Sungwoo Kim / Mbed 2 deprecated HydraulicControlBoard_Rainbow_v1_2_copy1

2011

Dependencies:   mbed FastPWM

main.cpp@237:c2cfe349f5c1, 2021-07-07 (annotated)

Committer:
Lightvalve
Date:
Wed Jul 07 10:09:21 2021 +0000
Revision:
237:c2cfe349f5c1
Parent:
236:fd7961dfa78a
Child:
238:4e660aa77eb7
210707

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Lightvalve 224:985dba42f261 1 //Hydraulic Control Board
Lightvalve 224:985dba42f261 2 //distributed by Sungwoo Kim
Lightvalve 224:985dba42f261 3 // 2020/12/28
jobuuu 228:763bbefcb79f 4 //revised by Buyoun Cho
Lightvalve 235:c831718303c9 5 // 2021/04/20
Lightvalve 224:985dba42f261 6
Lightvalve 224:985dba42f261 7 // 유의사항
Lightvalve 224:985dba42f261 8 // 소수 적을때 뒤에 f 꼭 붙이기
Lightvalve 224:985dba42f261 9 // CAN 선은 ground까지 있는 3상 선으로 써야함.
Lightvalve 224:985dba42f261 10 // 전원은 12~24V 인가.
Lightvalve 224:985dba42f261 11
GiJeongKim 0:51c43836c1d7 12 #include "mbed.h"
GiJeongKim 0:51c43836c1d7 13 #include "FastPWM.h"
GiJeongKim 0:51c43836c1d7 14 #include "INIT_HW.h"
jobuuu 2:a1c0a37df760 15 #include "function_CAN.h"
GiJeongKim 0:51c43836c1d7 16 #include "SPI_EEP_ENC.h"
GiJeongKim 0:51c43836c1d7 17 #include "I2C_AS5510.h"
GiJeongKim 0:51c43836c1d7 18 #include "setting.h"
Lightvalve 11:82d8768d7351 19 #include "function_utilities.h"
Lightvalve 16:903b5a4433b4 20 #include "stm32f4xx_flash.h"
Lightvalve 169:645207e160ca 21 #include "FlashWriter.h"
Lightvalve 170:42c938a40313 22 #include <string>
Lightvalve 170:42c938a40313 23 #include <iostream>
Lightvalve 179:d5377766d7ea 24 #include <cmath>
Lightvalve 61:bc8c8270f0ab 25
Lightvalve 61:bc8c8270f0ab 26 using namespace std;
Lightvalve 61:bc8c8270f0ab 27 Timer t;
GiJeongKim 0:51c43836c1d7 28
jobuuu 7:e9086c72bb22 29 // dac & check ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 30 DigitalOut check(PC_2);
GiJeongKim 0:51c43836c1d7 31 DigitalOut check_2(PC_3);
jobuuu 230:2c3e5ecbe7e1 32 AnalogOut dac_1(PA_4); // 0.0f ~ 1.0f
jobuuu 230:2c3e5ecbe7e1 33 AnalogOut dac_2(PA_5); // 0.0f ~ 1.0f
Lightvalve 14:8e7590227d22 34 AnalogIn adc1(PC_4); //pressure_1
Lightvalve 14:8e7590227d22 35 AnalogIn adc2(PB_0); //pressure_2
Lightvalve 14:8e7590227d22 36 AnalogIn adc3(PC_1); //current
GiJeongKim 0:51c43836c1d7 37
jobuuu 7:e9086c72bb22 38 // PWM ///////////////////////////////////////////
Lightvalve 30:8d561f16383b 39 float dtc_v=0.0f;
Lightvalve 30:8d561f16383b 40 float dtc_w=0.0f;
GiJeongKim 0:51c43836c1d7 41
jobuuu 7:e9086c72bb22 42 // I2C ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 43 I2C i2c(PC_9,PA_8); // SDA, SCL (for K22F)
Lightvalve 224:985dba42f261 44 const int i2c_slave_addr1 = 0x56; // AS5510 address
GiJeongKim 0:51c43836c1d7 45 unsigned int value; // 10bit output of reading sensor AS5510
GiJeongKim 0:51c43836c1d7 46
jobuuu 7:e9086c72bb22 47 // SPI ///////////////////////////////////////////
Lightvalve 170:42c938a40313 48 SPI eeprom(PB_15, PB_14, PB_13); // EEPROM //(SPI_MOSI, SPI_MISO, SPI_SCK);
Lightvalve 170:42c938a40313 49 DigitalOut eeprom_cs(PB_12);
GiJeongKim 0:51c43836c1d7 50 SPI enc(PC_12,PC_11,PC_10);
GiJeongKim 0:51c43836c1d7 51 DigitalOut enc_cs(PD_2);
Lightvalve 11:82d8768d7351 52 DigitalOut LED(PA_15);
GiJeongKim 0:51c43836c1d7 53
jobuuu 7:e9086c72bb22 54 // UART ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 55 Serial pc(PA_9,PA_10); // _ UART
GiJeongKim 0:51c43836c1d7 56
jobuuu 7:e9086c72bb22 57 // CAN ///////////////////////////////////////////
GiJeongKim 0:51c43836c1d7 58 CAN can(PB_8, PB_9, 1000000);
GiJeongKim 0:51c43836c1d7 59 CANMessage msg;
Lightvalve 11:82d8768d7351 60 void onMsgReceived()
Lightvalve 11:82d8768d7351 61 {
Lightvalve 11:82d8768d7351 62 CAN_RX_HANDLER();
Lightvalve 11:82d8768d7351 63 }
jobuuu 2:a1c0a37df760 64
jobuuu 7:e9086c72bb22 65 // Variables ///////////////////////////////////////////
jobuuu 7:e9086c72bb22 66 State pos;
jobuuu 7:e9086c72bb22 67 State vel;
jobuuu 7:e9086c72bb22 68 State Vout;
jobuuu 230:2c3e5ecbe7e1 69 State force;
jobuuu 230:2c3e5ecbe7e1 70 State torq; // unit : N
Lightvalve 207:c70c5a9f17dd 71 State torq_dot;
jobuuu 230:2c3e5ecbe7e1 72 State pres_A; // unit : bar
jobuuu 7:e9086c72bb22 73 State pres_B;
jobuuu 230:2c3e5ecbe7e1 74 State cur; // unit : mA
Lightvalve 14:8e7590227d22 75 State valve_pos;
Lightvalve 14:8e7590227d22 76
Lightvalve 14:8e7590227d22 77 State INIT_Vout;
Lightvalve 14:8e7590227d22 78 State INIT_Valve_Pos;
Lightvalve 14:8e7590227d22 79 State INIT_Pos;
Lightvalve 14:8e7590227d22 80 State INIT_torq;
jobuuu 5:a4319f79457b 81
Lightvalve 19:23b7c1ad8683 82 extern int CID_RX_CMD;
Lightvalve 19:23b7c1ad8683 83 extern int CID_RX_REF_POSITION;
hyhoon 227:699c3e572283 84 extern int CID_RX_REF_OPENLOOP;
Lightvalve 45:35fa6884d0c6 85 extern int CID_RX_REF_PWM;
Lightvalve 19:23b7c1ad8683 86
Lightvalve 19:23b7c1ad8683 87 extern int CID_TX_INFO;
hyhoon 227:699c3e572283 88 extern int CID_TX_POS_VEL_TORQ;
hyhoon 227:699c3e572283 89 extern int CID_TX_PWM;
hyhoon 227:699c3e572283 90 extern int CID_TX_CURRENT;
Lightvalve 19:23b7c1ad8683 91 extern int CID_TX_VOUT;
Lightvalve 19:23b7c1ad8683 92 extern int CID_TX_VALVE_POSITION;
jeongyeseong 225:9c0becc196ba 93 extern int CID_TX_SOMETHING;
Lightvalve 19:23b7c1ad8683 94
hyhoon 227:699c3e572283 95 float temp_P_GAIN = 0.0f;
hyhoon 227:699c3e572283 96 float temp_I_GAIN = 0.0f;
hyhoon 227:699c3e572283 97 int temp_VELOCITY_COMP_GAIN = 0;
Lightvalve 235:c831718303c9 98 int logging = 0;
hyhoon 227:699c3e572283 99
Lightvalve 235:c831718303c9 100 inline float tanh_inv(float y)
Lightvalve 235:c831718303c9 101 {
Lightvalve 235:c831718303c9 102 if(y >= 1.0f - 0.000001f) y = 1.0f - 0.000001f;
Lightvalve 235:c831718303c9 103 if(y <= -1.0f + 0.000001f) y = -1.0f + 0.000001f;
jobuuu 230:2c3e5ecbe7e1 104 return log(sqrt((1.0f+y)/(1.0f-y)));
jobuuu 230:2c3e5ecbe7e1 105 }
jobuuu 230:2c3e5ecbe7e1 106
hyhoon 227:699c3e572283 107
Lightvalve 12:6f2531038ea4 108 /*******************************************************************************
Lightvalve 12:6f2531038ea4 109 * REFERENCE MODE
Lightvalve 12:6f2531038ea4 110 ******************************************************************************/
Lightvalve 13:747daba9cf59 111 enum _REFERENCE_MODE {
Lightvalve 235:c831718303c9 112 MODE_REF_NO_ACT = 0,
Lightvalve 235:c831718303c9 113 MODE_REF_DIRECT,
Lightvalve 235:c831718303c9 114 MODE_REF_FINDHOME
Lightvalve 12:6f2531038ea4 115 };
Lightvalve 12:6f2531038ea4 116
Lightvalve 12:6f2531038ea4 117 /*******************************************************************************
Lightvalve 12:6f2531038ea4 118 * CONTROL MODE
Lightvalve 12:6f2531038ea4 119 ******************************************************************************/
Lightvalve 13:747daba9cf59 120 enum _CONTROL_MODE {
Lightvalve 12:6f2531038ea4 121 //control mode
Lightvalve 12:6f2531038ea4 122 MODE_NO_ACT = 0, //0
Lightvalve 47:fdcb8bd86fd6 123 MODE_VALVE_POSITION_CONTROL, //1
Lightvalve 47:fdcb8bd86fd6 124 MODE_JOINT_CONTROL, //2
Lightvalve 50:3c630b5eba9f 125
Lightvalve 47:fdcb8bd86fd6 126 MODE_VALVE_OPEN_LOOP, //3
Lightvalve 138:a843f32ced33 127 MODE_JOINT_ADAPTIVE_BACKSTEPPING, //4
Lightvalve 171:bfc1fd2629d8 128 MODE_RL, //5
Lightvalve 13:747daba9cf59 129
Lightvalve 12:6f2531038ea4 130 MODE_JOINT_POSITION_PRES_CONTROL_PWM, //6
Lightvalve 12:6f2531038ea4 131 MODE_JOINT_POSITION_PRES_CONTROL_VALVE_POSITION, //7
Lightvalve 12:6f2531038ea4 132 MODE_VALVE_POSITION_PRES_CONTROL_LEARNING, //8
Lightvalve 13:747daba9cf59 133
Lightvalve 12:6f2531038ea4 134 MODE_TEST_CURRENT_CONTROL, //9
Lightvalve 12:6f2531038ea4 135 MODE_TEST_PWM_CONTROL, //10
Lightvalve 21:e5f1a43ea6f9 136
Lightvalve 14:8e7590227d22 137 MODE_CURRENT_CONTROL, //11
Lightvalve 14:8e7590227d22 138 MODE_JOINT_POSITION_TORQUE_CONTROL_CURRENT, //12
Lightvalve 14:8e7590227d22 139 MODE_JOINT_POSITION_PRES_CONTROL_CURRENT, //13
Lightvalve 224:985dba42f261 140 MODE_VALVE_POSITION_TORQUE_CONTROL_LEARNING, //14
Lightvalve 13:747daba9cf59 141
Lightvalve 12:6f2531038ea4 142 //utility
Lightvalve 12:6f2531038ea4 143 MODE_TORQUE_SENSOR_NULLING = 20, //20
Lightvalve 12:6f2531038ea4 144 MODE_VALVE_NULLING_AND_DEADZONE_SETTING, //21
Lightvalve 12:6f2531038ea4 145 MODE_FIND_HOME, //22
Lightvalve 57:f4819de54e7a 146 MODE_VALVE_GAIN_SETTING, //23
Lightvalve 12:6f2531038ea4 147 MODE_PRESSURE_SENSOR_NULLING, //24
Lightvalve 12:6f2531038ea4 148 MODE_PRESSURE_SENSOR_CALIB, //25
Lightvalve 12:6f2531038ea4 149 MODE_ROTARY_FRICTION_TUNING, //26
Lightvalve 13:747daba9cf59 150
Lightvalve 224:985dba42f261 151 MODE_DDV_POS_VS_PWM_ID = 30, //30
Lightvalve 12:6f2531038ea4 152 MODE_DDV_DEADZONE_AND_CENTER, //31
Lightvalve 12:6f2531038ea4 153 MODE_DDV_POS_VS_FLOWRATE, //32
Lightvalve 57:f4819de54e7a 154 MODE_SYSTEM_ID, //33
Lightvalve 169:645207e160ca 155 MODE_FREQ_TEST, //34
Lightvalve 169:645207e160ca 156 MODE_SEND_BUFFER, //35
Lightvalve 169:645207e160ca 157 MODE_SEND_OVER, //36
Lightvalve 169:645207e160ca 158 MODE_STEP_TEST, //37
Lightvalve 12:6f2531038ea4 159 };
Lightvalve 12:6f2531038ea4 160
Lightvalve 65:a2d7c63419c2 161 void SystemClock_Config(void)
Lightvalve 65:a2d7c63419c2 162 {
Lightvalve 169:645207e160ca 163 RCC_OscInitTypeDef RCC_OscInitStruct = {0};
Lightvalve 169:645207e160ca 164 RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
Lightvalve 65:a2d7c63419c2 165
Lightvalve 224:985dba42f261 166 /* Configure the main internal regulator output voltage
Lightvalve 169:645207e160ca 167 */
Lightvalve 169:645207e160ca 168 __HAL_RCC_PWR_CLK_ENABLE();
Lightvalve 169:645207e160ca 169 __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
Lightvalve 224:985dba42f261 170 /* Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 171 */
Lightvalve 169:645207e160ca 172 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
Lightvalve 169:645207e160ca 173 RCC_OscInitStruct.HSIState = RCC_HSI_ON;
Lightvalve 169:645207e160ca 174 RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
Lightvalve 169:645207e160ca 175 RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
Lightvalve 169:645207e160ca 176 RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
Lightvalve 169:645207e160ca 177 RCC_OscInitStruct.PLL.PLLM = 8;//8
Lightvalve 169:645207e160ca 178 RCC_OscInitStruct.PLL.PLLN = 180; //180
Lightvalve 169:645207e160ca 179 RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
Lightvalve 169:645207e160ca 180 RCC_OscInitStruct.PLL.PLLQ = 2;
Lightvalve 169:645207e160ca 181 RCC_OscInitStruct.PLL.PLLR = 2;
Lightvalve 169:645207e160ca 182 if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
Lightvalve 169:645207e160ca 183 //Error_Handler();
Lightvalve 169:645207e160ca 184 }
Lightvalve 169:645207e160ca 185 /** Activate the Over-Drive mode
Lightvalve 169:645207e160ca 186 */
Lightvalve 169:645207e160ca 187 if (HAL_PWREx_EnableOverDrive() != HAL_OK) {
Lightvalve 169:645207e160ca 188 //Error_Handler();
Lightvalve 169:645207e160ca 189 }
Lightvalve 169:645207e160ca 190 /** Initializes the CPU, AHB and APB busses clocks
Lightvalve 169:645207e160ca 191 */
Lightvalve 169:645207e160ca 192 RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
Lightvalve 169:645207e160ca 193 |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
Lightvalve 169:645207e160ca 194 RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
Lightvalve 169:645207e160ca 195 RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
Lightvalve 169:645207e160ca 196 RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
Lightvalve 169:645207e160ca 197 RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
Lightvalve 65:a2d7c63419c2 198
Lightvalve 169:645207e160ca 199 if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) {
Lightvalve 169:645207e160ca 200 //Error_Handler();
Lightvalve 169:645207e160ca 201 }
Lightvalve 65:a2d7c63419c2 202 }
Lightvalve 65:a2d7c63419c2 203
Lightvalve 170:42c938a40313 204
GiJeongKim 0:51c43836c1d7 205 int main()
GiJeongKim 0:51c43836c1d7 206 {
jobuuu 6:df07d3491e3a 207 /*********************************
jobuuu 1:e04e563be5ce 208 *** Initialization
jobuuu 6:df07d3491e3a 209 *********************************/
hyhoon 226:82a3ca333004 210
Lightvalve 224:985dba42f261 211 HAL_Init();
Lightvalve 224:985dba42f261 212 SystemClock_Config();
hyhoon 226:82a3ca333004 213
Lightvalve 69:3995ffeaa786 214 LED = 0;
Lightvalve 61:bc8c8270f0ab 215 pc.baud(9600);
Lightvalve 21:e5f1a43ea6f9 216
GiJeongKim 0:51c43836c1d7 217 // i2c init
Lightvalve 236:fd7961dfa78a 218 i2c.frequency(400 * 1000); // 0.4 mHz
Lightvalve 236:fd7961dfa78a 219 wait_ms(2); // Power Up wait
Lightvalve 236:fd7961dfa78a 220 look_for_hardware_i2c(); // Hardware present
Lightvalve 236:fd7961dfa78a 221 init_as5510(i2c_slave_addr1);
Lightvalve 236:fd7961dfa78a 222 make_delay();
jobuuu 2:a1c0a37df760 223
Lightvalve 224:985dba42f261 224 // spi init
hyhoon 227:699c3e572283 225 eeprom_cs = 1;
Lightvalve 170:42c938a40313 226 eeprom.format(8,3);
Lightvalve 170:42c938a40313 227 eeprom.frequency(5000000); //5M
hyhoon 227:699c3e572283 228 eeprom_cs = 0;
hyhoon 227:699c3e572283 229 make_delay();
hyhoon 227:699c3e572283 230
hyhoon 227:699c3e572283 231 enc_cs = 1; //sw add
GiJeongKim 0:51c43836c1d7 232 enc.format(8,0);
hyhoon 227:699c3e572283 233 enc.frequency(5000000); //10M
hyhoon 227:699c3e572283 234 enc_cs = 0; //sw add
hyhoon 227:699c3e572283 235
Lightvalve 11:82d8768d7351 236 make_delay();
Lightvalve 21:e5f1a43ea6f9 237
hyhoon 226:82a3ca333004 238 // spi _ enc
hyhoon 226:82a3ca333004 239 spi_enc_set_init();
hyhoon 226:82a3ca333004 240 make_delay();
hyhoon 226:82a3ca333004 241
hyhoon 226:82a3ca333004 242 ////// bno rom
Lightvalve 237:c2cfe349f5c1 243 // spi_eeprom_write(RID_BNO, (int16_t) 1);
hyhoon 226:82a3ca333004 244 // make_delay();
hyhoon 226:82a3ca333004 245 ////////
hyhoon 226:82a3ca333004 246
Lightvalve 224:985dba42f261 247 // rom
Lightvalve 19:23b7c1ad8683 248 ROM_CALL_DATA();
Lightvalve 16:903b5a4433b4 249 make_delay();
Lightvalve 13:747daba9cf59 250
GiJeongKim 0:51c43836c1d7 251 // ADC init
jobuuu 5:a4319f79457b 252 Init_ADC();
Lightvalve 11:82d8768d7351 253 make_delay();
jobuuu 2:a1c0a37df760 254
GiJeongKim 0:51c43836c1d7 255 // Pwm init
GiJeongKim 0:51c43836c1d7 256 Init_PWM();
GiJeongKim 0:51c43836c1d7 257 TIM4->CR1 ^= TIM_CR1_UDIS;
Lightvalve 11:82d8768d7351 258 make_delay();
Lightvalve 13:747daba9cf59 259
GiJeongKim 0:51c43836c1d7 260 // CAN
jobuuu 2:a1c0a37df760 261 can.attach(&CAN_RX_HANDLER);
Lightvalve 11:82d8768d7351 262 CAN_ID_INIT();
Lightvalve 11:82d8768d7351 263 make_delay();
Lightvalve 34:bb2ca2fc2a8e 264
hyhoon 226:82a3ca333004 265 //can.reset();
hyhoon 226:82a3ca333004 266 can.filter(msg.id, 0xFFFFF000, CANStandard);
hyhoon 226:82a3ca333004 267
hyhoon 226:82a3ca333004 268 // TMR3 init
hyhoon 226:82a3ca333004 269 Init_TMR3();
hyhoon 226:82a3ca333004 270 TIM3->CR1 ^= TIM_CR1_UDIS;
hyhoon 226:82a3ca333004 271 make_delay();
hyhoon 226:82a3ca333004 272
Lightvalve 23:59218d4a256d 273 //Timer priority
Lightvalve 23:59218d4a256d 274 NVIC_SetPriority(TIM3_IRQn, 2);
Lightvalve 54:647072f5307a 275 NVIC_SetPriority(TIM4_IRQn, 3);
Lightvalve 34:bb2ca2fc2a8e 276
hyhoon 226:82a3ca333004 277
Lightvalve 11:82d8768d7351 278 //DAC init
Lightvalve 58:2eade98630e2 279 if (SENSING_MODE == 0) {
jobuuu 230:2c3e5ecbe7e1 280 dac_1 = FORCE_VREF / 3.3f;
Lightvalve 58:2eade98630e2 281 dac_2 = 0.0f;
Lightvalve 58:2eade98630e2 282 } else if (SENSING_MODE == 1) {
hyhoon 226:82a3ca333004 283 if (DIR_VALVE_ENC > 0) {
hyhoon 226:82a3ca333004 284 dac_1 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 285 dac_2 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 286 } else {
hyhoon 226:82a3ca333004 287 dac_1 = PRES_B_VREF / 3.3f;
hyhoon 226:82a3ca333004 288 dac_2 = PRES_A_VREF / 3.3f;
hyhoon 226:82a3ca333004 289 }
Lightvalve 58:2eade98630e2 290 }
Lightvalve 11:82d8768d7351 291 make_delay();
Lightvalve 13:747daba9cf59 292
Lightvalve 19:23b7c1ad8683 293 for (int i=0; i<50; i++) {
Lightvalve 11:82d8768d7351 294 if(i%2==0)
Lightvalve 38:118df027d851 295 ID_index_array[i] = - i * 0.5f;
Lightvalve 11:82d8768d7351 296 else
Lightvalve 38:118df027d851 297 ID_index_array[i] = (i+1) * 0.5f;
Lightvalve 11:82d8768d7351 298 }
Lightvalve 169:645207e160ca 299
jobuuu 6:df07d3491e3a 300 /************************************
jobuuu 1:e04e563be5ce 301 *** Program is operating!
jobuuu 6:df07d3491e3a 302 *************************************/
GiJeongKim 0:51c43836c1d7 303 while(1) {
Lightvalve 169:645207e160ca 304
Lightvalve 224:985dba42f261 305 // UART example
Lightvalve 224:985dba42f261 306 // if(timer_while==100000) {
Lightvalve 171:bfc1fd2629d8 307 // timer_while = 0;
Lightvalve 224:985dba42f261 308 // pc.printf("%f\n", value);
Lightvalve 171:bfc1fd2629d8 309 // }
Lightvalve 224:985dba42f261 310 // timer_while ++;
Lightvalve 169:645207e160ca 311
Lightvalve 224:985dba42f261 312 //i2c for SW valve
Lightvalve 236:fd7961dfa78a 313 if(OPERATING_MODE == 5) {
Lightvalve 236:fd7961dfa78a 314 read_field(i2c_slave_addr1);
Lightvalve 236:fd7961dfa78a 315 if(DIR_VALVE_ENC < 0) value = 1023 - value;
Lightvalve 236:fd7961dfa78a 316 }
GiJeongKim 0:51c43836c1d7 317 }
jobuuu 1:e04e563be5ce 318 }
jobuuu 1:e04e563be5ce 319
Lightvalve 224:985dba42f261 320
Lightvalve 224:985dba42f261 321 // Velocity feedforward for SW valve
Lightvalve 33:91b17819ec30 322 float DDV_JOINT_POS_FF(float REF_JOINT_VEL)
Lightvalve 14:8e7590227d22 323 {
Lightvalve 13:747daba9cf59 324 int i = 0;
Lightvalve 48:889798ff9329 325 float Ref_Valve_Pos_FF = 0.0f;
Lightvalve 14:8e7590227d22 326 for(i=0; i<VALVE_POS_NUM; i++) {
Lightvalve 14:8e7590227d22 327 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 328 if(i==0) {
Lightvalve 50:3c630b5eba9f 329 if(JOINT_VEL[i+1] == JOINT_VEL[i]) {
Lightvalve 57:f4819de54e7a 330 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 331 } else {
Lightvalve 57:f4819de54e7a 332 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 333 }
Lightvalve 14:8e7590227d22 334 } else {
Lightvalve 50:3c630b5eba9f 335 if(JOINT_VEL[i+1] == JOINT_VEL[i-1]) {
Lightvalve 57:f4819de54e7a 336 Ref_Valve_Pos_FF = (float) VALVE_CENTER;
Lightvalve 50:3c630b5eba9f 337 } else {
Lightvalve 57:f4819de54e7a 338 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 339 }
Lightvalve 13:747daba9cf59 340 }
Lightvalve 13:747daba9cf59 341 break;
Lightvalve 13:747daba9cf59 342 }
Lightvalve 13:747daba9cf59 343 }
Lightvalve 14:8e7590227d22 344 if(REF_JOINT_VEL > max(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 345 Ref_Valve_Pos_FF = (float) VALVE_MAX_POS;
Lightvalve 14:8e7590227d22 346 } else if(REF_JOINT_VEL < min(JOINT_VEL[VALVE_POS_NUM-1], JOINT_VEL[VALVE_POS_NUM-2])) {
Lightvalve 33:91b17819ec30 347 Ref_Valve_Pos_FF = (float) VALVE_MIN_POS;
Lightvalve 13:747daba9cf59 348 }
Lightvalve 36:a46e63505ed8 349
Lightvalve 224:985dba42f261 350 Ref_Valve_Pos_FF = (float) VELOCITY_COMP_GAIN * 0.01f * (float) (Ref_Valve_Pos_FF - (float) VALVE_CENTER); //VELOCITY_COMP_GAIN : 0~100
Lightvalve 13:747daba9cf59 351 return Ref_Valve_Pos_FF;
Lightvalve 13:747daba9cf59 352 }
jobuuu 6:df07d3491e3a 353
Lightvalve 224:985dba42f261 354 // Valve feedforward for SW valve
Lightvalve 30:8d561f16383b 355 void VALVE_POS_CONTROL(float REF_VALVE_POS)
Lightvalve 14:8e7590227d22 356 {
Lightvalve 13:747daba9cf59 357 int i = 0;
Lightvalve 13:747daba9cf59 358
Lightvalve 38:118df027d851 359 if(REF_VALVE_POS > VALVE_MAX_POS) {
Lightvalve 38:118df027d851 360 REF_VALVE_POS = VALVE_MAX_POS;
Lightvalve 38:118df027d851 361 } else if(REF_VALVE_POS < VALVE_MIN_POS) {
Lightvalve 38:118df027d851 362 REF_VALVE_POS = VALVE_MIN_POS;
Lightvalve 38:118df027d851 363 }
Lightvalve 89:a7b45368ea0f 364 valve_pos_err = (float) (REF_VALVE_POS - value);
Lightvalve 13:747daba9cf59 365 valve_pos_err_diff = valve_pos_err - valve_pos_err_old;
Lightvalve 13:747daba9cf59 366 valve_pos_err_old = valve_pos_err;
Lightvalve 13:747daba9cf59 367 valve_pos_err_sum += valve_pos_err;
Lightvalve 89:a7b45368ea0f 368 if (valve_pos_err_sum > 1000.0f) valve_pos_err_sum = 1000.0f;
Lightvalve 89:a7b45368ea0f 369 if (valve_pos_err_sum<-1000.0f) valve_pos_err_sum = -1000.0f;
Lightvalve 13:747daba9cf59 370
Lightvalve 13:747daba9cf59 371 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 372
Lightvalve 18:b8adf1582ea3 373 for(i=0; i<24; i++) {
Lightvalve 89:a7b45368ea0f 374 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 375 if(i==0) {
Lightvalve 48:889798ff9329 376 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 377 } else {
Lightvalve 48:889798ff9329 378 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 379 }
Lightvalve 13:747daba9cf59 380 break;
Lightvalve 13:747daba9cf59 381 }
Lightvalve 13:747daba9cf59 382 }
Lightvalve 59:f308b1656d9c 383 Vout.ref = VALVE_PWM_RAW_FF + VALVE_PWM_RAW_FB;
Lightvalve 13:747daba9cf59 384 }
Lightvalve 13:747daba9cf59 385
Lightvalve 224:985dba42f261 386 // PWM duty vs. voltage output of L6205 in STM board
Lightvalve 14:8e7590227d22 387 #define LT_MAX_IDX 57
Lightvalve 30:8d561f16383b 388 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 389 -19.0f, -18.0f, -17.0f, -16.0f, -15.0f, -14.0f, -13.0f, -12.0f, -11.0f, -10.0f,
Lightvalve 34:bb2ca2fc2a8e 390 -9.0f, -8.0f, -7.0f, -6.0f, -5.0f, -4.0f, -3.0f, -2.0f, -1.0f, 0.0f,
Lightvalve 34:bb2ca2fc2a8e 391 1.0f, 2.0f, 3.0f, 4.0f, 5.0f, 6.0f, 7.0f, 8.0f, 9.0f, 10.0f,
Lightvalve 34:bb2ca2fc2a8e 392 11.0f, 12.0f, 13.0f, 14.0f, 15.0f, 16.0f, 17.0f, 18.0f, 19.0f, 20.0f,
Lightvalve 34:bb2ca2fc2a8e 393 25.0f, 30.0f, 35.0f, 40.0f, 50.0f, 60.0f, 80.0f, 100.0f
Lightvalve 34:bb2ca2fc2a8e 394 }; // duty
Lightvalve 67:c2812cf26c38 395 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 396 -150.0f, -145.0f, -145.0f, -145.0f, -135.0f, -135.0f, -135.0f, -127.5f, -127.5f, -115.0f,
Lightvalve 67:c2812cf26c38 397 -115.0f, -115.0F, -100.0f, -100.0f, -100.0f, -60.0f, -60.0f, -10.0f, -5.0f, 0.0f,
Lightvalve 67:c2812cf26c38 398 7.5f, 14.0f, 14.0f, 14.0f, 42.5f, 42.5f, 42.5f, 80.0f, 80.0f, 105.0f,
Lightvalve 67:c2812cf26c38 399 105.0f, 105.0f, 120.0f, 120.0f, 120.0f, 131.0f, 131.0f, 140.0f, 140.0f, 140.0f,
Lightvalve 67:c2812cf26c38 400 155.0f, 160.0f, 170.0f, 174.0f, 182.0f, 191.0f, 212.0f, 230.0f
Lightvalve 34:bb2ca2fc2a8e 401 }; // mV
Lightvalve 13:747daba9cf59 402
Lightvalve 30:8d561f16383b 403 float PWM_duty_byLT(float Ref_V)
Lightvalve 14:8e7590227d22 404 {
Lightvalve 30:8d561f16383b 405 float PWM_duty = 0.0f;
Lightvalve 13:747daba9cf59 406 if(Ref_V<LT_Voltage_Output[0]) {
Lightvalve 30:8d561f16383b 407 PWM_duty = (Ref_V-LT_Voltage_Output[0])/1.5f+LT_PWM_duty[0];
Lightvalve 13:747daba9cf59 408 } else if (Ref_V>=LT_Voltage_Output[LT_MAX_IDX-1]) {
Lightvalve 30:8d561f16383b 409 PWM_duty = (Ref_V-LT_Voltage_Output[LT_MAX_IDX-1])/1.5f+LT_PWM_duty[LT_MAX_IDX-1];
Lightvalve 13:747daba9cf59 410 } else {
Lightvalve 13:747daba9cf59 411 int idx = 0;
Lightvalve 13:747daba9cf59 412 for(idx=0; idx<LT_MAX_IDX-1; idx++) {
Lightvalve 30:8d561f16383b 413 float ini_x = LT_Voltage_Output[idx];
Lightvalve 30:8d561f16383b 414 float fin_x = LT_Voltage_Output[idx+1];
Lightvalve 30:8d561f16383b 415 float ini_y = LT_PWM_duty[idx];
Lightvalve 30:8d561f16383b 416 float fin_y = LT_PWM_duty[idx+1];
Lightvalve 13:747daba9cf59 417 if(Ref_V>=ini_x && Ref_V<fin_x) {
Lightvalve 13:747daba9cf59 418 PWM_duty = (fin_y-ini_y)/(fin_x-ini_x)*(Ref_V-ini_x) + ini_y;
Lightvalve 13:747daba9cf59 419 break;
Lightvalve 13:747daba9cf59 420 }
Lightvalve 13:747daba9cf59 421 }
Lightvalve 13:747daba9cf59 422 }
Lightvalve 14:8e7590227d22 423
Lightvalve 13:747daba9cf59 424 return PWM_duty;
Lightvalve 13:747daba9cf59 425 }
jobuuu 6:df07d3491e3a 426
Lightvalve 57:f4819de54e7a 427
Lightvalve 57:f4819de54e7a 428
jobuuu 2:a1c0a37df760 429 /*******************************************************************************
jobuuu 2:a1c0a37df760 430 TIMER INTERRUPT
jobuuu 2:a1c0a37df760 431 *******************************************************************************/
jobuuu 2:a1c0a37df760 432
jobuuu 230:2c3e5ecbe7e1 433 //------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 434 // TMR4 : Sensor Read & Data Handling
jobuuu 230:2c3e5ecbe7e1 435 //-----------------------------------------------
Lightvalve 51:b46bed7fec80 436 float FREQ_TMR4 = (float)FREQ_20k;
Lightvalve 51:b46bed7fec80 437 float DT_TMR4 = (float)DT_20k;
Lightvalve 57:f4819de54e7a 438 long CNT_TMR4 = 0;
Lightvalve 57:f4819de54e7a 439 int TMR4_FREQ_10k = (int)FREQ_10k;
jobuuu 1:e04e563be5ce 440 extern "C" void TIM4_IRQHandler(void)
jobuuu 1:e04e563be5ce 441 {
Lightvalve 19:23b7c1ad8683 442 if (TIM4->SR & TIM_SR_UIF ) {
Lightvalve 13:747daba9cf59 443
jobuuu 230:2c3e5ecbe7e1 444 // Current ===================================================
jobuuu 230:2c3e5ecbe7e1 445 //ADC3->CR2 |= 0x40000000; // adc _ 12bit
Lightvalve 235:c831718303c9 446
jobuuu 230:2c3e5ecbe7e1 447 cur.UpdateSen(((float)ADC3->DR-2047.5f)/2047.5f*10.0f, FREQ_TMR4, 500.0f); // unit : mA
jobuuu 230:2c3e5ecbe7e1 448
jobuuu 230:2c3e5ecbe7e1 449 // Encoder ===================================================
Lightvalve 57:f4819de54e7a 450 if (CNT_TMR4 % (int) ((int) FREQ_TMR4/TMR4_FREQ_10k) == 0) {
Lightvalve 57:f4819de54e7a 451 ENC_UPDATE();
Lightvalve 57:f4819de54e7a 452 }
Lightvalve 61:bc8c8270f0ab 453
jobuuu 230:2c3e5ecbe7e1 454 // Force or Pressure Transducer =============================================
Lightvalve 61:bc8c8270f0ab 455 ADC1->CR2 |= 0x40000000;
jobuuu 230:2c3e5ecbe7e1 456 if (SENSING_MODE == 0) { // Force sensing
jobuuu 230:2c3e5ecbe7e1 457 force.UpdateSen((((float)ADC1->DR) - 2047.5f)/TORQUE_SENSOR_PULSE_PER_TORQUE, FREQ_TMR4, 100.0f); // unit : N
jobuuu 230:2c3e5ecbe7e1 458 } else if (SENSING_MODE == 1) { // Pressure sensing
jobuuu 230:2c3e5ecbe7e1 459 float pres_A_new, pres_B_new;
hyhoon 226:82a3ca333004 460 if (DIR_VALVE_ENC > 0) {
jobuuu 230:2c3e5ecbe7e1 461 pres_A_new = (((float)ADC1->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 232:2976cf1b4252 462 pres_B_new = (((float)ADC2->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
hyhoon 226:82a3ca333004 463 } else {
jobuuu 230:2c3e5ecbe7e1 464 pres_A_new = (((float)ADC2->DR) - PRES_A_NULL_pulse)/ PRES_SENSOR_A_PULSE_PER_BAR; // unit : bar
Lightvalve 232:2976cf1b4252 465 pres_B_new = (((float)ADC1->DR) - PRES_B_NULL_pulse)/ PRES_SENSOR_B_PULSE_PER_BAR;
hyhoon 226:82a3ca333004 466 }
jobuuu 230:2c3e5ecbe7e1 467 pres_A.UpdateSen(pres_A_new,FREQ_TMR4,200.0f);
jobuuu 230:2c3e5ecbe7e1 468 pres_B.UpdateSen(pres_B_new,FREQ_TMR4,200.0f);
Lightvalve 50:3c630b5eba9f 469
Lightvalve 58:2eade98630e2 470 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Actuator
Lightvalve 235:c831718303c9 471 float torq_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.0001f; // mm^3*bar >> Nm
Lightvalve 232:2976cf1b4252 472 torq.UpdateSen(torq_new,FREQ_TMR4,1000.0f); // unit : Nm
Lightvalve 58:2eade98630e2 473 } else if ((OPERATING_MODE & 0x01) == 1) { // Linear Actuator
jobuuu 230:2c3e5ecbe7e1 474 float force_new = (PISTON_AREA_A * pres_A.sen - PISTON_AREA_B * pres_B.sen) * 0.1f; // mm^2*bar >> N
Lightvalve 232:2976cf1b4252 475 force.UpdateSen(force_new,FREQ_TMR4,1000.0f); // unit : N
Lightvalve 58:2eade98630e2 476 }
Lightvalve 58:2eade98630e2 477 }
Lightvalve 61:bc8c8270f0ab 478
Lightvalve 57:f4819de54e7a 479 CNT_TMR4++;
Lightvalve 21:e5f1a43ea6f9 480 }
Lightvalve 11:82d8768d7351 481 TIM4->SR = 0x0; // reset the status register
Lightvalve 11:82d8768d7351 482 }
Lightvalve 19:23b7c1ad8683 483
Lightvalve 19:23b7c1ad8683 484
Lightvalve 18:b8adf1582ea3 485 int j =0;
Lightvalve 54:647072f5307a 486 float FREQ_TMR3 = (float)FREQ_5k;
Lightvalve 48:889798ff9329 487 float DT_TMR3 = (float)DT_5k;
Lightvalve 45:35fa6884d0c6 488 int cnt_trans = 0;
Lightvalve 48:889798ff9329 489 double VALVE_POS_RAW_FORCE_FB_LOGGING = 0.0f;
Lightvalve 57:f4819de54e7a 490 int can_rest =0;
Lightvalve 48:889798ff9329 491
Lightvalve 11:82d8768d7351 492 extern "C" void TIM3_IRQHandler(void)
Lightvalve 21:e5f1a43ea6f9 493 {
Lightvalve 19:23b7c1ad8683 494 if (TIM3->SR & TIM_SR_UIF ) {
Lightvalve 57:f4819de54e7a 495
Lightvalve 50:3c630b5eba9f 496 if(MODE_POS_FT_TRANS == 1) {
jobuuu 230:2c3e5ecbe7e1 497 if (alpha_trans == 1.0f) MODE_POS_FT_TRANS = 2;
Lightvalve 48:889798ff9329 498 alpha_trans = (float)(1.0f - cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 499 cnt_trans++;
Lightvalve 233:2ec0de8590d3 500 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 501 force.err_int = 0.0f;
Lightvalve 48:889798ff9329 502 if((float)cnt_trans * DT_TMR3 > 3.0f)
Lightvalve 45:35fa6884d0c6 503 MODE_POS_FT_TRANS = 2;
Lightvalve 50:3c630b5eba9f 504 } else if(MODE_POS_FT_TRANS == 3) {
jobuuu 230:2c3e5ecbe7e1 505 if (alpha_trans == 0.0f) MODE_POS_FT_TRANS = 0;
Lightvalve 48:889798ff9329 506 alpha_trans = (float)(1.0f + cos(3.141592f * (float)cnt_trans * DT_TMR3 /3.0f))/2.0f;
Lightvalve 45:35fa6884d0c6 507 cnt_trans++;
Lightvalve 233:2ec0de8590d3 508 torq.err_int = 0.0f;
Lightvalve 233:2ec0de8590d3 509 force.err_int = 0.0f;
Lightvalve 48:889798ff9329 510 if((float) cnt_trans * DT_TMR3 > 3.0f )
Lightvalve 45:35fa6884d0c6 511 MODE_POS_FT_TRANS = 0;
Lightvalve 50:3c630b5eba9f 512 } else if(MODE_POS_FT_TRANS == 2) {
Lightvalve 58:2eade98630e2 513 alpha_trans = 1.0f;
Lightvalve 45:35fa6884d0c6 514 cnt_trans = 0;
Lightvalve 50:3c630b5eba9f 515 } else {
Lightvalve 58:2eade98630e2 516 alpha_trans = 0.0f;
Lightvalve 45:35fa6884d0c6 517 cnt_trans = 0;
Lightvalve 45:35fa6884d0c6 518 }
Lightvalve 45:35fa6884d0c6 519
Lightvalve 50:3c630b5eba9f 520
jobuuu 230:2c3e5ecbe7e1 521 // Reference Update ==========================================================
hyhoon 227:699c3e572283 522 switch (REFERENCE_MODE) {
hyhoon 227:699c3e572283 523 case MODE_REF_NO_ACT: {
hyhoon 227:699c3e572283 524 break;
hyhoon 227:699c3e572283 525 }
hyhoon 227:699c3e572283 526 case MODE_REF_DIRECT: {
hyhoon 227:699c3e572283 527 pos.ref = REF_POSITION;
hyhoon 227:699c3e572283 528 vel.ref = REF_VELOCITY;
hyhoon 227:699c3e572283 529 torq.ref = REF_TORQUE;
jobuuu 230:2c3e5ecbe7e1 530 force.ref = REF_FORCE;
jobuuu 230:2c3e5ecbe7e1 531 break;
jobuuu 230:2c3e5ecbe7e1 532 }
jobuuu 230:2c3e5ecbe7e1 533 case MODE_REF_FINDHOME: {
jobuuu 230:2c3e5ecbe7e1 534 pos.ref = REF_POSITION_FINDHOME;
jobuuu 230:2c3e5ecbe7e1 535 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 536 torq.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 537 force.ref = 0.0f;
hyhoon 227:699c3e572283 538 break;
hyhoon 227:699c3e572283 539 }
hyhoon 227:699c3e572283 540 default:
hyhoon 227:699c3e572283 541 break;
hyhoon 227:699c3e572283 542 }
hyhoon 227:699c3e572283 543
Lightvalve 237:c2cfe349f5c1 544 if (((OPERATING_MODE&0b110)>>1) == 0) {
jobuuu 230:2c3e5ecbe7e1 545 K_v = 1.03f; // Q = K_v*sqrt(deltaP)*tanh(C_d*Xv);
Lightvalve 235:c831718303c9 546 C_d = 0.16f;
jobuuu 230:2c3e5ecbe7e1 547 mV_PER_mA = 500.0f; // 5000mV/10mA
jobuuu 230:2c3e5ecbe7e1 548 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 549 mA_PER_pulse = 0.001f; // 10mA/10000pulse
Lightvalve 237:c2cfe349f5c1 550 } else if (((OPERATING_MODE&0b110)>>1) == 1) {
jobuuu 230:2c3e5ecbe7e1 551 K_v = 0.5f; // KNR (LPM >> mA) , 100bar
jobuuu 230:2c3e5ecbe7e1 552 mV_PER_mA = 166.6666f; // 5000mV/30mA
jobuuu 230:2c3e5ecbe7e1 553 mV_PER_pulse = 0.5f; // 5000mV/10000pulse
jobuuu 230:2c3e5ecbe7e1 554 mA_PER_pulse = 0.003f; // 30mA/10000pulse
Lightvalve 237:c2cfe349f5c1 555 } else if (((OPERATING_MODE&0b110)>>1) == 2) {
Lightvalve 237:c2cfe349f5c1 556 C_d = 0.0000845f; // Q = C_d * Valve_pos * sqrt(deltaP*alpha/(1+alpha)) : Valve_pos = 10000, deltaP = 70, alpha = 1 -> Q = 5
jobuuu 230:2c3e5ecbe7e1 557 }
Lightvalve 235:c831718303c9 558
jobuuu 230:2c3e5ecbe7e1 559 // =====================================================================
jobuuu 230:2c3e5ecbe7e1 560 // CONTROL LOOP --------------------------------------------------------
jobuuu 230:2c3e5ecbe7e1 561 // =====================================================================
Lightvalve 57:f4819de54e7a 562 int UTILITY_MODE = 0;
Lightvalve 57:f4819de54e7a 563 int CONTROL_MODE = 0;
Lightvalve 58:2eade98630e2 564
Lightvalve 57:f4819de54e7a 565 if (CONTROL_UTILITY_MODE >= 20 || CONTROL_UTILITY_MODE == 0) {
Lightvalve 57:f4819de54e7a 566 UTILITY_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 567 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 568 } else {
Lightvalve 57:f4819de54e7a 569 CONTROL_MODE = CONTROL_UTILITY_MODE;
Lightvalve 57:f4819de54e7a 570 UTILITY_MODE = MODE_NO_ACT;
Lightvalve 57:f4819de54e7a 571 }
Lightvalve 57:f4819de54e7a 572 // UTILITY MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 573 switch (UTILITY_MODE) {
Lightvalve 57:f4819de54e7a 574 case MODE_NO_ACT: {
Lightvalve 13:747daba9cf59 575 break;
Lightvalve 13:747daba9cf59 576 }
Lightvalve 14:8e7590227d22 577
Lightvalve 235:c831718303c9 578 case MODE_TORQUE_SENSOR_NULLING: {
Lightvalve 235:c831718303c9 579 static float FORCE_pulse_sum = 0.0;
Lightvalve 235:c831718303c9 580 static float PresA_pulse_sum = 0.0;
Lightvalve 235:c831718303c9 581 static float PresB_pulse_sum = 0.0;
Lightvalve 235:c831718303c9 582
Lightvalve 13:747daba9cf59 583 // DAC Voltage reference set
Lightvalve 232:2976cf1b4252 584 float VREF_TuningGain = -0.000003f;
jobuuu 230:2c3e5ecbe7e1 585 if (TMR3_COUNT_TORQUE_NULL < TMR_FREQ_5k * 5) {
jobuuu 230:2c3e5ecbe7e1 586 LED = 1;
jobuuu 230:2c3e5ecbe7e1 587 if(SENSING_MODE == 0) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 588 FORCE_pulse_sum = FORCE_pulse_sum + force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE;
jobuuu 230:2c3e5ecbe7e1 589 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 590 float FORCE_pluse_mean = FORCE_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 591 FORCE_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 592
jobuuu 230:2c3e5ecbe7e1 593 FORCE_VREF += VREF_TuningGain * (0.0f - FORCE_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 594 if (FORCE_VREF > 3.3f) FORCE_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 595 if (FORCE_VREF < 0.0f) FORCE_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 596 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 597 }
Lightvalve 235:c831718303c9 598 } else if (SENSING_MODE == 1) { // Pressure Sensor
jobuuu 230:2c3e5ecbe7e1 599 PresA_pulse_sum += pres_A.sen*PRES_SENSOR_A_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 600 PresB_pulse_sum += pres_B.sen*PRES_SENSOR_B_PULSE_PER_BAR;
jobuuu 230:2c3e5ecbe7e1 601 if (TMR3_COUNT_TORQUE_NULL % 10 == 0) {
jobuuu 230:2c3e5ecbe7e1 602 float PresA_pluse_mean = PresA_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 603 float PresB_pluse_mean = PresB_pulse_sum / 10.0f;
jobuuu 230:2c3e5ecbe7e1 604 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 605 PresB_pulse_sum = 0.0f;
Lightvalve 19:23b7c1ad8683 606
jobuuu 230:2c3e5ecbe7e1 607 PRES_A_VREF += VREF_TuningGain * (0.0f - PresA_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 608 if (PRES_A_VREF > 3.3f) PRES_A_VREF = 3.3f;
jobuuu 230:2c3e5ecbe7e1 609 if (PRES_A_VREF < 0.0f) PRES_A_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 610 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 611 PRES_B_VREF += VREF_TuningGain * (0.0f - PresB_pluse_mean);
jobuuu 230:2c3e5ecbe7e1 612 if (PRES_B_VREF > 3.3f) PRES_B_VREF = 3.3f;
Lightvalve 235:c831718303c9 613 if (PRES_B_VREF < 0.0f) PRES_B_VREF = 0.0f;
jobuuu 230:2c3e5ecbe7e1 614 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 615 }
Lightvalve 13:747daba9cf59 616 }
jobuuu 230:2c3e5ecbe7e1 617 TMR3_COUNT_TORQUE_NULL++;
Lightvalve 13:747daba9cf59 618 } else {
jobuuu 230:2c3e5ecbe7e1 619 if(SENSING_MODE == 0 ) { // Force Sensor (Loadcell)
jobuuu 230:2c3e5ecbe7e1 620 FORCE_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 621 dac_1 = FORCE_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 622 spi_eeprom_write(RID_FORCE_SENSOR_VREF, (int16_t)(FORCE_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 623 } else if (SENSING_MODE == 1) {
jobuuu 230:2c3e5ecbe7e1 624 PresA_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 625 PresB_pulse_sum = 0.0f;
jobuuu 230:2c3e5ecbe7e1 626 dac_1 = PRES_A_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 627 dac_2 = PRES_B_VREF / 3.3f;
jobuuu 230:2c3e5ecbe7e1 628 spi_eeprom_write(RID_PRES_A_SENSOR_VREF, (int16_t)(PRES_A_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 629 spi_eeprom_write(RID_PRES_B_SENSOR_VREF, (int16_t)(PRES_B_VREF * 1000.0f));
jobuuu 230:2c3e5ecbe7e1 630 }
Lightvalve 58:2eade98630e2 631 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 14:8e7590227d22 632 TMR3_COUNT_TORQUE_NULL = 0;
Lightvalve 13:747daba9cf59 633 }
Lightvalve 13:747daba9cf59 634 break;
Lightvalve 19:23b7c1ad8683 635 }
Lightvalve 14:8e7590227d22 636
Lightvalve 235:c831718303c9 637 case MODE_FIND_HOME: {
jobuuu 230:2c3e5ecbe7e1 638 static int cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 639 static int cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 640 static float FINDHOME_POSITION_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 641 static float FINDHOME_POSITION_pulse_OLD = 0.0f;
jobuuu 230:2c3e5ecbe7e1 642 static float FINDHOME_VELOCITY_pulse = 0.0f;
Lightvalve 235:c831718303c9 643 static float REF_POSITION_FINDHOME_INIT = 0.0f;
jobuuu 230:2c3e5ecbe7e1 644
Lightvalve 29:69f3f5445d6d 645 if (FINDHOME_STAGE == FINDHOME_INIT) {
jobuuu 230:2c3e5ecbe7e1 646 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 14:8e7590227d22 647 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 648 cnt_terminate_findhome = 0;
Lightvalve 59:f308b1656d9c 649 pos.ref = pos.sen;
Lightvalve 59:f308b1656d9c 650 vel.ref = 0.0f;
jobuuu 230:2c3e5ecbe7e1 651 REF_POSITION_FINDHOME = pos.ref;
Lightvalve 29:69f3f5445d6d 652 FINDHOME_STAGE = FINDHOME_GOTOLIMIT;
Lightvalve 29:69f3f5445d6d 653 } else if (FINDHOME_STAGE == FINDHOME_GOTOLIMIT) {
jobuuu 230:2c3e5ecbe7e1 654 int cnt_check_enc = (TMR_FREQ_5k/20); // 5000/20 = 250tic = 50msec
Lightvalve 29:69f3f5445d6d 655 if(cnt_findhome%cnt_check_enc == 0) {
jobuuu 230:2c3e5ecbe7e1 656 FINDHOME_POSITION_pulse = pos.sen*ENC_PULSE_PER_POSITION;
jobuuu 230:2c3e5ecbe7e1 657 FINDHOME_VELOCITY_pulse = FINDHOME_POSITION_pulse - FINDHOME_POSITION_pulse_OLD;
jobuuu 230:2c3e5ecbe7e1 658 FINDHOME_POSITION_pulse_OLD = FINDHOME_POSITION_pulse;
Lightvalve 29:69f3f5445d6d 659 }
Lightvalve 29:69f3f5445d6d 660 cnt_findhome++;
Lightvalve 14:8e7590227d22 661
jobuuu 230:2c3e5ecbe7e1 662 if (fabs(FINDHOME_VELOCITY_pulse) <= 1) {
jobuuu 230:2c3e5ecbe7e1 663 cnt_terminate_findhome = cnt_terminate_findhome + 1;
Lightvalve 29:69f3f5445d6d 664 } else {
jobuuu 230:2c3e5ecbe7e1 665 cnt_terminate_findhome = 0;
Lightvalve 29:69f3f5445d6d 666 }
Lightvalve 19:23b7c1ad8683 667
jobuuu 230:2c3e5ecbe7e1 668 if ((cnt_terminate_findhome < 3*TMR_FREQ_5k) && cnt_findhome < 10*TMR_FREQ_5k) { // wait for 3sec
jobuuu 230:2c3e5ecbe7e1 669 double GOTOHOME_SPEED = 10.0f; // 20mm/s or 20deg/s
hyhoon 226:82a3ca333004 670 if (HOMEPOS_OFFSET > 0) {
Lightvalve 235:c831718303c9 671 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME + GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 672 } else {
jobuuu 230:2c3e5ecbe7e1 673 REF_POSITION_FINDHOME = REF_POSITION_FINDHOME - GOTOHOME_SPEED*DT_5k;
hyhoon 226:82a3ca333004 674 }
Lightvalve 59:f308b1656d9c 675 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 59:f308b1656d9c 676 alpha_trans = 0.0f;
Lightvalve 29:69f3f5445d6d 677 } else {
jobuuu 230:2c3e5ecbe7e1 678 ENC_SET((long)((long)HOMEPOS_OFFSET*10));
jobuuu 230:2c3e5ecbe7e1 679 REF_POSITION_FINDHOME_INIT = (float)((long)HOMEPOS_OFFSET*10);
jobuuu 230:2c3e5ecbe7e1 680 FINDHOME_POSITION_pulse = 0;
jobuuu 230:2c3e5ecbe7e1 681 FINDHOME_POSITION_pulse_OLD = 0;
jobuuu 230:2c3e5ecbe7e1 682 FINDHOME_VELOCITY_pulse = 0;
Lightvalve 235:c831718303c9 683
Lightvalve 29:69f3f5445d6d 684 cnt_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 685 cnt_terminate_findhome = 0;
jobuuu 230:2c3e5ecbe7e1 686 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 687 FINDHOME_STAGE = FINDHOME_ZEROPOSE;
Lightvalve 29:69f3f5445d6d 688 }
Lightvalve 29:69f3f5445d6d 689 } else if (FINDHOME_STAGE == FINDHOME_ZEROPOSE) {
Lightvalve 235:c831718303c9 690
Lightvalve 232:2976cf1b4252 691 // int T_move = 2*TMR_FREQ_5k;
Lightvalve 232:2976cf1b4252 692 int T_move = 10000;
Lightvalve 232:2976cf1b4252 693 REF_POSITION_FINDHOME = ((0.0f - REF_POSITION_FINDHOME_INIT)*0.5f*(1.0f - cos(3.14159f * (float)cnt_findhome / (float)T_move)) + (float)REF_POSITION_FINDHOME_INIT)/ENC_PULSE_PER_POSITION;
Lightvalve 235:c831718303c9 694
Lightvalve 29:69f3f5445d6d 695 cnt_findhome++;
Lightvalve 235:c831718303c9 696
Lightvalve 232:2976cf1b4252 697 REFERENCE_MODE = MODE_REF_FINDHOME;
Lightvalve 232:2976cf1b4252 698 CONTROL_MODE = MODE_JOINT_CONTROL;
Lightvalve 232:2976cf1b4252 699 alpha_trans = 0.0f;
Lightvalve 235:c831718303c9 700
Lightvalve 29:69f3f5445d6d 701 if (cnt_findhome >= T_move) {
Lightvalve 29:69f3f5445d6d 702 cnt_findhome = 0;
Lightvalve 30:8d561f16383b 703 pos.ref = 0.0f;
Lightvalve 29:69f3f5445d6d 704 FINDHOME_STAGE = FINDHOME_INIT;
Lightvalve 57:f4819de54e7a 705 CONTROL_UTILITY_MODE = MODE_JOINT_CONTROL;
jobuuu 230:2c3e5ecbe7e1 706 REFERENCE_MODE = MODE_REF_DIRECT;
hyhoon 226:82a3ca333004 707 }
Lightvalve 13:747daba9cf59 708 }
Lightvalve 13:747daba9cf59 709 break;
Lightvalve 13:747daba9cf59 710 }
Lightvalve 237:c2cfe349f5c1 711
Lightvalve 237:c2cfe349f5c1 712 case MODE_DDV_POS_VS_PWM_ID: {
Lightvalve 237:c2cfe349f5c1 713 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 714 VALVE_ID_timer = VALVE_ID_timer + 1;
Lightvalve 237:c2cfe349f5c1 715
Lightvalve 237:c2cfe349f5c1 716 if(VALVE_ID_timer < TMR_FREQ_5k*1) {
Lightvalve 237:c2cfe349f5c1 717 Vout.ref = 3000.0f * sin(2.0f*3.14159f*VALVE_ID_timer/TMR_FREQ_5k * 100.0f);
Lightvalve 237:c2cfe349f5c1 718 } else if(VALVE_ID_timer < TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 719 Vout.ref = 1000.0f*(ID_index_array[ID_index]);
Lightvalve 237:c2cfe349f5c1 720 } else if(VALVE_ID_timer == TMR_FREQ_5k*2) {
Lightvalve 237:c2cfe349f5c1 721 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 722 data_num = 0;
Lightvalve 237:c2cfe349f5c1 723 } else if(VALVE_ID_timer < TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 724 data_num = data_num + 1;
Lightvalve 237:c2cfe349f5c1 725 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 237:c2cfe349f5c1 726 } else if(VALVE_ID_timer == TMR_FREQ_5k*3) {
Lightvalve 237:c2cfe349f5c1 727 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 728 } else {
Lightvalve 237:c2cfe349f5c1 729 VALVE_POS_AVG[ID_index] = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 730 VALVE_ID_timer = 0;
Lightvalve 237:c2cfe349f5c1 731 ID_index= ID_index +1;
Lightvalve 237:c2cfe349f5c1 732 }
Lightvalve 237:c2cfe349f5c1 733
Lightvalve 237:c2cfe349f5c1 734 if(ID_index>=25) {
Lightvalve 237:c2cfe349f5c1 735 int i;
Lightvalve 237:c2cfe349f5c1 736 VALVE_POS_AVG_OLD = VALVE_POS_AVG[0];
Lightvalve 237:c2cfe349f5c1 737 for(i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 738 VALVE_POS_VS_PWM[i] = (int16_t) (VALVE_POS_AVG[i]);
Lightvalve 237:c2cfe349f5c1 739 if(VALVE_POS_AVG[i] > VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 740 VALVE_MAX_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 741 VALVE_POS_AVG_OLD = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 742 } else if(VALVE_POS_AVG[i] < VALVE_POS_AVG_OLD) {
Lightvalve 237:c2cfe349f5c1 743 VALVE_MIN_POS = VALVE_POS_AVG[i];
Lightvalve 237:c2cfe349f5c1 744 VALVE_POS_AVG_OLD = VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 745 }
Lightvalve 237:c2cfe349f5c1 746 }
Lightvalve 237:c2cfe349f5c1 747 VALVE_ELECTRIC_CENTER = VALVE_POS_VS_PWM[0];
Lightvalve 237:c2cfe349f5c1 748 spi_eeprom_write(RID_VALVE_ELECTRIC_CENTER, (int16_t) VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 749 spi_eeprom_write(RID_VALVE_MAX_POS, (int16_t) VALVE_MAX_POS);
Lightvalve 237:c2cfe349f5c1 750 spi_eeprom_write(RID_VALVE_MIN_POS, (int16_t) VALVE_MIN_POS);
Lightvalve 237:c2cfe349f5c1 751 for(int i=0; i<25; i++) {
Lightvalve 237:c2cfe349f5c1 752 spi_eeprom_write(RID_VALVE_POS_VS_PWM_0 + i, (int16_t) VALVE_POS_VS_PWM[i]);
Lightvalve 237:c2cfe349f5c1 753 }
Lightvalve 237:c2cfe349f5c1 754 ID_index = 0;
Lightvalve 237:c2cfe349f5c1 755 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 756 }
Lightvalve 237:c2cfe349f5c1 757
Lightvalve 237:c2cfe349f5c1 758
Lightvalve 237:c2cfe349f5c1 759 break;
Lightvalve 237:c2cfe349f5c1 760 }
Lightvalve 237:c2cfe349f5c1 761 case MODE_DDV_DEADZONE_AND_CENTER: {
Lightvalve 237:c2cfe349f5c1 762 CONTROL_MODE = MODE_VALVE_OPEN_LOOP;
Lightvalve 237:c2cfe349f5c1 763 VALVE_DZ_timer = VALVE_DZ_timer + 1;
Lightvalve 237:c2cfe349f5c1 764 if(first_check == 0) {
Lightvalve 237:c2cfe349f5c1 765 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 766 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 767 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 768 Vout.ref = VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 769 pos_plus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 770 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 771 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 772 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 773 Vout.ref = -VALVE_VOLTAGE_LIMIT * 1000.0f;
Lightvalve 237:c2cfe349f5c1 774 pos_minus_end = pos.sen;
Lightvalve 237:c2cfe349f5c1 775 } else if(VALVE_DZ_timer < (int) (3.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 776 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 777 } else if(VALVE_DZ_timer < (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 778 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 779 data_num = data_num + 1;
Lightvalve 237:c2cfe349f5c1 780 VALVE_POS_TMP = VALVE_POS_TMP + value;
Lightvalve 237:c2cfe349f5c1 781 } else if(VALVE_DZ_timer == (int) (4.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 782 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 783 DDV_POS_AVG = VALVE_POS_TMP / data_num;
Lightvalve 237:c2cfe349f5c1 784 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 785 VALVE_POS_TMP = 0;
Lightvalve 237:c2cfe349f5c1 786 data_num = 0;
Lightvalve 237:c2cfe349f5c1 787
Lightvalve 237:c2cfe349f5c1 788 } else if(VALVE_DZ_timer < (int) (5.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 789 valve_pos.ref = DDV_POS_AVG;
Lightvalve 237:c2cfe349f5c1 790 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 237:c2cfe349f5c1 791
Lightvalve 237:c2cfe349f5c1 792 } else if(VALVE_DZ_timer < (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 793 valve_pos.ref = DDV_POS_AVG;
Lightvalve 237:c2cfe349f5c1 794 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 237:c2cfe349f5c1 795
Lightvalve 237:c2cfe349f5c1 796 } else if(VALVE_DZ_timer == (int) (6.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 797 valve_pos.ref = DDV_POS_AVG;
Lightvalve 237:c2cfe349f5c1 798 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 237:c2cfe349f5c1 799 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 800
Lightvalve 237:c2cfe349f5c1 801 if((FINAL_POS - START_POS)>10) {
Lightvalve 237:c2cfe349f5c1 802 DZ_case = 1;
Lightvalve 237:c2cfe349f5c1 803 } else if((FINAL_POS - START_POS)<-10) {
Lightvalve 237:c2cfe349f5c1 804 DZ_case = -1;
Lightvalve 237:c2cfe349f5c1 805 } else {
Lightvalve 237:c2cfe349f5c1 806 DZ_case = 0;
Lightvalve 237:c2cfe349f5c1 807 }
Lightvalve 237:c2cfe349f5c1 808
Lightvalve 237:c2cfe349f5c1 809 first_check = 1;
Lightvalve 237:c2cfe349f5c1 810 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 811 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 812 Ref_Valve_Pos_Old = DDV_POS_AVG;
Lightvalve 237:c2cfe349f5c1 813 DZ_NUM = 1;
Lightvalve 237:c2cfe349f5c1 814 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 815
Lightvalve 237:c2cfe349f5c1 816 }
Lightvalve 237:c2cfe349f5c1 817 } else {
Lightvalve 237:c2cfe349f5c1 818 if((DZ_case == -1 && DZ_NUM == 1) | (DZ_case == 1 && DZ_NUM == 1)) {
Lightvalve 237:c2cfe349f5c1 819 if(VALVE_DZ_timer < (int) (1.0 * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 820 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 821 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 822 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 823 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 824 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 237:c2cfe349f5c1 825 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 237:c2cfe349f5c1 826 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 827 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 237:c2cfe349f5c1 828 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 829 }
Lightvalve 237:c2cfe349f5c1 830 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 237:c2cfe349f5c1 831
Lightvalve 237:c2cfe349f5c1 832 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 833 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 237:c2cfe349f5c1 834 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 835
Lightvalve 237:c2cfe349f5c1 836 if((FINAL_POS - START_POS)>2) {
Lightvalve 237:c2cfe349f5c1 837 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 838 } else if((FINAL_POS - START_POS)<-2) {
Lightvalve 237:c2cfe349f5c1 839 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 840 } else {
Lightvalve 237:c2cfe349f5c1 841 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 842 }
Lightvalve 237:c2cfe349f5c1 843
Lightvalve 237:c2cfe349f5c1 844 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 845 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 846 if(DZ_index >= 128) {
Lightvalve 237:c2cfe349f5c1 847 FIRST_DZ = valve_pos.ref;
Lightvalve 237:c2cfe349f5c1 848 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 849 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 850 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 851 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 852 }
Lightvalve 237:c2cfe349f5c1 853 }
Lightvalve 237:c2cfe349f5c1 854 } else if((DZ_case == -1 && DZ_NUM == 2) | (DZ_case == 1 && DZ_NUM == 2)) {
Lightvalve 237:c2cfe349f5c1 855 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 856 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 857 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 858 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 859 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 860 valve_pos.ref = Ref_Valve_Pos_Old - DZ_case * DZ_DIRECTION * 64 / DZ_index;
Lightvalve 237:c2cfe349f5c1 861 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 237:c2cfe349f5c1 862 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 863 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 237:c2cfe349f5c1 864 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 865 }
Lightvalve 237:c2cfe349f5c1 866 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 237:c2cfe349f5c1 867
Lightvalve 237:c2cfe349f5c1 868 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 869 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 870 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 871 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 237:c2cfe349f5c1 872 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 873
Lightvalve 237:c2cfe349f5c1 874 if((FINAL_POS - START_POS)>2) {
Lightvalve 237:c2cfe349f5c1 875 DZ_DIRECTION = 1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 876 } else if((FINAL_POS - START_POS)<-2) {
Lightvalve 237:c2cfe349f5c1 877 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 878 } else {
Lightvalve 237:c2cfe349f5c1 879 DZ_DIRECTION = -1 * DZ_case;
Lightvalve 237:c2cfe349f5c1 880 }
Lightvalve 237:c2cfe349f5c1 881
Lightvalve 237:c2cfe349f5c1 882 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 883 DZ_index= DZ_index * 2;
Lightvalve 237:c2cfe349f5c1 884 if(DZ_index >= 128) {
Lightvalve 237:c2cfe349f5c1 885 SECOND_DZ = valve_pos.ref;
Lightvalve 237:c2cfe349f5c1 886 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 887 first_check = 0;
Lightvalve 237:c2cfe349f5c1 888 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 889 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 890
Lightvalve 237:c2cfe349f5c1 891 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 892 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 893 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 894
Lightvalve 237:c2cfe349f5c1 895 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 896 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 897 }
Lightvalve 237:c2cfe349f5c1 898 }
Lightvalve 237:c2cfe349f5c1 899 } else if(DZ_case == 0 && DZ_NUM ==1) {
Lightvalve 237:c2cfe349f5c1 900 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 901 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 902 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 903 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 904 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 905 valve_pos.ref = Ref_Valve_Pos_Old - DZ_DIRECTION * 64 / DZ_index;
Lightvalve 237:c2cfe349f5c1 906 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 237:c2cfe349f5c1 907 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 908 } else if(valve_pos.ref >= VALVE_MAX_POS) {
Lightvalve 237:c2cfe349f5c1 909 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 910 }
Lightvalve 237:c2cfe349f5c1 911 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 237:c2cfe349f5c1 912
Lightvalve 237:c2cfe349f5c1 913 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 914 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 237:c2cfe349f5c1 915 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 916
Lightvalve 237:c2cfe349f5c1 917 if((FINAL_POS - START_POS)>2) {
Lightvalve 237:c2cfe349f5c1 918 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 919 } else if((FINAL_POS - START_POS)<-2) {
Lightvalve 237:c2cfe349f5c1 920 DZ_DIRECTION = -1;
Lightvalve 237:c2cfe349f5c1 921 } else {
Lightvalve 237:c2cfe349f5c1 922 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 923 }
Lightvalve 237:c2cfe349f5c1 924 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 925 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 926 if(DZ_index >= 128) {
Lightvalve 237:c2cfe349f5c1 927 FIRST_DZ = valve_pos.ref;
Lightvalve 237:c2cfe349f5c1 928 DZ_NUM = 2;
Lightvalve 237:c2cfe349f5c1 929 Ref_Valve_Pos_Old = FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 930 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 931 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 932 }
Lightvalve 237:c2cfe349f5c1 933 }
Lightvalve 237:c2cfe349f5c1 934 } else {
Lightvalve 237:c2cfe349f5c1 935 if(VALVE_DZ_timer < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 936 Vout.ref = (float) P_GAIN_JOINT_POSITION * (0.5f * (float) pos_plus_end + 0.5f * (float) pos_minus_end - (float) pos.sen)*(float) 50.0f;
Lightvalve 237:c2cfe349f5c1 937 } else if(VALVE_DZ_timer == (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 938 START_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 939 } else if(VALVE_DZ_timer < (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 940 valve_pos.ref = Ref_Valve_Pos_Old + DZ_DIRECTION * 64 / DZ_index;
Lightvalve 237:c2cfe349f5c1 941 if(valve_pos.ref <= VALVE_MIN_POS) {
Lightvalve 237:c2cfe349f5c1 942 valve_pos.ref = VALVE_MIN_POS;
Lightvalve 237:c2cfe349f5c1 943 } else if(valve_pos.ref > VALVE_MAX_POS) {
Lightvalve 237:c2cfe349f5c1 944 valve_pos.ref = VALVE_MAX_POS;
Lightvalve 237:c2cfe349f5c1 945 }
Lightvalve 237:c2cfe349f5c1 946 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 237:c2cfe349f5c1 947
Lightvalve 237:c2cfe349f5c1 948 } else if(VALVE_DZ_timer == (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 949 Vout.ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 950 } else if(VALVE_DZ_timer > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 951 Ref_Valve_Pos_Old = valve_pos.ref;
Lightvalve 237:c2cfe349f5c1 952 FINAL_POS = pos.sen;
Lightvalve 237:c2cfe349f5c1 953
Lightvalve 237:c2cfe349f5c1 954 if((FINAL_POS - START_POS)>2) {
Lightvalve 237:c2cfe349f5c1 955 DZ_DIRECTION = -1;
Lightvalve 237:c2cfe349f5c1 956 } else if((FINAL_POS - START_POS)<-2) {
Lightvalve 237:c2cfe349f5c1 957 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 958 } else {
Lightvalve 237:c2cfe349f5c1 959 DZ_DIRECTION = 1;
Lightvalve 237:c2cfe349f5c1 960 }
Lightvalve 237:c2cfe349f5c1 961
Lightvalve 237:c2cfe349f5c1 962 VALVE_DZ_timer = 0;
Lightvalve 237:c2cfe349f5c1 963 DZ_index= DZ_index *2;
Lightvalve 237:c2cfe349f5c1 964 if(DZ_index >= 128) {
Lightvalve 237:c2cfe349f5c1 965 SECOND_DZ = valve_pos.ref;
Lightvalve 237:c2cfe349f5c1 966 VALVE_CENTER = (int) (0.5f * (float) (FIRST_DZ) + 0.5f * (float) (SECOND_DZ));
Lightvalve 237:c2cfe349f5c1 967 first_check = 0;
Lightvalve 237:c2cfe349f5c1 968 VALVE_DEADZONE_MINUS = (float) FIRST_DZ;
Lightvalve 237:c2cfe349f5c1 969 VALVE_DEADZONE_PLUS = (float) SECOND_DZ;
Lightvalve 237:c2cfe349f5c1 970
Lightvalve 237:c2cfe349f5c1 971 spi_eeprom_write(RID_VALVE_CNETER, (int16_t) VALVE_CENTER);
Lightvalve 237:c2cfe349f5c1 972 spi_eeprom_write(RID_VALVE_DEADZONE_PLUS, (int16_t) VALVE_DEADZONE_PLUS);
Lightvalve 237:c2cfe349f5c1 973 spi_eeprom_write(RID_VALVE_DEADZONE_MINUS, (int16_t) VALVE_DEADZONE_MINUS);
Lightvalve 237:c2cfe349f5c1 974
Lightvalve 237:c2cfe349f5c1 975 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 976 DZ_index = 1;
Lightvalve 237:c2cfe349f5c1 977 }
Lightvalve 237:c2cfe349f5c1 978 }
Lightvalve 237:c2cfe349f5c1 979 }
Lightvalve 237:c2cfe349f5c1 980 }
Lightvalve 237:c2cfe349f5c1 981 break;
Lightvalve 237:c2cfe349f5c1 982 }
Lightvalve 237:c2cfe349f5c1 983
Lightvalve 237:c2cfe349f5c1 984 case MODE_STEP_TEST: {
Lightvalve 237:c2cfe349f5c1 985 float valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 986 if (cnt_step_test < (int) (1.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 987 valve_pos_ref = 0.0f;
Lightvalve 237:c2cfe349f5c1 988 } else {
Lightvalve 237:c2cfe349f5c1 989 valve_pos_ref = 10000.0f;
Lightvalve 237:c2cfe349f5c1 990 }
Lightvalve 237:c2cfe349f5c1 991 if(valve_pos_ref >= 0) {
Lightvalve 237:c2cfe349f5c1 992 valve_pos.ref = (double)VALVE_ELECTRIC_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 993 } else {
Lightvalve 237:c2cfe349f5c1 994 valve_pos.ref = (double)VALVE_ELECTRIC_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 995 }
Lightvalve 237:c2cfe349f5c1 996 ref_array[cnt_step_test] = valve_pos_ref;
Lightvalve 237:c2cfe349f5c1 997 if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 237:c2cfe349f5c1 998 pos_array[cnt_step_test] = 10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 999 } else {
Lightvalve 237:c2cfe349f5c1 1000 pos_array[cnt_step_test] = -10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1001 }
Lightvalve 237:c2cfe349f5c1 1002
Lightvalve 237:c2cfe349f5c1 1003 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 237:c2cfe349f5c1 1004 cnt_step_test++;
Lightvalve 237:c2cfe349f5c1 1005 if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k)) {
Lightvalve 237:c2cfe349f5c1 1006 buffer_data_size = cnt_step_test;
Lightvalve 237:c2cfe349f5c1 1007 cnt_step_test = 0;
Lightvalve 237:c2cfe349f5c1 1008 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1009 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1010 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1011 }
Lightvalve 237:c2cfe349f5c1 1012 // if (cnt_step_test > (int) (2.0f * (float) TMR_FREQ_5k))
Lightvalve 237:c2cfe349f5c1 1013 // {
Lightvalve 237:c2cfe349f5c1 1014 // CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1015 // CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1016 // CAN_TX_PWM((int16_t) (1)); //1300
Lightvalve 237:c2cfe349f5c1 1017 // }
Lightvalve 237:c2cfe349f5c1 1018
Lightvalve 237:c2cfe349f5c1 1019 break;
Lightvalve 237:c2cfe349f5c1 1020 }
Lightvalve 237:c2cfe349f5c1 1021 case MODE_SEND_OVER: {
Lightvalve 237:c2cfe349f5c1 1022 CAN_TX_TORQUE((int16_t) (buffer_data_size)); //1300
Lightvalve 237:c2cfe349f5c1 1023 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1024 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1025 break;
Lightvalve 237:c2cfe349f5c1 1026 }
Lightvalve 237:c2cfe349f5c1 1027
Lightvalve 237:c2cfe349f5c1 1028 case MODE_FREQ_TEST: {
Lightvalve 237:c2cfe349f5c1 1029 float valve_pos_ref = 2500.0f * sin(2.0f * 3.141592f * freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3);
Lightvalve 237:c2cfe349f5c1 1030 if(valve_pos_ref >= 0) {
Lightvalve 237:c2cfe349f5c1 1031 valve_pos.ref = (double)VALVE_ELECTRIC_CENTER + (double)valve_pos_ref * ((double)VALVE_MAX_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1032 } else {
Lightvalve 237:c2cfe349f5c1 1033 valve_pos.ref = (double)VALVE_ELECTRIC_CENTER - (double)valve_pos_ref * ((double)VALVE_MIN_POS-(double)VALVE_ELECTRIC_CENTER)/10000.0f;
Lightvalve 237:c2cfe349f5c1 1034 }
Lightvalve 237:c2cfe349f5c1 1035 ref_array[cnt_freq_test] = valve_pos_ref;
Lightvalve 237:c2cfe349f5c1 1036 if(value>=(float) VALVE_ELECTRIC_CENTER) {
Lightvalve 237:c2cfe349f5c1 1037 pos_array[cnt_freq_test] = 10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1038 } else {
Lightvalve 237:c2cfe349f5c1 1039 pos_array[cnt_freq_test] = -10000.0f*((double)value - (double)VALVE_ELECTRIC_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1040 }
Lightvalve 237:c2cfe349f5c1 1041
Lightvalve 237:c2cfe349f5c1 1042 CONTROL_MODE = MODE_VALVE_POSITION_CONTROL;
Lightvalve 237:c2cfe349f5c1 1043 cnt_freq_test++;
Lightvalve 237:c2cfe349f5c1 1044 if (freq_test_valve_ref * (float) cnt_freq_test * DT_TMR3 > 2) {
Lightvalve 237:c2cfe349f5c1 1045 buffer_data_size = cnt_freq_test;
Lightvalve 237:c2cfe349f5c1 1046 cnt_freq_test = 0;
Lightvalve 237:c2cfe349f5c1 1047 cnt_send_buffer = 0;
Lightvalve 237:c2cfe349f5c1 1048 freq_test_valve_ref = freq_test_valve_ref * 1.05f;
Lightvalve 237:c2cfe349f5c1 1049 if (freq_test_valve_ref >= 400) {
Lightvalve 237:c2cfe349f5c1 1050 CONTROL_UTILITY_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1051 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1052 CAN_TX_VOUT((int16_t) (1)); //1300
Lightvalve 237:c2cfe349f5c1 1053 }
Lightvalve 237:c2cfe349f5c1 1054 CONTROL_MODE = MODE_NO_ACT;
Lightvalve 237:c2cfe349f5c1 1055 CONTROL_UTILITY_MODE = MODE_SEND_OVER;
Lightvalve 237:c2cfe349f5c1 1056
Lightvalve 237:c2cfe349f5c1 1057 }
Lightvalve 237:c2cfe349f5c1 1058 break;
Lightvalve 237:c2cfe349f5c1 1059 }
Lightvalve 237:c2cfe349f5c1 1060
Lightvalve 57:f4819de54e7a 1061 default:
Lightvalve 57:f4819de54e7a 1062 break;
Lightvalve 57:f4819de54e7a 1063 }
Lightvalve 57:f4819de54e7a 1064
Lightvalve 57:f4819de54e7a 1065 // CONTROL MODE ------------------------------------------------------------
Lightvalve 57:f4819de54e7a 1066 switch (CONTROL_MODE) {
Lightvalve 57:f4819de54e7a 1067 case MODE_NO_ACT: {
Lightvalve 57:f4819de54e7a 1068 V_out = 0.0f;
Lightvalve 57:f4819de54e7a 1069 break;
Lightvalve 57:f4819de54e7a 1070 }
Lightvalve 57:f4819de54e7a 1071
Lightvalve 57:f4819de54e7a 1072 case MODE_VALVE_POSITION_CONTROL: {
Lightvalve 67:c2812cf26c38 1073 if (OPERATING_MODE == 5) { //SW Valve
Lightvalve 57:f4819de54e7a 1074 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 59:f308b1656d9c 1075 V_out = Vout.ref;
Lightvalve 67:c2812cf26c38 1076 } else if (CURRENT_CONTROL_MODE == 0) { //PWM
Lightvalve 235:c831718303c9 1077 V_out = valve_pos.ref;
Lightvalve 169:645207e160ca 1078 } else {
jobuuu 230:2c3e5ecbe7e1 1079 I_REF = valve_pos.ref * 0.001f; // Unit : pulse >> mA
jobuuu 230:2c3e5ecbe7e1 1080 float I_MAX = 10.0f; // Max : 10mA
jobuuu 230:2c3e5ecbe7e1 1081 if (I_REF > I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1082 I_REF = I_MAX;
jobuuu 230:2c3e5ecbe7e1 1083 } else if (I_REF < -I_MAX) {
jobuuu 230:2c3e5ecbe7e1 1084 I_REF = -I_MAX;
jobuuu 230:2c3e5ecbe7e1 1085 }
Lightvalve 57:f4819de54e7a 1086 }
Lightvalve 57:f4819de54e7a 1087 break;
Lightvalve 57:f4819de54e7a 1088 }
Lightvalve 57:f4819de54e7a 1089
Lightvalve 235:c831718303c9 1090 case MODE_JOINT_CONTROL: {
Lightvalve 57:f4819de54e7a 1091
jobuuu 230:2c3e5ecbe7e1 1092 float temp_vel_pos = 0.0f; // desired velocity for position control
Lightvalve 235:c831718303c9 1093 float temp_vel_FT = 0.0f; // desired velocity for force/torque control
Lightvalve 235:c831718303c9 1094 float temp_vel_ff = 0.0f; // desired velocity for feedforward control
jobuuu 230:2c3e5ecbe7e1 1095 float temp_vel = 0.0f;
Lightvalve 58:2eade98630e2 1096
jobuuu 230:2c3e5ecbe7e1 1097 float wn_Pos = 2.0f * PI * 5.0f; // f_cut : 5Hz Position Control
Lightvalve 235:c831718303c9 1098
jobuuu 230:2c3e5ecbe7e1 1099 pos.err = pos.ref - pos.sen; // Unit : mm or deg
jobuuu 230:2c3e5ecbe7e1 1100 vel.err = vel.ref - vel.sen; // Unit : mm/s or deg/s
Lightvalve 235:c831718303c9 1101
jobuuu 230:2c3e5ecbe7e1 1102 // position control command ===============================================================================================================================================
Lightvalve 235:c831718303c9 1103 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 235:c831718303c9 1104 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err) * PI / 180.0f; // rad/s
Lightvalve 235:c831718303c9 1105 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1106 } else {
Lightvalve 235:c831718303c9 1107 temp_vel_pos = 0.1f * (P_GAIN_JOINT_POSITION * wn_Pos * pos.err); // mm/s
Lightvalve 235:c831718303c9 1108 // L when P-gain = 100, f_cut = 10Hz
jobuuu 230:2c3e5ecbe7e1 1109 }
Lightvalve 57:f4819de54e7a 1110
jobuuu 230:2c3e5ecbe7e1 1111 // torque control command ===============================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1112 float alpha_SpringDamper = 1.0f/(1.0f+TMR_FREQ_5k/(2.0f*PI*30.0f));
jobuuu 230:2c3e5ecbe7e1 1113 K_LPF = alpha_SpringDamper * K_LPF + (1.0f-alpha_SpringDamper) * K_SPRING;
jobuuu 230:2c3e5ecbe7e1 1114 D_LPF = alpha_SpringDamper * D_LPF + (1.0f-alpha_SpringDamper) * D_DAMPER;
Lightvalve 235:c831718303c9 1115
Lightvalve 235:c831718303c9 1116 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
Lightvalve 235:c831718303c9 1117 float torq_ref_act = torq.ref + K_SPRING * pos.err + D_DAMPER * vel.err; // unit : Nm
jobuuu 230:2c3e5ecbe7e1 1118 torq.err = torq_ref_act - torq.sen;
jobuuu 230:2c3e5ecbe7e1 1119 torq.err_int += torq.err/((float)TMR_FREQ_5k);
Lightvalve 235:c831718303c9 1120 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * torq.err + I_GAIN_JOINT_TORQUE * torq.err_int); // Nm >> rad/s
Lightvalve 57:f4819de54e7a 1121 } else {
Lightvalve 235:c831718303c9 1122 float force_ref_act = force.ref + K_SPRING * pos.err + D_DAMPER * vel.err; // unit : N
jobuuu 230:2c3e5ecbe7e1 1123 force.err = force_ref_act - force.sen;
jobuuu 230:2c3e5ecbe7e1 1124 force.err_int += force.err/((float)TMR_FREQ_5k);
Lightvalve 235:c831718303c9 1125 temp_vel_FT = 0.001f * (P_GAIN_JOINT_TORQUE * force.err + I_GAIN_JOINT_TORQUE * force.err_int); // N >> mm/s
jobuuu 230:2c3e5ecbe7e1 1126 }
Lightvalve 235:c831718303c9 1127
Lightvalve 235:c831718303c9 1128
Lightvalve 235:c831718303c9 1129 // velocity feedforward command ========================================================================================================================================
Lightvalve 235:c831718303c9 1130 if ((OPERATING_MODE & 0x01) == 0) { // Rotary Mode
jobuuu 230:2c3e5ecbe7e1 1131 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref * PI / 180.0f; // rad/s
jobuuu 230:2c3e5ecbe7e1 1132 } else {
jobuuu 230:2c3e5ecbe7e1 1133 temp_vel_ff = 0.01f * (float)VELOCITY_COMP_GAIN * vel.ref; // mm/s
jobuuu 230:2c3e5ecbe7e1 1134 }
Lightvalve 169:645207e160ca 1135
Lightvalve 235:c831718303c9 1136 // command integration =================================================================================================================================================
jobuuu 230:2c3e5ecbe7e1 1137 temp_vel = (1.0f - alpha_trans) * temp_vel_pos + alpha_trans * temp_vel_FT + temp_vel_ff; // Position Control + Torque Control + Velocity Feedforward
Lightvalve 237:c2cfe349f5c1 1138
Lightvalve 235:c831718303c9 1139 float Qact = 0.0f; // required flow rate
Lightvalve 237:c2cfe349f5c1 1140 float valve_pos_pulse = 0.0f;
jobuuu 230:2c3e5ecbe7e1 1141 if( temp_vel > 0.0f ) {
jobuuu 230:2c3e5ecbe7e1 1142 Qact = temp_vel * ((float)PISTON_AREA_A * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1143 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1144 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f))))/C_d;
Lightvalve 237:c2cfe349f5c1 1145 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1146 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1147 }
jobuuu 230:2c3e5ecbe7e1 1148 } else {
jobuuu 230:2c3e5ecbe7e1 1149 Qact = temp_vel * ((float)PISTON_AREA_B * 0.00006f); // mm^3/sec >> LPM
Lightvalve 237:c2cfe349f5c1 1150 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1151 I_REF = tanh_inv(Qact/(K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f))))/C_d;
Lightvalve 237:c2cfe349f5c1 1152 } else { // SW valve
Lightvalve 237:c2cfe349f5c1 1153 valve_pos_pulse = Qact / (C_d * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)));
Lightvalve 237:c2cfe349f5c1 1154 }
jobuuu 230:2c3e5ecbe7e1 1155 }
Lightvalve 237:c2cfe349f5c1 1156
Lightvalve 237:c2cfe349f5c1 1157
Lightvalve 237:c2cfe349f5c1 1158
Lightvalve 237:c2cfe349f5c1 1159
Lightvalve 237:c2cfe349f5c1 1160 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 237:c2cfe349f5c1 1161
Lightvalve 237:c2cfe349f5c1 1162 float I_MAX = 10.0f; // Maximum Current : 10mA
Lightvalve 237:c2cfe349f5c1 1163 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1164 // if (I_GAIN_JOINT_TORQUE != 0.0f) {
Lightvalve 237:c2cfe349f5c1 1165 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1166 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1167 if (I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1168 float I_rem = I_REF - I_MAX;
Lightvalve 237:c2cfe349f5c1 1169 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1170 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1171 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1172 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1173 double I_rem = I_REF - (-I_MAX);
Lightvalve 237:c2cfe349f5c1 1174 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1175 float temp_vel_rem = K_v * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) * tanh(C_d*I_rem) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1176 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1177 }
Lightvalve 237:c2cfe349f5c1 1178 } else {
Lightvalve 237:c2cfe349f5c1 1179 if(I_REF > I_MAX) {
Lightvalve 237:c2cfe349f5c1 1180 I_REF = I_MAX;
Lightvalve 237:c2cfe349f5c1 1181 } else if (I_REF < -I_MAX) {
Lightvalve 237:c2cfe349f5c1 1182 I_REF = -I_MAX;
Lightvalve 237:c2cfe349f5c1 1183 }
Lightvalve 57:f4819de54e7a 1184 }
Lightvalve 237:c2cfe349f5c1 1185 } else { //SW valve
Lightvalve 237:c2cfe349f5c1 1186 float Valve_pos_MAX = 10000.0f; // Maximum Valve Pos : 10000
Lightvalve 237:c2cfe349f5c1 1187 // Anti-windup for FT
Lightvalve 237:c2cfe349f5c1 1188 // if (I_GAIN_JOINT_TORQUE != 0.0f) {
Lightvalve 237:c2cfe349f5c1 1189 if (I_GAIN_JOINT_TORQUE > 0.001f) {
Lightvalve 237:c2cfe349f5c1 1190 float Ka = 2.0f;
Lightvalve 237:c2cfe349f5c1 1191 if (valve_pos_pulse > Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1192 float valve_pos_rem = valve_pos_pulse - Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1193 valve_pos_pulse = Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1194 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY * alpha3 / (alpha3 + 1.0f)) / ((double) PISTON_AREA_A * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1195 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1196 } else if (valve_pos_pulse < -Valve_pos_MAX) {
Lightvalve 237:c2cfe349f5c1 1197 double valve_pos_rem = valve_pos_pulse - (-Valve_pos_MAX);
Lightvalve 237:c2cfe349f5c1 1198 valve_pos_pulse = -Valve_pos_MAX;
Lightvalve 237:c2cfe349f5c1 1199 float temp_vel_rem = C_d * valve_pos_rem * sqrt(PRES_SUPPLY / (alpha3 + 1.0f)) / ((double) PISTON_AREA_B * 0.00006f); // Unit : mm/s [linear] / rad/s [rotary]
Lightvalve 237:c2cfe349f5c1 1200 torq.err_int = torq.err_int - Ka * temp_vel_rem * (10000.0f/I_GAIN_JOINT_TORQUE);
Lightvalve 237:c2cfe349f5c1 1201 }
Lightvalve 237:c2cfe349f5c1 1202 } else {
Lightvalve 237:c2cfe349f5c1 1203 if(valve_pos_pulse > 10000.0f) {
Lightvalve 237:c2cfe349f5c1 1204 valve_pos_pulse = 10000.0f;
Lightvalve 237:c2cfe349f5c1 1205 } else if(valve_pos_pulse < -10000.0f) {
Lightvalve 237:c2cfe349f5c1 1206 valve_pos_pulse = -10000.0f;
Lightvalve 237:c2cfe349f5c1 1207 }
Lightvalve 235:c831718303c9 1208 }
Lightvalve 237:c2cfe349f5c1 1209 if (valve_pos_pulse >= 0) {
Lightvalve 237:c2cfe349f5c1 1210 valve_pos.ref = valve_pos_pulse/10000.0f * (VALVE_MAX_POS-VALVE_DEADZONE_PLUS) + VALVE_DEADZONE_PLUS;
Lightvalve 237:c2cfe349f5c1 1211 } else {
Lightvalve 237:c2cfe349f5c1 1212 valve_pos.ref = -valve_pos_pulse/10000.0f * (VALVE_MIN_POS-VALVE_DEADZONE_MINUS) + VALVE_DEADZONE_MINUS;
Lightvalve 237:c2cfe349f5c1 1213 }
Lightvalve 237:c2cfe349f5c1 1214 VALVE_POS_CONTROL(valve_pos.ref);
Lightvalve 237:c2cfe349f5c1 1215 V_out = Vout.ref;
Lightvalve 57:f4819de54e7a 1216 }
Lightvalve 57:f4819de54e7a 1217 break;
Lightvalve 57:f4819de54e7a 1218 }
Lightvalve 58:2eade98630e2 1219
Lightvalve 57:f4819de54e7a 1220 case MODE_VALVE_OPEN_LOOP: {
Lightvalve 57:f4819de54e7a 1221 V_out = (float) Vout.ref;
Lightvalve 57:f4819de54e7a 1222 break;
Lightvalve 57:f4819de54e7a 1223 }
Lightvalve 169:645207e160ca 1224
jobuuu 230:2c3e5ecbe7e1 1225 // case MODE_JOINT_ADAPTIVE_BACKSTEPPING: {
jobuuu 230:2c3e5ecbe7e1 1226 //
jobuuu 230:2c3e5ecbe7e1 1227 // float Va = (1256.6f + Amm * pos.sen/(float)(ENC_PULSE_PER_POSITION)) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * x, unit : m^3
jobuuu 230:2c3e5ecbe7e1 1228 // float Vb = (1256.6f + Amm * (79.0f - pos.sen/(float)(ENC_PULSE_PER_POSITION))) * 0.000000001f; // 4mm pipe * 100mm + (25mm Cylinder 18mm Rod) * (79.0mm-x), unit : m^3
jobuuu 230:2c3e5ecbe7e1 1229 //
jobuuu 230:2c3e5ecbe7e1 1230 // V_adapt = 1.0f / (1.0f/Va + 1.0f/Vb); //initial 0.0000053f
jobuuu 230:2c3e5ecbe7e1 1231 //
jobuuu 230:2c3e5ecbe7e1 1232 // //float f3 = -Amm*Amm*beta*0.000001f*0.000001f/V_adapt * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
jobuuu 230:2c3e5ecbe7e1 1233 // float f3_hat = -a_hat * vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f; // unit : N/s //xdot=10mm/s일때 -137076
jobuuu 230:2c3e5ecbe7e1 1234 //
jobuuu 230:2c3e5ecbe7e1 1235 // float g3_prime = 0.0f;
jobuuu 230:2c3e5ecbe7e1 1236 // if (torq.sen > Amm*(Ps-Pt)*0.000001f) {
jobuuu 230:2c3e5ecbe7e1 1237 // g3_prime = 1.0f;
jobuuu 230:2c3e5ecbe7e1 1238 // } else if (torq.sen < -Amm*(Ps-Pt)*0.000001f) {
jobuuu 230:2c3e5ecbe7e1 1239 // g3_prime = -1.0f;
jobuuu 230:2c3e5ecbe7e1 1240 // } else {
jobuuu 230:2c3e5ecbe7e1 1241 // if ((value-VALVE_CENTER) > 0) {
jobuuu 230:2c3e5ecbe7e1 1242 // g3_prime = sqrt(Ps-Pt-torq.sen/Amm*1000000.0f);
jobuuu 230:2c3e5ecbe7e1 1243 //// g3_prime = sqrt(Ps-Pt);
jobuuu 230:2c3e5ecbe7e1 1244 // } else {
jobuuu 230:2c3e5ecbe7e1 1245 // g3_prime = sqrt(Ps-Pt+torq.sen/Amm*1000000.0f);
jobuuu 230:2c3e5ecbe7e1 1246 //// g3_prime = sqrt(Ps-Pt);
jobuuu 230:2c3e5ecbe7e1 1247 // }
jobuuu 230:2c3e5ecbe7e1 1248 // }
jobuuu 230:2c3e5ecbe7e1 1249 // float tau = 0.01f;
jobuuu 230:2c3e5ecbe7e1 1250 // float K_valve = 0.0004f;
jobuuu 230:2c3e5ecbe7e1 1251 //
jobuuu 230:2c3e5ecbe7e1 1252 // float x_v = 0.0f; //x_v : -1~1
jobuuu 230:2c3e5ecbe7e1 1253 // if(value>=VALVE_CENTER) {
jobuuu 230:2c3e5ecbe7e1 1254 // x_v = 1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MAX_POS - (double)VALVE_CENTER);
jobuuu 230:2c3e5ecbe7e1 1255 // } else {
jobuuu 230:2c3e5ecbe7e1 1256 // x_v = -1.0f*((double)value - (double)VALVE_CENTER)/((double)VALVE_MIN_POS - (double)VALVE_CENTER);
jobuuu 230:2c3e5ecbe7e1 1257 // }
jobuuu 230:2c3e5ecbe7e1 1258 // float f4 = -x_v/tau;
jobuuu 230:2c3e5ecbe7e1 1259 // float g4 = K_valve/tau;
jobuuu 230:2c3e5ecbe7e1 1260 //
jobuuu 230:2c3e5ecbe7e1 1261 // float torq_ref_dot = torq.ref_diff * 500.0f;
jobuuu 230:2c3e5ecbe7e1 1262 //
jobuuu 230:2c3e5ecbe7e1 1263 // pos.err = (pos.ref - pos.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm]
jobuuu 230:2c3e5ecbe7e1 1264 // vel.err = (0.0f - vel.sen)/(float)(ENC_PULSE_PER_POSITION); //[mm/s]
jobuuu 230:2c3e5ecbe7e1 1265 // pos.err_sum += pos.err/(float) TMR_FREQ_5k; //[mm]
jobuuu 230:2c3e5ecbe7e1 1266 //
jobuuu 230:2c3e5ecbe7e1 1267 // torq.err = torq.ref - torq.sen; //[N]
jobuuu 230:2c3e5ecbe7e1 1268 // torq.err_sum += torq.err/(float) TMR_FREQ_5k; //[N]
jobuuu 230:2c3e5ecbe7e1 1269 //
jobuuu 230:2c3e5ecbe7e1 1270 // float k3 = 2000.0f; //2000 //20000
jobuuu 230:2c3e5ecbe7e1 1271 // float k4 = 10.0f;
jobuuu 230:2c3e5ecbe7e1 1272 // float rho3 = 3.2f;
jobuuu 230:2c3e5ecbe7e1 1273 // float rho4 = 10000000.0f; //25000000.0f;
jobuuu 230:2c3e5ecbe7e1 1274 // float x_4_des = (-f3_hat + torq_ref_dot - k3*(-torq.err))/(gamma_hat*g3_prime);
jobuuu 230:2c3e5ecbe7e1 1275 // if (x_4_des > 1) x_4_des = 1;
jobuuu 230:2c3e5ecbe7e1 1276 // else if (x_4_des < -1) x_4_des = -1;
jobuuu 230:2c3e5ecbe7e1 1277 //
jobuuu 230:2c3e5ecbe7e1 1278 // if (x_4_des > 0) {
jobuuu 230:2c3e5ecbe7e1 1279 // valve_pos.ref = x_4_des * (float)(VALVE_MAX_POS - VALVE_CENTER) + (float) VALVE_CENTER;
jobuuu 230:2c3e5ecbe7e1 1280 // } else {
jobuuu 230:2c3e5ecbe7e1 1281 // valve_pos.ref = x_4_des * (float)(VALVE_CENTER - VALVE_MIN_POS) + (float) VALVE_CENTER;
jobuuu 230:2c3e5ecbe7e1 1282 // }
jobuuu 230:2c3e5ecbe7e1 1283 //
jobuuu 230:2c3e5ecbe7e1 1284 // float x_4_des_dot = (x_4_des - x_4_des_old)*(float) TMR_FREQ_5k;
jobuuu 230:2c3e5ecbe7e1 1285 // x_4_des_old = x_4_des;
jobuuu 230:2c3e5ecbe7e1 1286 // V_out = (-f4 + x_4_des_dot - k4*(x_v-x_4_des)- rho3/rho4*gamma_hat*g3_prime*(-torq.err))/g4;
jobuuu 230:2c3e5ecbe7e1 1287 //
jobuuu 230:2c3e5ecbe7e1 1288 // float rho_a = 0.00001f;
jobuuu 230:2c3e5ecbe7e1 1289 // float a_hat_dot = -rho3/rho_a*vel.sen/(float)(ENC_PULSE_PER_POSITION)*0.001f*(-torq.err);
jobuuu 230:2c3e5ecbe7e1 1290 // a_hat = a_hat + a_hat_dot / (float) TMR_FREQ_5k;
jobuuu 230:2c3e5ecbe7e1 1291 //
jobuuu 230:2c3e5ecbe7e1 1292 // if(a_hat > -3000000.0f) a_hat = -3000000.0f;
jobuuu 230:2c3e5ecbe7e1 1293 // else if(a_hat < -30000000.0f) a_hat = -30000000.0f;
jobuuu 230:2c3e5ecbe7e1 1294 //
jobuuu 230:2c3e5ecbe7e1 1295 // break;
jobuuu 230:2c3e5ecbe7e1 1296 // }
Lightvalve 171:bfc1fd2629d8 1297
Lightvalve 12:6f2531038ea4 1298 default:
Lightvalve 12:6f2531038ea4 1299 break;
Lightvalve 12:6f2531038ea4 1300 }
Lightvalve 14:8e7590227d22 1301
Lightvalve 57:f4819de54e7a 1302
Lightvalve 57:f4819de54e7a 1303 if (((OPERATING_MODE&0b110)>>1) == 0 || ((OPERATING_MODE&0b110)>>1) == 1) { //Moog Valve or KNR Valve
Lightvalve 58:2eade98630e2 1304
Lightvalve 57:f4819de54e7a 1305 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1306 //////////////////////////// CURRENT CONTROL //////////////////////////////
Lightvalve 57:f4819de54e7a 1307 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1308 if (CURRENT_CONTROL_MODE) {
Lightvalve 67:c2812cf26c38 1309 double alpha_update_Iref = 1.0f / (1.0f + 5000.0f / (2.0f * 3.14f * 300.0f)); // f_cutoff : 500Hz
Lightvalve 57:f4819de54e7a 1310 I_REF_fil = (1.0f - alpha_update_Iref) * I_REF_fil + alpha_update_Iref*I_REF;
Lightvalve 57:f4819de54e7a 1311
jobuuu 230:2c3e5ecbe7e1 1312 if (I_REF_fil > 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_PLUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1313 else if (I_REF_fil < 0.0f) I_REF_fil_DZ = I_REF_fil + (double)VALVE_DEADZONE_MINUS*mA_PER_pulse; // unit: mA
jobuuu 230:2c3e5ecbe7e1 1314 else I_REF_fil_DZ = I_REF_fil + (double)(VALVE_DEADZONE_PLUS+VALVE_DEADZONE_MINUS)/2.0f*mA_PER_pulse; // unit: mA
Lightvalve 235:c831718303c9 1315
hyhoon 226:82a3ca333004 1316 I_ERR = I_REF_fil_DZ - (double)cur.sen;
Lightvalve 67:c2812cf26c38 1317 I_ERR_INT = I_ERR_INT + (I_ERR) * 0.0002f;
Lightvalve 57:f4819de54e7a 1318
Lightvalve 57:f4819de54e7a 1319
Lightvalve 57:f4819de54e7a 1320 // Moog Valve Current Control Gain
Lightvalve 67:c2812cf26c38 1321 double R_model = 500.0f; // ohm
Lightvalve 57:f4819de54e7a 1322 double L_model = 1.2f;
Lightvalve 57:f4819de54e7a 1323 double w0 = 2.0f * 3.14f * 150.0f;
Lightvalve 57:f4819de54e7a 1324 double KP_I = 0.1f * L_model*w0;
Lightvalve 57:f4819de54e7a 1325 double KI_I = 0.1f * R_model*w0;
Lightvalve 57:f4819de54e7a 1326
Lightvalve 57:f4819de54e7a 1327 // KNR Valve Current Control Gain
Lightvalve 57:f4819de54e7a 1328 if (((OPERATING_MODE & 0b110)>>1) == 1) { // KNR Valve
Lightvalve 57:f4819de54e7a 1329 R_model = 163.0f; // ohm
Lightvalve 57:f4819de54e7a 1330 L_model = 1.0f;
Lightvalve 57:f4819de54e7a 1331 w0 = 2.0f * 3.14f * 80.0f;
Lightvalve 57:f4819de54e7a 1332 KP_I = 1.0f * L_model*w0;
Lightvalve 57:f4819de54e7a 1333 KI_I = 0.08f * R_model*w0;
Lightvalve 57:f4819de54e7a 1334 }
Lightvalve 57:f4819de54e7a 1335
Lightvalve 57:f4819de54e7a 1336 double FF_gain = 1.0f;
Lightvalve 57:f4819de54e7a 1337
Lightvalve 67:c2812cf26c38 1338 VALVE_PWM_RAW = KP_I * 2.0f * I_ERR + KI_I * 2.0f* I_ERR_INT;
hyhoon 226:82a3ca333004 1339 I_REF_fil_diff = I_REF_fil_DZ - I_REF_fil_old;
hyhoon 226:82a3ca333004 1340 I_REF_fil_old = I_REF_fil_DZ;
Lightvalve 67:c2812cf26c38 1341 // VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil + L_model * I_REF_fil_diff * 5000.0f); // Unit : mV
hyhoon 226:82a3ca333004 1342 VALVE_PWM_RAW = VALVE_PWM_RAW + FF_gain * (R_model * I_REF_fil_DZ); // Unit : mV
Lightvalve 67:c2812cf26c38 1343 double V_MAX = 12000.0f; // Maximum Voltage : 12V = 12000mV
Lightvalve 57:f4819de54e7a 1344
Lightvalve 57:f4819de54e7a 1345 double Ka = 3.0f / KP_I;
Lightvalve 57:f4819de54e7a 1346 if (VALVE_PWM_RAW > V_MAX) {
Lightvalve 57:f4819de54e7a 1347 V_rem = VALVE_PWM_RAW - V_MAX;
Lightvalve 57:f4819de54e7a 1348 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1349 VALVE_PWM_RAW = V_MAX;
Lightvalve 234:bd00f763acb1 1350 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1351 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1352 } else if (VALVE_PWM_RAW < -V_MAX) {
Lightvalve 57:f4819de54e7a 1353 V_rem = VALVE_PWM_RAW - (-V_MAX);
Lightvalve 57:f4819de54e7a 1354 V_rem = Ka*V_rem;
Lightvalve 57:f4819de54e7a 1355 VALVE_PWM_RAW = -V_MAX;
Lightvalve 234:bd00f763acb1 1356 // I_ERR_INT = I_ERR_INT - V_rem * 0.0002f;
Lightvalve 234:bd00f763acb1 1357 I_ERR_INT = I_ERR_INT - V_rem;
Lightvalve 57:f4819de54e7a 1358 }
Lightvalve 57:f4819de54e7a 1359 } else {
Lightvalve 57:f4819de54e7a 1360 VALVE_PWM_RAW = I_REF * mV_PER_mA;
Lightvalve 57:f4819de54e7a 1361 }
Lightvalve 57:f4819de54e7a 1362
Lightvalve 57:f4819de54e7a 1363 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1364 ///////////////// Dead Zone Cancellation & Linearization //////////////////
Lightvalve 57:f4819de54e7a 1365 ////////////////////////////////////////////////////////////////////////////
Lightvalve 57:f4819de54e7a 1366
Lightvalve 57:f4819de54e7a 1367 // Output Voltage Linearization
hyhoon 226:82a3ca333004 1368 double CUR_PWM_nonlin = (double)VALVE_PWM_RAW; // Unit : mV
Lightvalve 67:c2812cf26c38 1369 double CUR_PWM_lin = PWM_duty_byLT(CUR_PWM_nonlin); // -8000~8000
Lightvalve 57:f4819de54e7a 1370
Lightvalve 57:f4819de54e7a 1371 // Dead Zone Cancellation (Electrical dead-zone)
Lightvalve 67:c2812cf26c38 1372 if (CUR_PWM_lin > 0) V_out = (float) (CUR_PWM_lin + 169.0f);
Lightvalve 67:c2812cf26c38 1373 else if (CUR_PWM_lin < 0) V_out = (float) (CUR_PWM_lin - 174.0f);
Lightvalve 67:c2812cf26c38 1374 else V_out = (float) (CUR_PWM_lin);
Lightvalve 235:c831718303c9 1375
Lightvalve 169:645207e160ca 1376 } else { //////////////////////////sw valve
Lightvalve 224:985dba42f261 1377 // Output Voltage Linearization & Dead Zone Cancellation (Electrical dead-zone) by SW
Lightvalve 135:79885a39c161 1378 if (V_out > 0 ) V_out = (V_out + 180.0f)/0.8588f;
Lightvalve 135:79885a39c161 1379 else if (V_out < 0) V_out = (V_out - 200.0f)/0.8651f;
Lightvalve 135:79885a39c161 1380 else V_out = 0.0f;
Lightvalve 89:a7b45368ea0f 1381 }
Lightvalve 169:645207e160ca 1382
jobuuu 230:2c3e5ecbe7e1 1383 ////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1384 /////////////////// PWM Command ///////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1385 ////////////////////////////////////////////////////////////////////
Lightvalve 169:645207e160ca 1386 if(DIR_VALVE<0) {
Lightvalve 67:c2812cf26c38 1387 V_out = -V_out;
Lightvalve 67:c2812cf26c38 1388 }
Lightvalve 169:645207e160ca 1389
Lightvalve 49:e7bcfc244d40 1390 if (V_out >= VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1391 V_out = VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 49:e7bcfc244d40 1392 } else if(V_out<=-VALVE_VOLTAGE_LIMIT*1000.0f) {
Lightvalve 49:e7bcfc244d40 1393 V_out = -VALVE_VOLTAGE_LIMIT*1000.0f;
Lightvalve 27:a2254a485f23 1394 }
Lightvalve 224:985dba42f261 1395 PWM_out= V_out/(SUPPLY_VOLTAGE*1000.0f);
Lightvalve 13:747daba9cf59 1396
Lightvalve 224:985dba42f261 1397 // Saturation of output voltage
Lightvalve 30:8d561f16383b 1398 if(PWM_out > 1.0f) PWM_out=1.0f;
Lightvalve 30:8d561f16383b 1399 else if (PWM_out < -1.0f) PWM_out=-1.0f;
Lightvalve 13:747daba9cf59 1400
Lightvalve 30:8d561f16383b 1401 if (PWM_out>0.0f) {
Lightvalve 30:8d561f16383b 1402 dtc_v=0.0f;
jobuuu 1:e04e563be5ce 1403 dtc_w=PWM_out;
jobuuu 1:e04e563be5ce 1404 } else {
jobuuu 2:a1c0a37df760 1405 dtc_v=-PWM_out;
Lightvalve 30:8d561f16383b 1406 dtc_w=0.0f;
jobuuu 1:e04e563be5ce 1407 }
Lightvalve 13:747daba9cf59 1408
jobuuu 1:e04e563be5ce 1409 //pwm
Lightvalve 30:8d561f16383b 1410 TIM4->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
Lightvalve 30:8d561f16383b 1411 TIM4->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
Lightvalve 67:c2812cf26c38 1412
jobuuu 230:2c3e5ecbe7e1 1413 ////////////////////////////////////////////////////////////////////////////
jobuuu 230:2c3e5ecbe7e1 1414 ////////////////////// Data transmission through CAN //////////////////////
Lightvalve 235:c831718303c9 1415 ////////////////////////////////////////////////////////////////////////////
Lightvalve 235:c831718303c9 1416
hyhoon 226:82a3ca333004 1417 if (TMR2_COUNT_CAN_TX % (int) ((int) TMR_FREQ_5k/CAN_FREQ) == 0) {
Lightvalve 235:c831718303c9 1418
hyhoon 226:82a3ca333004 1419 // Position, Velocity, and Torque (ID:1200)
hyhoon 226:82a3ca333004 1420 if (flag_data_request[0] == HIGH) {
Lightvalve 237:c2cfe349f5c1 1421
hyhoon 226:82a3ca333004 1422 if ((OPERATING_MODE & 0b01) == 0) { // Rotary Actuator
Lightvalve 232:2976cf1b4252 1423 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (torq.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 235:c831718303c9 1424 // CAN_TX_POSITION_FT((int16_t) (PRES_B_VREF*10.0f*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (pres_B.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 235:c831718303c9 1425
hyhoon 226:82a3ca333004 1426 } else if ((OPERATING_MODE & 0b01) == 1) { // Linear Actuator
Lightvalve 232:2976cf1b4252 1427 CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (vel.sen*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
Lightvalve 237:c2cfe349f5c1 1428 // CAN_TX_POSITION_FT((int16_t) (pos.sen*200.0f), (int16_t) (valve_pos_can*20.0f), (int16_t) (force.sen*TORQUE_SENSOR_PULSE_PER_TORQUE*10.0f));
hyhoon 226:82a3ca333004 1429 }
hyhoon 226:82a3ca333004 1430 }
hyhoon 226:82a3ca333004 1431
jobuuu 230:2c3e5ecbe7e1 1432 // Valve Position (ID:1300)
Lightvalve 56:6f50d9d3bfee 1433 if (flag_data_request[1] == HIGH) {
Lightvalve 235:c831718303c9 1434 CAN_TX_PWM((int16_t)(cur.sen/mA_PER_pulse));
Lightvalve 54:647072f5307a 1435 }
Lightvalve 58:2eade98630e2 1436
jobuuu 230:2c3e5ecbe7e1 1437 // Others : Pressure A, B, Supply Pressure, etc. (for Debugging) (ID:1400)
Lightvalve 171:bfc1fd2629d8 1438 if (flag_data_request[2] == HIGH) {
Lightvalve 237:c2cfe349f5c1 1439 float valve_pos_can = 0.0f;
Lightvalve 237:c2cfe349f5c1 1440 if(value >= VALVE_ELECTRIC_CENTER) {
Lightvalve 237:c2cfe349f5c1 1441 valve_pos_can = 10000.0f*((float)value-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1442 } else {
Lightvalve 237:c2cfe349f5c1 1443 valve_pos_can = -10000.0f*((float)value -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1444 }
Lightvalve 237:c2cfe349f5c1 1445 float valve_pos_ref_can = 0.0f;
Lightvalve 237:c2cfe349f5c1 1446 if(valve_pos.ref >= VALVE_ELECTRIC_CENTER) {
Lightvalve 237:c2cfe349f5c1 1447 valve_pos_ref_can = 10000.0f*((float)valve_pos.ref-(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MAX_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1448 } else {
Lightvalve 237:c2cfe349f5c1 1449 valve_pos_ref_can = -10000.0f*((float)valve_pos.ref -(float)VALVE_ELECTRIC_CENTER)/((float)VALVE_MIN_POS-(float)VALVE_ELECTRIC_CENTER);
Lightvalve 237:c2cfe349f5c1 1450 }
Lightvalve 237:c2cfe349f5c1 1451 CAN_TX_CURRENT((int16_t) valve_pos_can, (int16_t) valve_pos_ref_can);
Lightvalve 54:647072f5307a 1452 }
Lightvalve 20:806196fda269 1453
Lightvalve 54:647072f5307a 1454 TMR2_COUNT_CAN_TX = 0;
Lightvalve 54:647072f5307a 1455 }
Lightvalve 54:647072f5307a 1456 TMR2_COUNT_CAN_TX++;
Lightvalve 52:8ea76864368a 1457
Lightvalve 20:806196fda269 1458 }
Lightvalve 52:8ea76864368a 1459 TIM3->SR = 0x0; // reset the status register
Lightvalve 52:8ea76864368a 1460
Lightvalve 58:2eade98630e2 1461 }