Lightvalve | 14:8e7590227d22 | 847 | //REFERENCE_MODE = MODE_REF_NO_ACT; // Stop taking reference data from PODO |
Lightvalve | 59:f308b1656d9c | 848 | pos.ref = pos.sen; |
Lightvalve | 59:f308b1656d9c | 849 | vel.ref = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 850 | FINDHOME_STAGE = FINDHOME_GOTOLIMIT; |
Lightvalve | 29:69f3f5445d6d | 851 | } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) { |
Lightvalve | 67:c2812cf26c38 | 852 | int cnt_check_enc = (TMR_FREQ_5k/20); |
Lightvalve | 29:69f3f5445d6d | 853 | if(cnt_findhome%cnt_check_enc == 0) { |
Lightvalve | 29:69f3f5445d6d | 854 | FINDHOME_POSITION = pos.sen; |
Lightvalve | 29:69f3f5445d6d | 855 | FINDHOME_VELOCITY = FINDHOME_POSITION - FINDHOME_POSITION_OLD; |
Lightvalve | 29:69f3f5445d6d | 856 | FINDHOME_POSITION_OLD = FINDHOME_POSITION; |
Lightvalve | 29:69f3f5445d6d | 857 | } |
Lightvalve | 29:69f3f5445d6d | 858 | cnt_findhome++; |
Lightvalve | 14:8e7590227d22 | 859 | |
Lightvalve | 29:69f3f5445d6d | 860 | if (abs(FINDHOME_VELOCITY) <= 1) { |
Lightvalve | 29:69f3f5445d6d | 861 | cnt_vel_findhome = cnt_vel_findhome + 1; |
Lightvalve | 29:69f3f5445d6d | 862 | } else { |
Lightvalve | 29:69f3f5445d6d | 863 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 864 | } |
Lightvalve | 19:23b7c1ad8683 | 865 | |
Lightvalve | 57:f4819de54e7a | 866 | if ((cnt_vel_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec |
Lightvalve | 29:69f3f5445d6d | 867 | //REFERENCE_MODE = MODE_REF_NO_ACT; |
Lightvalve | 67:c2812cf26c38 | 868 | if (HOMEPOS_OFFSET > 0) pos.ref = pos.ref + 12.0f; |
Lightvalve | 67:c2812cf26c38 | 869 | else pos.ref = pos.ref - 12.0f; |
Lightvalve | 61:bc8c8270f0ab | 870 | |
Lightvalve | 59:f308b1656d9c | 871 | // pos.err = pos.ref_home_pos - pos.sen; |
Lightvalve | 59:f308b1656d9c | 872 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 873 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * pos.err/(float) ENC_PULSE_PER_POSITION * 0.01f; |
Lightvalve | 59:f308b1656d9c | 874 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 875 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 876 | |
Lightvalve | 59:f308b1656d9c | 877 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 59:f308b1656d9c | 878 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 879 | |
Lightvalve | 34:bb2ca2fc2a8e | 880 | |
Lightvalve | 29:69f3f5445d6d | 881 | } else { |
Lightvalve | 29:69f3f5445d6d | 882 | ENC_SET(HOMEPOS_OFFSET); |
Lightvalve | 67:c2812cf26c38 | 883 | // ENC_SET_ZERO(); |
Lightvalve | 29:69f3f5445d6d | 884 | INIT_REF_POS = HOMEPOS_OFFSET; |
Lightvalve | 29:69f3f5445d6d | 885 | REF_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 886 | REF_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 887 | FINDHOME_POSITION = 0; |
Lightvalve | 29:69f3f5445d6d | 888 | FINDHOME_POSITION_OLD = 0; |
Lightvalve | 29:69f3f5445d6d | 889 | FINDHOME_VELOCITY = 0; |
Lightvalve | 29:69f3f5445d6d | 890 | cnt_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 891 | cnt_vel_findhome = 0; |
Lightvalve | 29:69f3f5445d6d | 892 | FINDHOME_STAGE = FINDHOME_ZEROPOSE; |
Lightvalve | 67:c2812cf26c38 | 893 | |
Lightvalve | 67:c2812cf26c38 | 894 | |
Lightvalve | 67:c2812cf26c38 | 895 | cnt_findhome = 0; |
Lightvalve | 67:c2812cf26c38 | 896 | pos.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 897 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 898 | pos.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 899 | vel.ref_home_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 900 | //FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 67:c2812cf26c38 | 901 | //CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 902 | |
Lightvalve | 67:c2812cf26c38 | 903 | |
Lightvalve | 29:69f3f5445d6d | 904 | } |
Lightvalve | 29:69f3f5445d6d | 905 | } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) { |
Lightvalve | 29:69f3f5445d6d | 906 | int T_move = 2*TMR_FREQ_5k; |
Lightvalve | 59:f308b1656d9c | 907 | 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 | 908 | //pos.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 909 | vel.ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 910 | |
Lightvalve | 29:69f3f5445d6d | 911 | // input for position control |
Lightvalve | 67:c2812cf26c38 | 912 | |
Lightvalve | 67:c2812cf26c38 | 913 | // CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 67:c2812cf26c38 | 914 | alpha_trans = 0.0f; |
Lightvalve | 61:bc8c8270f0ab | 915 | |
Lightvalve | 67:c2812cf26c38 | 916 | double torq_ref = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 917 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 918 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 67:c2812cf26c38 | 919 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 920 | |
Lightvalve | 67:c2812cf26c38 | 921 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 67:c2812cf26c38 | 922 | |
Lightvalve | 67:c2812cf26c38 | 923 | double I_REF_POS = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 924 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 67:c2812cf26c38 | 925 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 67:c2812cf26c38 | 926 | |
Lightvalve | 67:c2812cf26c38 | 927 | double temp_vel_pos = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 928 | double temp_vel_torq = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 929 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 67:c2812cf26c38 | 930 | |
Lightvalve | 69:3995ffeaa786 | 931 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 67:c2812cf26c38 | 932 | 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 | 933 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 934 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 67:c2812cf26c38 | 935 | 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 | 936 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 67:c2812cf26c38 | 937 | } |
Lightvalve | 67:c2812cf26c38 | 938 | 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 | 939 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 67:c2812cf26c38 | 940 | |
Lightvalve | 67:c2812cf26c38 | 941 | I_REF = I_REF_POS; |
Lightvalve | 67:c2812cf26c38 | 942 | |
Lightvalve | 67:c2812cf26c38 | 943 | |
Lightvalve | 67:c2812cf26c38 | 944 | |
Lightvalve | 67:c2812cf26c38 | 945 | } else { |
Lightvalve | 67:c2812cf26c38 | 946 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 67:c2812cf26c38 | 947 | 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 | 948 | |
Lightvalve | 67:c2812cf26c38 | 949 | if (VALVE_POS_RAW_FORCE_FB >= 0) { |
Lightvalve | 67:c2812cf26c38 | 950 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_PLUS; |
Lightvalve | 67:c2812cf26c38 | 951 | } else { |
Lightvalve | 67:c2812cf26c38 | 952 | valve_pos.ref = VALVE_POS_RAW_FORCE_FB + VALVE_DEADZONE_MINUS; |
Lightvalve | 67:c2812cf26c38 | 953 | } |
Lightvalve | 67:c2812cf26c38 | 954 | |
Lightvalve | 67:c2812cf26c38 | 955 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 67:c2812cf26c38 | 956 | |
Lightvalve | 67:c2812cf26c38 | 957 | V_out = (float) Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 958 | |
Lightvalve | 67:c2812cf26c38 | 959 | } |
Lightvalve | 67:c2812cf26c38 | 960 | |
Lightvalve | 67:c2812cf26c38 | 961 | |
Lightvalve | 67:c2812cf26c38 | 962 | |
Lightvalve | 67:c2812cf26c38 | 963 | |
Lightvalve | 59:f308b1656d9c | 964 | // pos.err = pos.ref - (float)pos.sen; |
Lightvalve | 59:f308b1656d9c | 965 | // float VALVE_POS_RAW_POS_FB = 0.0f; |
Lightvalve | 59:f308b1656d9c | 966 | // VALVE_POS_RAW_POS_FB = (float) P_GAIN_JOINT_POSITION * 0.01f * pos.err/(float) ENC_PULSE_PER_POSITION; |
Lightvalve | 59:f308b1656d9c | 967 | // valve_pos.ref = VALVE_POS_RAW_POS_FB + (float) VALVE_CENTER; |
Lightvalve | 59:f308b1656d9c | 968 | // VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 29:69f3f5445d6d | 969 | |
Lightvalve | 29:69f3f5445d6d | 970 | cnt_findhome++; |
Lightvalve | 29:69f3f5445d6d | 971 | if (cnt_findhome >= T_move) { |
Lightvalve | 29:69f3f5445d6d | 972 | //REFERENCE_MODE = MODE_REF_DIRECT; |
Lightvalve | 29:69f3f5445d6d | 973 | cnt_findhome = 0; |
Lightvalve | 30:8d561f16383b | 974 | pos.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 975 | vel.ref = 0.0f; |
Lightvalve | 30:8d561f16383b | 976 | pos.ref_home_pos = 0.0f; |
Lightvalve | 30:8d561f16383b | 977 | vel.ref_home_pos = 0.0f; |
Lightvalve | 29:69f3f5445d6d | 978 | FINDHOME_STAGE = FINDHOME_INIT; |
Lightvalve | 57:f4819de54e7a | 979 | CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 29:69f3f5445d6d | 980 | } |
Lightvalve | 13:747daba9cf59 | 981 | } |
Lightvalve | 19:23b7c1ad8683 | 982 | |
Lightvalve | 13:747daba9cf59 | 983 | break; |
Lightvalve | 13:747daba9cf59 | 984 | } |
Lightvalve | 14:8e7590227d22 | 985 | |
Lightvalve | 50:3c630b5eba9f | 986 | // case MODE_VALVE_GAIN_SETTING: { |
Lightvalve | 50:3c630b5eba9f | 987 | // if (TMR3_COUNT_FLOWRATE == 0) { |
Lightvalve | 50:3c630b5eba9f | 988 | // if (pos_plus_end == pos_minus_end) need_enc_init = true; |
Lightvalve | 50:3c630b5eba9f | 989 | // else { |
Lightvalve | 50:3c630b5eba9f | 990 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 991 | // temp_time = (int) (0.5f * (float) TMR_FREQ_5k); |
Lightvalve | 50:3c630b5eba9f | 992 | // } |
Lightvalve | 50:3c630b5eba9f | 993 | // } |
Lightvalve | 50:3c630b5eba9f | 994 | // if (need_enc_init) { |
Lightvalve | 50:3c630b5eba9f | 995 | // if (TMR3_COUNT_FLOWRATE < (int) (0.5f * (float) TMR_FREQ_5k)) { |
Lightvalve | 50:3c630b5eba9f | 996 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 997 | // pos_plus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 998 | // } else if (TMR3_COUNT_FLOWRATE < TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 999 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1000 | // pos_minus_end = pos.sen; |
Lightvalve | 50:3c630b5eba9f | 1001 | // } else if (TMR3_COUNT_FLOWRATE == TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1002 | // need_enc_init = false; |
Lightvalve | 50:3c630b5eba9f | 1003 | // check_vel_pos_init = (int) (0.9f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1004 | // check_vel_pos_fin = (int) (0.95f * (float) (pos_plus_end - pos_minus_end)); |
Lightvalve | 50:3c630b5eba9f | 1005 | // check_vel_pos_interv = check_vel_pos_fin - check_vel_pos_init; |
Lightvalve | 50:3c630b5eba9f | 1006 | // } |
Lightvalve | 50:3c630b5eba9f | 1007 | // temp_time = TMR_FREQ_5k; |
Lightvalve | 50:3c630b5eba9f | 1008 | // } |
Lightvalve | 50:3c630b5eba9f | 1009 | // TMR3_COUNT_FLOWRATE++; |
Lightvalve | 50:3c630b5eba9f | 1010 | // if (TMR3_COUNT_FLOWRATE > temp_time) { |
Lightvalve | 50:3c630b5eba9f | 1011 | // if (flag_flowrate % 2 == 0) { // (+) |
Lightvalve | 50:3c630b5eba9f | 1012 | // VALVE_VOLTAGE = 1000.0f * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1013 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1014 | // if (pos.sen > (pos_minus_end + check_vel_pos_init) && pos.sen < (pos_minus_end + check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1015 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1016 | // } else if (pos.sen >= (pos_minus_end + check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1017 | // 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 | 1018 | // // 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 | 1019 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1020 | // } |
Lightvalve | 50:3c630b5eba9f | 1021 | // } else if (flag_flowrate % 2 == 1) { // (-) |
Lightvalve | 50:3c630b5eba9f | 1022 | // VALVE_VOLTAGE = -1. * (float) (flag_flowrate / 2 + 1); |
Lightvalve | 50:3c630b5eba9f | 1023 | // V_out = VALVE_VOLTAGE; |
Lightvalve | 50:3c630b5eba9f | 1024 | // if (pos.sen < (pos_plus_end - check_vel_pos_init) && pos.sen > (pos_plus_end - check_vel_pos_fin)) { |
Lightvalve | 50:3c630b5eba9f | 1025 | // fl_temp_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1026 | // } else if (pos.sen <= (pos_plus_end - check_vel_pos_fin) && CUR_VELOCITY == 0) { |
Lightvalve | 50:3c630b5eba9f | 1027 | // 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 | 1028 | // // 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 | 1029 | // fl_temp_cnt2++; |
Lightvalve | 50:3c630b5eba9f | 1030 | // } |
Lightvalve | 50:3c630b5eba9f | 1031 | // } |
Lightvalve | 50:3c630b5eba9f | 1032 | // if (fl_temp_cnt2 == 100) { |
Lightvalve | 50:3c630b5eba9f | 1033 | // |
Lightvalve | 50:3c630b5eba9f | 1034 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1035 | // |
Lightvalve | 50:3c630b5eba9f | 1036 | // //spi_eeprom_write(RID_VALVE_GAIN_PLUS_1 + flag_flowrate, (int16_t) (VALVE_GAIN_LPM_PER_V[flag_flowrate] * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1037 | // cur_vel_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1038 | // fl_temp_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1039 | // fl_temp_cnt2 = 0; |
Lightvalve | 50:3c630b5eba9f | 1040 | // flag_flowrate++; |
Lightvalve | 50:3c630b5eba9f | 1041 | // } |
Lightvalve | 50:3c630b5eba9f | 1042 | // if (flag_flowrate == 10) { |
Lightvalve | 50:3c630b5eba9f | 1043 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1044 | // flag_flowrate = 0; |
Lightvalve | 50:3c630b5eba9f | 1045 | // TMR3_COUNT_FLOWRATE = 0; |
Lightvalve | 50:3c630b5eba9f | 1046 | // valve_gain_repeat_cnt++; |
Lightvalve | 50:3c630b5eba9f | 1047 | // if (valve_gain_repeat_cnt >= 1) { |
Lightvalve | 50:3c630b5eba9f | 1048 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1049 | // valve_gain_repeat_cnt = 0; |
Lightvalve | 50:3c630b5eba9f | 1050 | // } |
Lightvalve | 50:3c630b5eba9f | 1051 | // |
Lightvalve | 50:3c630b5eba9f | 1052 | // } |
Lightvalve | 50:3c630b5eba9f | 1053 | // break; |
Lightvalve | 50:3c630b5eba9f | 1054 | // } |
Lightvalve | 50:3c630b5eba9f | 1055 | // |
Lightvalve | 50:3c630b5eba9f | 1056 | // } |
Lightvalve | 14:8e7590227d22 | 1057 | case MODE_PRESSURE_SENSOR_NULLING: { |
Lightvalve | 13:747daba9cf59 | 1058 | // DAC Voltage reference set |
Lightvalve | 14:8e7590227d22 | 1059 | if (TMR3_COUNT_PRES_NULL < TMR_FREQ_5k * 2) { |
Lightvalve | 14:8e7590227d22 | 1060 | CUR_PRES_A_sum += pres_A.sen; |
Lightvalve | 14:8e7590227d22 | 1061 | CUR_PRES_B_sum += pres_B.sen; |
Lightvalve | 14:8e7590227d22 | 1062 | |
Lightvalve | 14:8e7590227d22 | 1063 | if (TMR3_COUNT_PRES_NULL % 10 == 0) { |
Lightvalve | 30:8d561f16383b | 1064 | CUR_PRES_A_mean = CUR_PRES_A_sum / 10.0f; |
Lightvalve | 30:8d561f16383b | 1065 | CUR_PRES_B_mean = CUR_PRES_B_sum / 10.0f; |
Lightvalve | 13:747daba9cf59 | 1066 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1067 | CUR_PRES_B_sum = 0; |
Lightvalve | 14:8e7590227d22 | 1068 | |
Lightvalve | 38:118df027d851 | 1069 | float VREF_NullingGain = 0.0003f; |
Lightvalve | 58:2eade98630e2 | 1070 | PRES_A_VREF = PRES_A_VREF + VREF_NullingGain * CUR_PRES_A_mean; |
Lightvalve | 58:2eade98630e2 | 1071 | PRES_B_VREF = PRES_B_VREF + VREF_NullingGain * CUR_PRES_B_mean; |
Lightvalve | 14:8e7590227d22 | 1072 | |
Lightvalve | 30:8d561f16383b | 1073 | if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1074 | if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f; |
Lightvalve | 30:8d561f16383b | 1075 | if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f; |
Lightvalve | 30:8d561f16383b | 1076 | if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f; |
Lightvalve | 19:23b7c1ad8683 | 1077 | |
Lightvalve | 30:8d561f16383b | 1078 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1079 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 13:747daba9cf59 | 1080 | } |
Lightvalve | 13:747daba9cf59 | 1081 | } else { |
Lightvalve | 57:f4819de54e7a | 1082 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 14:8e7590227d22 | 1083 | TMR3_COUNT_PRES_NULL = 0; |
Lightvalve | 13:747daba9cf59 | 1084 | CUR_PRES_A_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1085 | CUR_PRES_B_sum = 0; |
Lightvalve | 13:747daba9cf59 | 1086 | CUR_PRES_A_mean = 0; |
Lightvalve | 13:747daba9cf59 | 1087 | CUR_PRES_B_mean = 0; |
Lightvalve | 14:8e7590227d22 | 1088 | |
Lightvalve | 16:903b5a4433b4 | 1089 | ROM_RESET_DATA(); |
Lightvalve | 19:23b7c1ad8683 | 1090 | |
Lightvalve | 30:8d561f16383b | 1091 | dac_1 = PRES_A_VREF / 3.3f; |
Lightvalve | 30:8d561f16383b | 1092 | dac_2 = PRES_B_VREF / 3.3f; |
Lightvalve | 17:1865016ca2e7 | 1093 | //pc.printf("nulling end"); |
Lightvalve | 13:747daba9cf59 | 1094 | } |
Lightvalve | 14:8e7590227d22 | 1095 | TMR3_COUNT_PRES_NULL++; |
Lightvalve | 13:747daba9cf59 | 1096 | break; |
Lightvalve | 13:747daba9cf59 | 1097 | } |
Lightvalve | 14:8e7590227d22 | 1098 | |
Lightvalve | 50:3c630b5eba9f | 1099 | // case MODE_PRESSURE_SENSOR_CALIB: { |
Lightvalve | 50:3c630b5eba9f | 1100 | // if (TMR3_COUNT_PRES_CALIB < 2 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1101 | // V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1102 | // if (TMR3_COUNT_PRES_CALIB >= TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1103 | // CUR_PRES_A_sum += CUR_PRES_A; |
Lightvalve | 50:3c630b5eba9f | 1104 | // } |
Lightvalve | 50:3c630b5eba9f | 1105 | // } else if (TMR3_COUNT_PRES_CALIB < 4 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1106 | // V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1107 | // if (TMR3_COUNT_PRES_CALIB >= 3 * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1108 | // CUR_PRES_B_sum += CUR_PRES_B; |
Lightvalve | 50:3c630b5eba9f | 1109 | // } |
Lightvalve | 50:3c630b5eba9f | 1110 | // } else { |
Lightvalve | 50:3c630b5eba9f | 1111 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1112 | // TMR3_COUNT_PRES_CALIB = 0; |
Lightvalve | 50:3c630b5eba9f | 1113 | // V_out = 0; |
Lightvalve | 50:3c630b5eba9f | 1114 | // PRES_SENSOR_A_PULSE_PER_BAR = CUR_PRES_A_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_A_NULL; |
Lightvalve | 50:3c630b5eba9f | 1115 | // PRES_SENSOR_A_PULSE_PER_BAR = PRES_SENSOR_A_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1116 | // PRES_SENSOR_B_PULSE_PER_BAR = CUR_PRES_B_sum / ((float) TMR_FREQ_5k - 1.0f) - PRES_B_NULL; |
Lightvalve | 50:3c630b5eba9f | 1117 | // PRES_SENSOR_B_PULSE_PER_BAR = PRES_SENSOR_B_PULSE_PER_BAR / ((float) PRES_SUPPLY - 1.0f); |
Lightvalve | 50:3c630b5eba9f | 1118 | // CUR_PRES_A_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1119 | // CUR_PRES_B_sum = 0; |
Lightvalve | 50:3c630b5eba9f | 1120 | // CUR_PRES_A_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1121 | // CUR_PRES_B_mean = 0; |
Lightvalve | 50:3c630b5eba9f | 1122 | // |
Lightvalve | 50:3c630b5eba9f | 1123 | // ROM_RESET_DATA(); |
Lightvalve | 50:3c630b5eba9f | 1124 | // |
Lightvalve | 50:3c630b5eba9f | 1125 | // //spi_eeprom_write(RID_PRES_SENSOR_A_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_A_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1126 | // //spi_eeprom_write(RID_PRES_SENSOR_B_PULSE_PER_BAR, (int16_t) (PRES_SENSOR_B_PULSE_PER_BAR * 100.0f)); |
Lightvalve | 50:3c630b5eba9f | 1127 | // } |
Lightvalve | 50:3c630b5eba9f | 1128 | // TMR3_COUNT_PRES_CALIB++; |
Lightvalve | 50:3c630b5eba9f | 1129 | // break; |
Lightvalve | 50:3c630b5eba9f | 1130 | // } |
Lightvalve | 19:23b7c1ad8683 | 1131 | |
Lightvalve | 50:3c630b5eba9f | 1132 | // case MODE_ROTARY_FRICTION_TUNING: { |
Lightvalve | 50:3c630b5eba9f | 1133 | // 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 | 1134 | // V_out = PWM_out * sin(2 * 3.14159f * freq_fric_tune * TMR3_COUNT_ROTARY_FRIC_TUNE * 0.0001f); |
Lightvalve | 50:3c630b5eba9f | 1135 | // if (V_out > 0) V_out = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1136 | // else V_out = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 50:3c630b5eba9f | 1137 | // TMR3_COUNT_ROTARY_FRIC_TUNE++; |
Lightvalve | 50:3c630b5eba9f | 1138 | // if (TMR3_COUNT_ROTARY_FRIC_TUNE > TUNING_TIME * TMR_FREQ_5k) { |
Lightvalve | 50:3c630b5eba9f | 1139 | // TMR3_COUNT_ROTARY_FRIC_TUNE = 0; |
Lightvalve | 50:3c630b5eba9f | 1140 | // V_out = 0.0f; |
Lightvalve | 50:3c630b5eba9f | 1141 | // CONTROL_MODE = MODE_NO_ACT; |
Lightvalve | 50:3c630b5eba9f | 1142 | // } |
Lightvalve | 50:3c630b5eba9f | 1143 | // break; |
Lightvalve | 50:3c630b5eba9f | 1144 | // } |
Lightvalve | 14:8e7590227d22 | 1145 | |
Lightvalve | 14:8e7590227d22 | 1146 | case MODE_DDV_POS_VS_PWM_ID: { |
Lightvalve | 59:f308b1656d9c | 1147 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1148 | VALVE_ID_timer = VALVE_ID_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1149 | |
Lightvalve | 14:8e7590227d22 | 1150 | if(VALVE_ID_timer < TMR_FREQ_5k*1) { |
Lightvalve | 60:64181f1d3e60 | 1151 | Vout.ref = 3000.0f * sin(2.0f*3.14f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f); |
Lightvalve | 14:8e7590227d22 | 1152 | } else if(VALVE_ID_timer < TMR_FREQ_5k*2) { |
Lightvalve | 59:f308b1656d9c | 1153 | Vout.ref = 1000.0f*(ID_index_array[ID_index]); |
Lightvalve | 14:8e7590227d22 | 1154 | } else if(VALVE_ID_timer == TMR_FREQ_5k*2) { |
Lightvalve | 13:747daba9cf59 | 1155 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1156 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1157 | } else if(VALVE_ID_timer < TMR_FREQ_5k*3) { |
Lightvalve | 13:747daba9cf59 | 1158 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1159 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 14:8e7590227d22 | 1160 | } else if(VALVE_ID_timer == TMR_FREQ_5k*3) { |
Lightvalve | 59:f308b1656d9c | 1161 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1162 | } else { |
Lightvalve | 13:747daba9cf59 | 1163 | VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num; |
Lightvalve | 13:747daba9cf59 | 1164 | VALVE_ID_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1165 | ID_index= ID_index +1; |
Lightvalve | 13:747daba9cf59 | 1166 | } |
Lightvalve | 14:8e7590227d22 | 1167 | |
Lightvalve | 17:1865016ca2e7 | 1168 | if(ID_index>=25) { |
Lightvalve | 13:747daba9cf59 | 1169 | int i; |
Lightvalve | 13:747daba9cf59 | 1170 | VALVE_POS_AVG_OLD = VALVE_POS_AVG[0]; |
Lightvalve | 17:1865016ca2e7 | 1171 | for(i=0; i<25; i++) { |
Lightvalve | 13:747daba9cf59 | 1172 | VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]); |
Lightvalve | 14:8e7590227d22 | 1173 | if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1174 | VALVE_MAX_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1175 | VALVE_POS_AVG_OLD = VALVE_MAX_POS; |
Lightvalve | 14:8e7590227d22 | 1176 | } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) { |
Lightvalve | 13:747daba9cf59 | 1177 | VALVE_MIN_POS = VALVE_POS_AVG[i]; |
Lightvalve | 13:747daba9cf59 | 1178 | VALVE_POS_AVG_OLD = VALVE_MIN_POS; |
Lightvalve | 13:747daba9cf59 | 1179 | } |
Lightvalve | 13:747daba9cf59 | 1180 | } |
Lightvalve | 59:f308b1656d9c | 1181 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1182 | ID_index = 0; |
Lightvalve | 57:f4819de54e7a | 1183 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1184 | } |
Lightvalve | 14:8e7590227d22 | 1185 | |
Lightvalve | 14:8e7590227d22 | 1186 | |
Lightvalve | 13:747daba9cf59 | 1187 | break; |
Lightvalve | 13:747daba9cf59 | 1188 | } |
Lightvalve | 14:8e7590227d22 | 1189 | |
Lightvalve | 14:8e7590227d22 | 1190 | case MODE_DDV_DEADZONE_AND_CENTER: { |
Lightvalve | 59:f308b1656d9c | 1191 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1192 | VALVE_DZ_timer = VALVE_DZ_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1193 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1194 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1195 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1196 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1197 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1198 | pos_plus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1199 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1200 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1201 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1202 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1203 | pos_minus_end = pos.sen; |
Lightvalve | 30:8d561f16383b | 1204 | } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1205 | 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 | 1206 | } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1207 | 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 | 1208 | data_num = data_num + 1; |
Lightvalve | 13:747daba9cf59 | 1209 | VALVE_POS_TMP = VALVE_POS_TMP + value; |
Lightvalve | 30:8d561f16383b | 1210 | } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1211 | 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 | 1212 | DDV_POS_AVG = VALVE_POS_TMP / data_num; |
Lightvalve | 14:8e7590227d22 | 1213 | START_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1214 | VALVE_POS_TMP = 0; |
Lightvalve | 13:747daba9cf59 | 1215 | data_num = 0; |
Lightvalve | 14:8e7590227d22 | 1216 | |
Lightvalve | 30:8d561f16383b | 1217 | } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1218 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1219 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1220 | |
Lightvalve | 30:8d561f16383b | 1221 | } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1222 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1223 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1224 | |
Lightvalve | 30:8d561f16383b | 1225 | } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1226 | valve_pos.ref = DDV_POS_AVG; |
Lightvalve | 14:8e7590227d22 | 1227 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1228 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1229 | |
Lightvalve | 60:64181f1d3e60 | 1230 | if((FINAL_POS - START_POS)>200) { |
Lightvalve | 13:747daba9cf59 | 1231 | DZ_case = 1; |
Lightvalve | 60:64181f1d3e60 | 1232 | } else if((FINAL_POS - START_POS)<-200) { |
Lightvalve | 13:747daba9cf59 | 1233 | DZ_case = -1; |
Lightvalve | 14:8e7590227d22 | 1234 | } else { |
Lightvalve | 13:747daba9cf59 | 1235 | DZ_case = 0; |
Lightvalve | 13:747daba9cf59 | 1236 | } |
Lightvalve | 61:bc8c8270f0ab | 1237 | |
Lightvalve | 60:64181f1d3e60 | 1238 | CAN_TX_PRES((int16_t) (DZ_case), (int16_t) (6)); |
Lightvalve | 50:3c630b5eba9f | 1239 | |
Lightvalve | 13:747daba9cf59 | 1240 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1241 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1242 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1243 | Ref_Valve_Pos_Old = DDV_POS_AVG; |
Lightvalve | 13:747daba9cf59 | 1244 | DZ_NUM = 1; |
Lightvalve | 13:747daba9cf59 | 1245 | DZ_index = 1; |
Lightvalve | 14:8e7590227d22 | 1246 | |
Lightvalve | 13:747daba9cf59 | 1247 | } |
Lightvalve | 19:23b7c1ad8683 | 1248 | } else { |
Lightvalve | 14:8e7590227d22 | 1249 | if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) { |
Lightvalve | 30:8d561f16383b | 1250 | if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1251 | 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 | 1252 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1253 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1254 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1255 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1256 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1257 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1258 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1259 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1260 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1261 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1262 | } |
Lightvalve | 14:8e7590227d22 | 1263 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1264 | |
Lightvalve | 30:8d561f16383b | 1265 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1266 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1267 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1268 | |
Lightvalve | 14:8e7590227d22 | 1269 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1270 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1271 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1272 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1273 | } else { |
Lightvalve | 13:747daba9cf59 | 1274 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1275 | } |
Lightvalve | 14:8e7590227d22 | 1276 | |
Lightvalve | 13:747daba9cf59 | 1277 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1278 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1279 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1280 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1281 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1282 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1283 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1284 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1285 | } |
Lightvalve | 13:747daba9cf59 | 1286 | } |
Lightvalve | 14:8e7590227d22 | 1287 | } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) { |
Lightvalve | 30:8d561f16383b | 1288 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1289 | 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 | 1290 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1291 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1292 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1293 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1294 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1295 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1296 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1297 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1298 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1299 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1300 | } |
Lightvalve | 14:8e7590227d22 | 1301 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1302 | |
Lightvalve | 30:8d561f16383b | 1303 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1304 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1305 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1306 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1307 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1308 | |
Lightvalve | 14:8e7590227d22 | 1309 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 60:64181f1d3e60 | 1310 | DZ_DIRECTION = 1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1311 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1312 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 14:8e7590227d22 | 1313 | } else { |
Lightvalve | 60:64181f1d3e60 | 1314 | DZ_DIRECTION = -1 * DZ_case; |
Lightvalve | 13:747daba9cf59 | 1315 | } |
Lightvalve | 14:8e7590227d22 | 1316 | |
Lightvalve | 13:747daba9cf59 | 1317 | VALVE_DZ_timer = 0; |
Lightvalve | 60:64181f1d3e60 | 1318 | DZ_index= DZ_index * 2; |
Lightvalve | 14:8e7590227d22 | 1319 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1320 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1321 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1322 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1323 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1324 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 19:23b7c1ad8683 | 1325 | |
Lightvalve | 16:903b5a4433b4 | 1326 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1327 | |
Lightvalve | 60:64181f1d3e60 | 1328 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1329 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1330 | } |
Lightvalve | 13:747daba9cf59 | 1331 | } |
Lightvalve | 14:8e7590227d22 | 1332 | } else if(DZ_case == 0 && DZ_NUM ==1) { |
Lightvalve | 30:8d561f16383b | 1333 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1334 | 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 | 1335 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1336 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1337 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1338 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1339 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1340 | valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1341 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1342 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1343 | } else if(valve_pos.ref >= VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1344 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 13:747daba9cf59 | 1345 | } |
Lightvalve | 14:8e7590227d22 | 1346 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1347 | |
Lightvalve | 30:8d561f16383b | 1348 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1349 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1350 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1351 | |
Lightvalve | 14:8e7590227d22 | 1352 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 14:8e7590227d22 | 1353 | DZ_DIRECTION = 1; |
Lightvalve | 14:8e7590227d22 | 1354 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 14:8e7590227d22 | 1355 | DZ_DIRECTION = -1; |
Lightvalve | 14:8e7590227d22 | 1356 | } else { |
Lightvalve | 13:747daba9cf59 | 1357 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1358 | } |
Lightvalve | 13:747daba9cf59 | 1359 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1360 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1361 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1362 | FIRST_DZ = valve_pos.ref; |
Lightvalve | 13:747daba9cf59 | 1363 | DZ_NUM = 2; |
Lightvalve | 13:747daba9cf59 | 1364 | Ref_Valve_Pos_Old = FIRST_DZ; |
Lightvalve | 13:747daba9cf59 | 1365 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1366 | DZ_DIRECTION = 1; |
Lightvalve | 13:747daba9cf59 | 1367 | } |
Lightvalve | 13:747daba9cf59 | 1368 | } |
Lightvalve | 14:8e7590227d22 | 1369 | } else { |
Lightvalve | 30:8d561f16383b | 1370 | if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 60:64181f1d3e60 | 1371 | 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 | 1372 | //pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 60:64181f1d3e60 | 1373 | //CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1374 | } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1375 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1376 | } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1377 | valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index; |
Lightvalve | 14:8e7590227d22 | 1378 | if(valve_pos.ref <= VALVE_MIN_POS) { |
Lightvalve | 14:8e7590227d22 | 1379 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 14:8e7590227d22 | 1380 | } else if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 14:8e7590227d22 | 1381 | valve_pos.ref = VALVE_MAX_POS - 1; |
Lightvalve | 13:747daba9cf59 | 1382 | } |
Lightvalve | 14:8e7590227d22 | 1383 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 60:64181f1d3e60 | 1384 | |
Lightvalve | 30:8d561f16383b | 1385 | } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1386 | Vout.ref = 0.0f; |
Lightvalve | 59:f308b1656d9c | 1387 | } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1388 | Ref_Valve_Pos_Old = valve_pos.ref; |
Lightvalve | 14:8e7590227d22 | 1389 | FINAL_POS = pos.sen; |
Lightvalve | 61:bc8c8270f0ab | 1390 | |
Lightvalve | 60:64181f1d3e60 | 1391 | if((FINAL_POS - START_POS)>100) { |
Lightvalve | 13:747daba9cf59 | 1392 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1393 | } else if((FINAL_POS - START_POS)<-100) { |
Lightvalve | 60:64181f1d3e60 | 1394 | DZ_DIRECTION = -1; |
Lightvalve | 60:64181f1d3e60 | 1395 | } else { |
Lightvalve | 13:747daba9cf59 | 1396 | DZ_DIRECTION = 1; |
Lightvalve | 60:64181f1d3e60 | 1397 | } |
Lightvalve | 14:8e7590227d22 | 1398 | |
Lightvalve | 13:747daba9cf59 | 1399 | VALVE_DZ_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1400 | DZ_index= DZ_index *2; |
Lightvalve | 14:8e7590227d22 | 1401 | if(DZ_index >= 128) { |
Lightvalve | 14:8e7590227d22 | 1402 | SECOND_DZ = valve_pos.ref; |
Lightvalve | 57:f4819de54e7a | 1403 | VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ)); |
Lightvalve | 13:747daba9cf59 | 1404 | first_check = 0; |
Lightvalve | 33:91b17819ec30 | 1405 | VALVE_DEADZONE_MINUS = (float) FIRST_DZ; |
Lightvalve | 33:91b17819ec30 | 1406 | VALVE_DEADZONE_PLUS = (float) SECOND_DZ; |
Lightvalve | 61:bc8c8270f0ab | 1407 | |
Lightvalve | 59:f308b1656d9c | 1408 | ROM_RESET_DATA(); |
Lightvalve | 34:bb2ca2fc2a8e | 1409 | |
Lightvalve | 57:f4819de54e7a | 1410 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 13:747daba9cf59 | 1411 | DZ_index = 1; |
Lightvalve | 13:747daba9cf59 | 1412 | } |
Lightvalve | 13:747daba9cf59 | 1413 | } |
Lightvalve | 13:747daba9cf59 | 1414 | } |
Lightvalve | 14:8e7590227d22 | 1415 | } |
Lightvalve | 13:747daba9cf59 | 1416 | break; |
Lightvalve | 13:747daba9cf59 | 1417 | } |
Lightvalve | 14:8e7590227d22 | 1418 | |
Lightvalve | 14:8e7590227d22 | 1419 | case MODE_DDV_POS_VS_FLOWRATE: { |
Lightvalve | 59:f308b1656d9c | 1420 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 13:747daba9cf59 | 1421 | VALVE_FR_timer = VALVE_FR_timer + 1; |
Lightvalve | 14:8e7590227d22 | 1422 | if(first_check == 0) { |
Lightvalve | 30:8d561f16383b | 1423 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1424 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 23:59218d4a256d | 1425 | //CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 30:8d561f16383b | 1426 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1427 | Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1428 | pos_plus_end = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1429 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (7)); |
Lightvalve | 30:8d561f16383b | 1430 | } else if(VALVE_FR_timer < (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1431 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 30:8d561f16383b | 1432 | } else if(VALVE_FR_timer == (int) (2.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1433 | // CAN_TX_PRES((int16_t) (V_out), (int16_t) (8)); |
Lightvalve | 59:f308b1656d9c | 1434 | Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f; |
Lightvalve | 14:8e7590227d22 | 1435 | pos_minus_end = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1436 | first_check = 1; |
Lightvalve | 13:747daba9cf59 | 1437 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1438 | valve_pos.ref = (float) VALVE_CENTER; |
Lightvalve | 13:747daba9cf59 | 1439 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1440 | max_check = 0; |
Lightvalve | 13:747daba9cf59 | 1441 | min_check = 0; |
Lightvalve | 13:747daba9cf59 | 1442 | } |
Lightvalve | 14:8e7590227d22 | 1443 | } else { |
Lightvalve | 30:8d561f16383b | 1444 | if(VALVE_FR_timer < (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 59:f308b1656d9c | 1445 | //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 | 1446 | pos.ref = 0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end; |
Lightvalve | 59:f308b1656d9c | 1447 | CONTROL_MODE = MODE_JOINT_CONTROL; |
Lightvalve | 30:8d561f16383b | 1448 | } else if(VALVE_FR_timer == (int) (1.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 13:747daba9cf59 | 1449 | data_num = 0; |
Lightvalve | 57:f4819de54e7a | 1450 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1451 | |
Lightvalve | 14:8e7590227d22 | 1452 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 14:8e7590227d22 | 1453 | START_POS = pos.sen; |
Lightvalve | 30:8d561f16383b | 1454 | } else if(VALVE_FR_timer < (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 57:f4819de54e7a | 1455 | valve_pos.ref = 10.0f*((float) ID_index_array[ID_index]) + (float) VALVE_CENTER; |
Lightvalve | 14:8e7590227d22 | 1456 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 13:747daba9cf59 | 1457 | data_num = data_num + 1; |
Lightvalve | 30:8d561f16383b | 1458 | if(abs(0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen) > 20000.0f) { |
Lightvalve | 14:8e7590227d22 | 1459 | FINAL_POS = pos.sen; |
Lightvalve | 14:8e7590227d22 | 1460 | one_period_end = 1; |
Lightvalve | 13:747daba9cf59 | 1461 | } |
Lightvalve | 30:8d561f16383b | 1462 | } else if(VALVE_FR_timer == (int) (5.0f * (float) TMR_FREQ_5k)) { |
Lightvalve | 14:8e7590227d22 | 1463 | FINAL_POS = pos.sen; |
Lightvalve | 13:747daba9cf59 | 1464 | one_period_end = 1; |
Lightvalve | 59:f308b1656d9c | 1465 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1466 | } |
Lightvalve | 14:8e7590227d22 | 1467 | |
Lightvalve | 14:8e7590227d22 | 1468 | if(one_period_end == 1) { |
Lightvalve | 14:8e7590227d22 | 1469 | if(valve_pos.ref > VALVE_MAX_POS) { |
Lightvalve | 13:747daba9cf59 | 1470 | max_check = 1; |
Lightvalve | 14:8e7590227d22 | 1471 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 13:747daba9cf59 | 1472 | min_check = 1; |
Lightvalve | 13:747daba9cf59 | 1473 | } |
Lightvalve | 13:747daba9cf59 | 1474 | JOINT_VEL[ID_index] = (FINAL_POS - START_POS) / data_num * TMR_FREQ_5k; // pulse/sec |
Lightvalve | 19:23b7c1ad8683 | 1475 | |
Lightvalve | 13:747daba9cf59 | 1476 | VALVE_FR_timer = 0; |
Lightvalve | 13:747daba9cf59 | 1477 | one_period_end = 0; |
Lightvalve | 13:747daba9cf59 | 1478 | ID_index= ID_index +1; |
Lightvalve | 30:8d561f16383b | 1479 | V_out = 0.0f; |
Lightvalve | 13:747daba9cf59 | 1480 | } |
Lightvalve | 14:8e7590227d22 | 1481 | |
Lightvalve | 14:8e7590227d22 | 1482 | if(max_check == 1 && min_check == 1) { |
Lightvalve | 19:23b7c1ad8683 | 1483 | |
Lightvalve | 13:747daba9cf59 | 1484 | VALVE_POS_NUM = ID_index; |
Lightvalve | 59:f308b1656d9c | 1485 | ROM_RESET_DATA(); |
Lightvalve | 13:747daba9cf59 | 1486 | ID_index = 0; |
Lightvalve | 13:747daba9cf59 | 1487 | first_check = 0; |
Lightvalve | 13:747daba9cf59 | 1488 | VALVE_FR_timer = 0; |
Lightvalve | 57:f4819de54e7a | 1489 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 49:e7bcfc244d40 | 1490 | // CAN_TX_PRES((int16_t) (VALVE_FR_timer), (int16_t) (6)); |
Lightvalve | 13:747daba9cf59 | 1491 | } |
Lightvalve | 13:747daba9cf59 | 1492 | } |
Lightvalve | 13:747daba9cf59 | 1493 | break; |
Lightvalve | 13:747daba9cf59 | 1494 | } |
Lightvalve | 58:2eade98630e2 | 1495 | |
Lightvalve | 57:f4819de54e7a | 1496 | case MODE_SYSTEM_ID: { |
Lightvalve | 57:f4819de54e7a | 1497 | freq_sysid_Iref = (double) cnt_sysid * DT_TMR3 * 3.; |
Lightvalve | 57:f4819de54e7a | 1498 | valve_pos.ref = 2500.0f * sin(2.0f * 3.14159f * freq_sysid_Iref * (double) cnt_sysid * DT_TMR3); |
Lightvalve | 57:f4819de54e7a | 1499 | CONTROL_MODE = MODE_VALVE_OPEN_LOOP; |
Lightvalve | 57:f4819de54e7a | 1500 | cnt_sysid++; |
Lightvalve | 57:f4819de54e7a | 1501 | if (freq_sysid_Iref >= 300) { |
Lightvalve | 57:f4819de54e7a | 1502 | cnt_sysid = 0; |
Lightvalve | 57:f4819de54e7a | 1503 | CONTROL_UTILITY_MODE = MODE_NO_ACT; |
Lightvalve | 57:f4819de54e7a | 1504 | } |
Lightvalve | 57:f4819de54e7a | 1505 | break; |
Lightvalve | 57:f4819de54e7a | 1506 | } |
Lightvalve | 58:2eade98630e2 | 1507 | |
Lightvalve | 58:2eade98630e2 | 1508 | |
Lightvalve | 57:f4819de54e7a | 1509 | |
Lightvalve | 57:f4819de54e7a | 1510 | default: |
Lightvalve | 57:f4819de54e7a | 1511 | break; |
Lightvalve | 57:f4819de54e7a | 1512 | } |
Lightvalve | 57:f4819de54e7a | 1513 | |
Lightvalve | 57:f4819de54e7a | 1514 | // CONTROL MODE ------------------------------------------------------------ |
Lightvalve | 57:f4819de54e7a | 1515 | |
Lightvalve | 57:f4819de54e7a | 1516 | switch (CONTROL_MODE) { |
Lightvalve | 57:f4819de54e7a | 1517 | case MODE_NO_ACT: { |
Lightvalve | 57:f4819de54e7a | 1518 | V_out = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1519 | break; |
Lightvalve | 57:f4819de54e7a | 1520 | } |
Lightvalve | 57:f4819de54e7a | 1521 | |
Lightvalve | 57:f4819de54e7a | 1522 | case MODE_VALVE_POSITION_CONTROL: { |
Lightvalve | 67:c2812cf26c38 | 1523 | if (OPERATING_MODE == 5) { //SW Valve |
Lightvalve | 57:f4819de54e7a | 1524 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 59:f308b1656d9c | 1525 | V_out = Vout.ref; |
Lightvalve | 67:c2812cf26c38 | 1526 | } else if (CURRENT_CONTROL_MODE == 0) { //PWM |
Lightvalve | 67:c2812cf26c38 | 1527 | V_out = valve_pos.ref; |
Lightvalve | 67:c2812cf26c38 | 1528 | } else { |
Lightvalve | 67:c2812cf26c38 | 1529 | I_REF = valve_pos.ref * 0.001f; |
Lightvalve | 57:f4819de54e7a | 1530 | } |
Lightvalve | 58:2eade98630e2 | 1531 | |
Lightvalve | 57:f4819de54e7a | 1532 | break; |
Lightvalve | 57:f4819de54e7a | 1533 | } |
Lightvalve | 57:f4819de54e7a | 1534 | |
Lightvalve | 57:f4819de54e7a | 1535 | case MODE_JOINT_CONTROL: { |
Lightvalve | 57:f4819de54e7a | 1536 | double torq_ref = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1537 | pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm] |
Lightvalve | 67:c2812cf26c38 | 1538 | vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s] |
Lightvalve | 57:f4819de54e7a | 1539 | pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm] |
Lightvalve | 67:c2812cf26c38 | 1540 | |
Lightvalve | 67:c2812cf26c38 | 1541 | //K & D Low Pass Filter |
Lightvalve | 67:c2812cf26c38 | 1542 | float alpha_K_D = 1.0f/(1.0f + 5000.0f/(2.0f*3.14f*30.0f)); // f_cutoff : 30Hz |
Lightvalve | 67:c2812cf26c38 | 1543 | K_LPF = K_LPF*(1.0f-alpha_K_D)+K_SPRING*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1544 | D_LPF = D_LPF*(1.0f-alpha_K_D)+D_DAMPER*(alpha_K_D); |
Lightvalve | 67:c2812cf26c38 | 1545 | |
Lightvalve | 67:c2812cf26c38 | 1546 | torq_ref = torq.ref + K_LPF * pos.err - D_LPF * vel.sen / ENC_PULSE_PER_POSITION; //[N] |
Lightvalve | 57:f4819de54e7a | 1547 | |
Lightvalve | 57:f4819de54e7a | 1548 | // torque feedback |
Lightvalve | 67:c2812cf26c38 | 1549 | torq.err = torq_ref - torq.sen; //[N] |
Lightvalve | 57:f4819de54e7a | 1550 | torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N] |
Lightvalve | 57:f4819de54e7a | 1551 | |
Lightvalve | 57:f4819de54e7a | 1552 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { |
Lightvalve | 58:2eade98630e2 | 1553 | |
Lightvalve | 57:f4819de54e7a | 1554 | double I_REF_POS = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1555 | double I_REF_FORCE_FB = 0.0f; // I_REF by Force Feedback |
Lightvalve | 57:f4819de54e7a | 1556 | double I_REF_VC = 0.0f; // I_REF for velocity compensation |
Lightvalve | 57:f4819de54e7a | 1557 | |
Lightvalve | 57:f4819de54e7a | 1558 | double temp_vel_pos = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1559 | double temp_vel_torq = 0.0f; |
Lightvalve | 57:f4819de54e7a | 1560 | double wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control |
Lightvalve | 58:2eade98630e2 | 1561 | |
Lightvalve | 69:3995ffeaa786 | 1562 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1563 | 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 | 1564 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1565 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1566 | 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 | 1567 | // L when P-gain = 100, f_cut = 10Hz L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1568 | } |
Lightvalve | 57:f4819de54e7a | 1569 | 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 | 1570 | else I_REF_POS = temp_vel_pos * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1571 | |
Lightvalve | 57:f4819de54e7a | 1572 | // velocity compensation for torque control |
Lightvalve | 69:3995ffeaa786 | 1573 | if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode |
Lightvalve | 57:f4819de54e7a | 1574 | I_REF_FORCE_FB = 0.001f * ((double) P_GAIN_JOINT_TORQUE * torq.err + (double) I_GAIN_JOINT_TORQUE * torq.err_sum); |
Lightvalve | 57:f4819de54e7a | 1575 | // 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 | 1576 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION) * PI / 180.0f; // rad/s |
Lightvalve | 57:f4819de54e7a | 1577 | // L feedforward velocity |
Lightvalve | 69:3995ffeaa786 | 1578 | } else if ((OPERATING_MODE & 0x01) == 1) { |
Lightvalve | 57:f4819de54e7a | 1579 | 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 | 1580 | // temp_vel_torq = (0.01 * (double) VELOCITY_COMP_GAIN * (double) CUR_VELOCITY / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1581 | temp_vel_torq = (0.01f * (double) VELOCITY_COMP_GAIN * vel.ref / (double) ENC_PULSE_PER_POSITION); // mm/s |
Lightvalve | 57:f4819de54e7a | 1582 | // L feedforward velocity |
Lightvalve | 57:f4819de54e7a | 1583 | } |
Lightvalve | 57:f4819de54e7a | 1584 | 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 | 1585 | else I_REF_VC = temp_vel_torq * ((double) PISTON_AREA_B * 0.00006f / (K_v * sqrt(2.0f / (alpha3 + 1.0f)))); |
Lightvalve | 57:f4819de54e7a | 1586 | // L velocity(rad/s or mm/s) >> I_ref(mA) |
Lightvalve | 57:f4819de54e7a | 1587 | // Ref_Joint_FT_dot = (Ref_Joint_FT_Nm - Ref_Joint_FT_Nm_old) / TMR_DT_5k; |
Lightvalve | 57:f4819de54e7a | 1588 | // Ref_Joint_FT_Nm_old = Ref_Joint_FT_Nm; |
Lightvalve | 57:f4819de54e7a | 1589 | |
Lightvalve | 57:f4819de54e7a | 1590 | I_REF = (1.0f - alpha_trans) * I_REF_POS + alpha_trans * (I_REF_VC + I_REF_FORCE_FB); |
Lightvalve | 67:c2812cf26c38 | 1591 | |
Lightvalve | 67:c2812cf26c38 | 1592 | // Anti-windup for FT |
Lightvalve | 67:c2812cf26c38 | 1593 | if (I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 67:c2812cf26c38 | 1594 | double I_MAX = 10.0f; // Maximum Current : 10mV |
Lightvalve | 67:c2812cf26c38 | 1595 | double Ka = 2.0f / ((double) I_GAIN_JOINT_TORQUE * 0.001f); |
Lightvalve | 67:c2812cf26c38 | 1596 | if (I_REF > I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1597 | double I_rem = I_REF - I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1598 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1599 | I_REF = I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1600 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1601 | } else if (I_REF < -I_MAX) { |
Lightvalve | 67:c2812cf26c38 | 1602 | double I_rem = I_REF - (-I_MAX); |
Lightvalve | 67:c2812cf26c38 | 1603 | I_rem = Ka*I_rem; |
Lightvalve | 67:c2812cf26c38 | 1604 | I_REF = -I_MAX; |
Lightvalve | 67:c2812cf26c38 | 1605 | torq.err_sum = torq.err_sum - I_rem /(float) TMR_FREQ_5k; |
Lightvalve | 67:c2812cf26c38 | 1606 | } |
Lightvalve | 67:c2812cf26c38 | 1607 | } |
Lightvalve | 57:f4819de54e7a | 1608 | |
Lightvalve | 57:f4819de54e7a | 1609 | } else { |
Lightvalve | 57:f4819de54e7a | 1610 | float VALVE_POS_RAW_FORCE_FB = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1611 | float VALVE_POS_RAW_FORCE_FF = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1612 | float VALVE_POS_RAW = 0.0f; |
Lightvalve | 72:3436ce769b1e | 1613 | |
Lightvalve | 57:f4819de54e7a | 1614 | 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 | 1615 | + 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 | 1616 | |
Lightvalve | 72:3436ce769b1e | 1617 | 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 | 1618 | |
Lightvalve | 72:3436ce769b1e | 1619 | VALVE_POS_RAW = VALVE_POS_RAW_FORCE_FB + VALVE_POS_RAW_FORCE_FF; |
Lightvalve | 72:3436ce769b1e | 1620 | |
Lightvalve | 72:3436ce769b1e | 1621 | |
Lightvalve | 72:3436ce769b1e | 1622 | if (VALVE_POS_RAW >= 0) { |
Lightvalve | 72:3436ce769b1e | 1623 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_PLUS; |
Lightvalve | 57:f4819de54e7a | 1624 | } else { |
Lightvalve | 72:3436ce769b1e | 1625 | valve_pos.ref = VALVE_POS_RAW + VALVE_DEADZONE_MINUS; |
Lightvalve | 57:f4819de54e7a | 1626 | } |
Lightvalve | 57:f4819de54e7a | 1627 | |
Lightvalve | 57:f4819de54e7a | 1628 | if(I_GAIN_JOINT_TORQUE != 0) { |
Lightvalve | 57:f4819de54e7a | 1629 | double Ka = 1.0f / (double) I_GAIN_JOINT_TORQUE * 100.0f; |
Lightvalve | 57:f4819de54e7a | 1630 | if(valve_pos.ref>VALVE_MAX_POS) { |
Lightvalve | 57:f4819de54e7a | 1631 | double valve_pos_rem = valve_pos.ref - VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1632 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1633 | valve_pos.ref = VALVE_MAX_POS; |
Lightvalve | 57:f4819de54e7a | 1634 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1635 | } else if(valve_pos.ref < VALVE_MIN_POS) { |
Lightvalve | 57:f4819de54e7a | 1636 | double valve_pos_rem = valve_pos.ref - VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1637 | valve_pos_rem = valve_pos_rem * Ka; |
Lightvalve | 57:f4819de54e7a | 1638 | valve_pos.ref = VALVE_MIN_POS; |
Lightvalve | 57:f4819de54e7a | 1639 | torq.err_sum = torq.err_sum - valve_pos_rem/(float) TMR_FREQ_5k; |
Lightvalve | 57:f4819de54e7a | 1640 | } |
Lightvalve | 57:f4819de54e7a | 1641 | } |
Lightvalve | 61:bc8c8270f0ab | 1642 | |
Lightvalve | 57:f4819de54e7a | 1643 | VALVE_POS_CONTROL(valve_pos.ref); |
Lightvalve | 61:bc8c8270f0ab | 1644 | |
Lightvalve | 67:c2812cf26c38 | 1645 | // Vout.ref = (float) P_GAIN_JOINT_POSITION * 0.01f * ((float) pos.err); |
Lightvalve | 60:64181f1d3e60 | 1646 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1647 | |
Lightvalve | 57:f4819de54e7a | 1648 | } |
Lightvalve | 72:3436ce769b1e | 1649 | |
Lightvalve | 72:3436ce769b1e | 1650 | torq_ref_past = torq_ref; |
Lightvalve | 58:2eade98630e2 | 1651 | |
Lightvalve | 57:f4819de54e7a | 1652 | break; |
Lightvalve | 57:f4819de54e7a | 1653 | } |
Lightvalve | 58:2eade98630e2 | 1654 | |
Lightvalve | 57:f4819de54e7a | 1655 | case MODE_VALVE_OPEN_LOOP: { |
Lightvalve | 57:f4819de54e7a | 1656 | V_out = (float) Vout.ref; |
Lightvalve | 57:f4819de54e7a | 1657 | break; |
Lightvalve | 57:f4819de54e7a | 1658 | } |
Lightvalve | 14:8e7590227d22 | 1659 | |
Lightvalve | 12:6f2531038ea4 | 1660 | default: |
Lightvalve | 12:6f2531038ea4 | 1661 | break; |
Lightvalve | 12:6f2531038ea4 | 1662 | } |
Lightvalve | 14:8e7590227d22 | 1663 | |
Lightvalve | 57:f4819de54e7a | 1664 | |
Lightvalve | 57:f4819de54e7a | 1665 | if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve |
Lightvalve | 58:2eade98630e2 | 1666 | |
Lightvalve | 57:f4819de54e7a | 1667 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1668 | //////////////////////////// CURRENT CONTROL ////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1669 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1670 | if (CURRENT_CONTROL_MODE) { |
Lightvalve | 67:c2812cf26c38 | 1671 | double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz |
Lightvalve | 57:f4819de54e7a | 1672 | I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF; |
Lightvalve | 57:f4819de54e7a | 1673 | |
Lightvalve | 57:f4819de54e7a | 1674 | I_ERR = I_REF_fil - cur.sen; |
Lightvalve | 67:c2812cf26c38 | 1675 | I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1676 | |
Lightvalve | 57:f4819de54e7a | 1677 | |
Lightvalve | 57:f4819de54e7a | 1678 | // Moog Valve Current Control Gain |
Lightvalve | 67:c2812cf26c38 | 1679 | double R_model = 500.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1680 | double L_model = 1.2f; |
Lightvalve | 57:f4819de54e7a | 1681 | double w0 = 2.0f * 3.14f * 150.0f; |
Lightvalve | 57:f4819de54e7a | 1682 | double KP_I = 0.1f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1683 | double KI_I = 0.1f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1684 | |
Lightvalve | 57:f4819de54e7a | 1685 | // KNR Valve Current Control Gain |
Lightvalve | 57:f4819de54e7a | 1686 | if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve |
Lightvalve | 57:f4819de54e7a | 1687 | R_model = 163.0f; // ohm |
Lightvalve | 57:f4819de54e7a | 1688 | L_model = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1689 | w0 = 2.0f * 3.14f * 80.0f; |
Lightvalve | 57:f4819de54e7a | 1690 | KP_I = 1.0f * L_model*w0; |
Lightvalve | 57:f4819de54e7a | 1691 | KI_I = 0.08f * R_model*w0; |
Lightvalve | 57:f4819de54e7a | 1692 | } |
Lightvalve | 57:f4819de54e7a | 1693 | |
Lightvalve | 57:f4819de54e7a | 1694 | double FF_gain = 1.0f; |
Lightvalve | 57:f4819de54e7a | 1695 | |
Lightvalve | 67:c2812cf26c38 | 1696 | VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT; |
Lightvalve | 57:f4819de54e7a | 1697 | // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model*I_REF); // Unit : mV |
Lightvalve | 57:f4819de54e7a | 1698 | I_REF_fil_diff = I_REF_fil - I_REF_fil_old; |
Lightvalve | 57:f4819de54e7a | 1699 | I_REF_fil_old = I_REF_fil; |
Lightvalve | 67:c2812cf26c38 | 1700 | // 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 | 1701 | VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil); // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1702 | double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV |
Lightvalve | 57:f4819de54e7a | 1703 | |
Lightvalve | 57:f4819de54e7a | 1704 | double Ka = 3.0f / KP_I; |
Lightvalve | 57:f4819de54e7a | 1705 | if (VALVE_PWM_RAW > V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1706 | V_rem = VALVE_PWM_RAW - V_MAX; |
Lightvalve | 57:f4819de54e7a | 1707 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1708 | VALVE_PWM_RAW = V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1709 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1710 | } else if (VALVE_PWM_RAW < -V_MAX) { |
Lightvalve | 57:f4819de54e7a | 1711 | V_rem = VALVE_PWM_RAW - (-V_MAX); |
Lightvalve | 57:f4819de54e7a | 1712 | V_rem = Ka*V_rem; |
Lightvalve | 57:f4819de54e7a | 1713 | VALVE_PWM_RAW = -V_MAX; |
Lightvalve | 67:c2812cf26c38 | 1714 | I_ERR_INT = I_ERR_INT - V_rem * 0.0002f; |
Lightvalve | 57:f4819de54e7a | 1715 | } |
Lightvalve | 57:f4819de54e7a | 1716 | Cur_Valve_Open_pulse = cur.sen / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1717 | } else { |
Lightvalve | 57:f4819de54e7a | 1718 | VALVE_PWM_RAW = I_REF * mV_PER_mA; |
Lightvalve | 57:f4819de54e7a | 1719 | Cur_Valve_Open_pulse = I_REF / mA_PER_pulse; |
Lightvalve | 57:f4819de54e7a | 1720 | } |
Lightvalve | 57:f4819de54e7a | 1721 | |
Lightvalve | 57:f4819de54e7a | 1722 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1723 | ///////////////// Dead Zone Cancellation & Linearization ////////////////// |
Lightvalve | 57:f4819de54e7a | 1724 | //////////////////////////////////////////////////////////////////////////// |
Lightvalve | 57:f4819de54e7a | 1725 | // Dead Zone Cancellation (Mechanical Valve dead-zone) |
Lightvalve | 57:f4819de54e7a | 1726 | if (FLAG_VALVE_DEADZONE) { |
Lightvalve | 57:f4819de54e7a | 1727 | if (VALVE_PWM_RAW > 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_PLUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1728 | else if (VALVE_PWM_RAW < 0) VALVE_PWM_RAW = VALVE_PWM_RAW + VALVE_DEADZONE_MINUS * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1729 | |
Lightvalve | 57:f4819de54e7a | 1730 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW + (double)VALVE_CENTER * mV_PER_pulse; // unit: mV |
Lightvalve | 57:f4819de54e7a | 1731 | |
Lightvalve | 57:f4819de54e7a | 1732 | } else { |
Lightvalve | 57:f4819de54e7a | 1733 | VALVE_PWM_VALVE_DZ = VALVE_PWM_RAW; |
Lightvalve | 57:f4819de54e7a | 1734 | } |
Lightvalve | 57:f4819de54e7a | 1735 | |
Lightvalve | 57:f4819de54e7a | 1736 | // Output Voltage Linearization |
Lightvalve | 57:f4819de54e7a | 1737 | double CUR_PWM_nonlin = VALVE_PWM_VALVE_DZ; // Unit : mV |
Lightvalve | 67:c2812cf26c38 | 1738 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 57:f4819de54e7a | 1739 | |
Lightvalve | 57:f4819de54e7a | 1740 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 67:c2812cf26c38 | 1741 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1742 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1743 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 57:f4819de54e7a | 1744 | } |
Lightvalve | 89:a7b45368ea0f | 1745 | else { //////////////////////////sw valve |
Lightvalve | 89:a7b45368ea0f | 1746 | // Output Voltage Linearization |
Lightvalve | 89:a7b45368ea0f | 1747 | double CUR_PWM_nonlin = V_out; // Unit : mV |
Lightvalve | 89:a7b45368ea0f | 1748 | double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000 |
Lightvalve | 89:a7b45368ea0f | 1749 | |
Lightvalve | 89:a7b45368ea0f | 1750 | // Dead Zone Cancellation (Electrical dead-zone) |
Lightvalve | 89:a7b45368ea0f | 1751 | if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f); |
Lightvalve | 89:a7b45368ea0f | 1752 | else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f); |
Lightvalve | 89:a7b45368ea0f | 1753 | else V_out = (float) (CUR_PWM_lin); |
Lightvalve | 89:a7b45368ea0f | 1754 | } |
Lightvalve | 67:c2812cf26c38 | 1755 | |
Lightvalve | 67:c2812cf26c38 | 1756 | // if(V_out > 0.0f) V_out = (float) (V_out + 169.0f); |
Lightvalve | 67:c2812cf26c38 | 1757 | // else if(V_out < 0.0f) V_out = (float) (V_out - 174.0f); |
Lightvalve | 67:c2812cf26c38 | 1758 | // else V_out = V_out; |
Lightvalve | 67:c2812cf26c38 | 1759 | |
jobuuu | 7:e9086c72bb22 | 1760 | /******************************************************* |
jobuuu | 7:e9086c72bb22 | 1761 | *** PWM |
jobuuu | 7:e9086c72bb22 | 1762 | ********************************************************/ |
Lightvalve | 67:c2812cf26c38 | 1763 | if(DIR_VALVE<0){ |
Lightvalve | 67:c2812cf26c38 | 1764 | V_out = -V_out; |
Lightvalve | 67:c2812cf26c38 | 1765 | } |
Lightvalve | 67:c2812cf26c38 | 1766 | |
Lightvalve | 49:e7bcfc244d40 | 1767 | if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1768 | V_out = VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 49:e7bcfc244d40 | 1769 | } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) { |
Lightvalve | 49:e7bcfc244d40 | 1770 | V_out = -VALVE_VOLTAGE_LIMIT*1000.0f; |
Lightvalve | 27:a2254a485f23 | 1771 | } |
Lightvalve | 49:e7bcfc244d40 | 1772 | PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f); // Full duty : 12000.0mV |
Lightvalve | 13:747daba9cf59 | 1773 | |
Lightvalve | 19:23b7c1ad8683 | 1774 | // Saturation of output voltage to 12.0V |
Lightvalve | 30:8d561f16383b | 1775 | if(PWM_out > 1.0f) PWM_out=1.0f; |
Lightvalve | 30:8d561f16383b | 1776 | else if (PWM_out < -1.0f) PWM_out=-1.0f; |
Lightvalve | 13:747daba9cf59 | 1777 | |
Lightvalve | 30:8d561f16383b | 1778 | if (PWM_out>0.0f) { |
Lightvalve | 30:8d561f16383b | 1779 | dtc_v=0.0f; |
jobuuu | 1:e04e563be5ce | 1780 | dtc_w=PWM_out; |
jobuuu | 1:e04e563be5ce | 1781 | } else { |
jobuuu | 2:a1c0a37df760 | 1782 | dtc_v=-PWM_out; |
Lightvalve | 30:8d561f16383b | 1783 | dtc_w=0.0f; |
jobuuu | 1:e04e563be5ce | 1784 | } |
Lightvalve | 13:747daba9cf59 | 1785 | |
jobuuu | 1:e04e563be5ce | 1786 | //pwm |
Lightvalve | 30:8d561f16383b | 1787 | TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v); |
Lightvalve | 30:8d561f16383b | 1788 | TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w); |
Lightvalve | 67:c2812cf26c38 | 1789 | |
Lightvalve | 61:bc8c8270f0ab | 1790 | |
Lightvalve | 57:f4819de54e7a | 1791 | if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) { |
Lightvalve | 20:806196fda269 | 1792 | |
Lightvalve | 54:647072f5307a | 1793 | // Position, Velocity, and Torque (ID:1200) |
Lightvalve | 56:6f50d9d3bfee | 1794 | if (flag_data_request[0] == HIGH) { |
Lightvalve | 57:f4819de54e7a | 1795 | if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator |
Lightvalve | 54:647072f5307a | 1796 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1797 | CAN_TX_POSITION_FT((int16_t) (pos.sen), (int16_t) (vel.sen/10.0f), (int16_t) (torq.sen*10.0f)); |
Lightvalve | 54:647072f5307a | 1798 | } else if (SENSING_MODE == 1) { |
Lightvalve | 58:2eade98630e2 | 1799 | 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 | 1800 | } |
Lightvalve | 57:f4819de54e7a | 1801 | } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator |
Lightvalve | 54:647072f5307a | 1802 | if (SENSING_MODE == 0) { |
Lightvalve | 67:c2812cf26c38 | 1803 | 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 | 1804 | } else if (SENSING_MODE == 1) { |
Lightvalve | 67:c2812cf26c38 | 1805 | 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 | 1806 | } |
Lightvalve | 52:8ea76864368a | 1807 | } |
Lightvalve | 52:8ea76864368a | 1808 | } |
Lightvalve | 56:6f50d9d3bfee | 1809 | if (flag_data_request[1] == HIGH) { |
Lightvalve | 54:647072f5307a | 1810 | //valve position |
Lightvalve | 54:647072f5307a | 1811 | double t_value = 0; |
Lightvalve | 97:d71c57e3515e | 1812 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1813 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1814 | } else { |
Lightvalve | 97:d71c57e3515e | 1815 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1816 | } |
Lightvalve | 97:d71c57e3515e | 1817 | // if(OPERATING_MODE==5) { |
Lightvalve | 97:d71c57e3515e | 1818 | // if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 97:d71c57e3515e | 1819 | // t_value = 10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1820 | // } else { |
Lightvalve | 97:d71c57e3515e | 1821 | // t_value = -10000.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 97:d71c57e3515e | 1822 | // } |
Lightvalve | 97:d71c57e3515e | 1823 | //t_value = (double) value; |
Lightvalve | 97:d71c57e3515e | 1824 | // } else if(CURRENT_CONTROL_MODE==1) { |
Lightvalve | 97:d71c57e3515e | 1825 | // t_value = cur.sen * 1000.0f; |
Lightvalve | 89:a7b45368ea0f | 1826 | // } else { |
Lightvalve | 97:d71c57e3515e | 1827 | // t_value = V_out; |
Lightvalve | 89:a7b45368ea0f | 1828 | // } |
Lightvalve | 67:c2812cf26c38 | 1829 | CAN_TX_TORQUE((int16_t) (t_value)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1830 | //CAN_TX_TORQUE((int16_t) (cur.sen * 1000.0f)); //1300 |
Lightvalve | 67:c2812cf26c38 | 1831 | //CAN_TX_TORQUE((int16_t) (I_REF * 1000.0f)); //1300 |
Lightvalve | 54:647072f5307a | 1832 | } |
Lightvalve | 58:2eade98630e2 | 1833 | |
Lightvalve | 58:2eade98630e2 | 1834 | |
Lightvalve | 98:cd1b2da4704f | 1835 | if (flag_data_request[2] == HIGH) { |
Lightvalve | 89:a7b45368ea0f | 1836 | //CAN_TX_PRES((int16_t) (pres_A.sen), (int16_t) (pres_B.sen)); // 1400 |
Lightvalve | 89:a7b45368ea0f | 1837 | double t_value = 0; |
Lightvalve | 89:a7b45368ea0f | 1838 | if(valve_pos.ref>=(float) VALVE_CENTER) { |
Lightvalve | 89:a7b45368ea0f | 1839 | t_value = 10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1840 | } else { |
Lightvalve | 89:a7b45368ea0f | 1841 | t_value = -10000.0f*((double)valve_pos.ref - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER); |
Lightvalve | 89:a7b45368ea0f | 1842 | } |
Lightvalve | 89:a7b45368ea0f | 1843 | CAN_TX_PRES((int16_t) (t_value), (int16_t) (V_out)); // 1400 |
Lightvalve | 55:b25725257569 | 1844 | } |
Lightvalve | 58:2eade98630e2 | 1845 | |
Lightvalve | 57:f4819de54e7a | 1846 | //If it doesn't rest, below can can not work. |
Lightvalve | 57:f4819de54e7a | 1847 | for (can_rest = 0; can_rest < 10000; can_rest++) { |
Lightvalve | 57:f4819de54e7a | 1848 | ; |
Lightvalve | 57:f4819de54e7a | 1849 | } |
Lightvalve | 58:2eade98630e2 | 1850 | |
Lightvalve | 56:6f50d9d3bfee | 1851 | if (flag_data_request[3] == HIGH) { |
Lightvalve | 54:647072f5307a | 1852 | //PWM |
Lightvalve | 73:f80dc3970c99 | 1853 | //CAN_TX_PWM((int16_t) value); //1500 |
Lightvalve | 73:f80dc3970c99 | 1854 | CAN_TX_PWM((int16_t) input_NN[0] * 100.0f); //1500 |
Lightvalve | 54:647072f5307a | 1855 | } |
Lightvalve | 57:f4819de54e7a | 1856 | //for (i = 0; i < 10000; i++) { |
Lightvalve | 57:f4819de54e7a | 1857 | // ; |
Lightvalve | 57:f4819de54e7a | 1858 | // } |
Lightvalve | 56:6f50d9d3bfee | 1859 | if (flag_data_request[4] == HIGH) { |
Lightvalve | 54:647072f5307a | 1860 | //valve position |
Lightvalve | 73:f80dc3970c99 | 1861 | 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 | 1862 | } |
Lightvalve | 20:806196fda269 | 1863 | |
Lightvalve | 54:647072f5307a | 1864 | // Others : Reference position, Reference FT, PWM, Current (ID:1300) |
Lightvalve | 52:8ea76864368a | 1865 | // if (flag_data_request[1] == HIGH) { |
Lightvalve | 52:8ea76864368a | 1866 | // CAN_TX_SOMETHING((int) (FORCE_VREF), (int16_t) (1), (int16_t) (2), (int16_t) (3)); |
Lightvalve | 52:8ea76864368a | 1867 | // } |
Lightvalve | 54:647072f5307a | 1868 | //if (flag_delay_test == 1){ |
Lightvalve | 58:2eade98630e2 | 1869 | //CAN_TX_PRES((int16_t) (0),(int16_t) torq_ref); |
Lightvalve | 54:647072f5307a | 1870 | //} |
Lightvalve | 52:8ea76864368a | 1871 | |
Lightvalve | 54:647072f5307a | 1872 | TMR2_COUNT_CAN_TX = 0; |
Lightvalve | 54:647072f5307a | 1873 | } |
Lightvalve | 54:647072f5307a | 1874 | TMR2_COUNT_CAN_TX++; |
Lightvalve | 52:8ea76864368a | 1875 | |
Lightvalve | 20:806196fda269 | 1876 | } |
Lightvalve | 52:8ea76864368a | 1877 | TIM3->SR = 0x0; // reset the status register |
Lightvalve | 52:8ea76864368a | 1878 | |
Lightvalve | 58:2eade98630e2 | 1879 | } |